Using Multithreading for the Automatic Load Balancing of 2D Adaptive Finite Element Meshes

NASA Technical Reports Server (NTRS)

Heber, Gerd; Biswas, Rupak; Thulasiraman, Parimala; Gao, Guang R.; Bailey, David H. (Technical Monitor)

1998-01-01

In this paper, we present a multi-threaded approach for the automatic load balancing of adaptive finite element (FE) meshes. The platform of our choice is the EARTH multi-threaded system which offers sufficient capabilities to tackle this problem. We implement the question phase of FE applications on triangular meshes, and exploit the EARTH token mechanism to automatically balance the resulting irregular and highly nonuniform workload. We discuss the results of our experiments on EARTH-SP2, an implementation of EARTH on the IBM SP2, with different load balancing strategies that are built into the runtime system.

Using Multi-threading for the Automatic Load Balancing of 2D Adaptive Finite Element Meshes

NASA Technical Reports Server (NTRS)

Heber, Gerd; Biswas, Rupak; Thulasiraman, Parimala; Gao, Guang R.; Saini, Subhash (Technical Monitor)

1998-01-01

In this paper, we present a multi-threaded approach for the automatic load balancing of adaptive finite element (FE) meshes The platform of our choice is the EARTH multi-threaded system which offers sufficient capabilities to tackle this problem. We implement the adaption phase of FE applications oil triangular meshes and exploit the EARTH token mechanism to automatically balance the resulting irregular and highly nonuniform workload. We discuss the results of our experiments oil EARTH-SP2, on implementation of EARTH on the IBM SP2 with different load balancing strategies that are built into the runtime system.

Prototype Automated Equipment to Perform Poising and Beat Rate Operations on the M577 MTSQ Fuze.

DTIC Science & Technology

1978-09-30

Regulation Machine which sets the M577 Fuze Timer beat rate and the Automatic Poising Machine which J dynamically balances the Timer balance wheel...in trouble shooting., The Automatic Poising Machine Figure 3 which inspects and corrects the dynamic I balance of the Balance Wheel Assembly was...machine is intimately related to the fastening method of the wire to the Timer at one end and the Balance Wheel at the other, a review of the history

Analysis of diurnal and seasonal climate patterns in the Rwenzori Mountains, East Africa, using satellite data and models

NASA Astrophysics Data System (ADS)

Cavagnaro, D. B.; Doughty, A. M.; Hatchett, B.

2016-12-01

The Rwenzori Mountains of Uganda and Democratic Republic of the Congo are one of only three remaining glaciated sites in Africa. Because of their remoteness and sparsity of meteorological data, the climate patterns are not well-known or well understood, which may lead to high uncertainty in glacier mass-balance estimates and paleoclimate reconstructions. This project uses remotely-sensed precipitation data, automatic weather station data, and back-trajectory modeling of air parcels to characterize the diurnal and seasonal climate patterns at the Rwenzori. Of the two wet seasons, we estimate that the short-rains (SON) provide up to 500% more snow accumulation. Precipitation is highly diurnal and driven by convection to the east of the Rwenzori as well as local up-valley convection (Mölg et al., 2003). Back-trajectory modeling shows that precipitation tends to occur at the Rwenzori when airstreams are able to pick up moisture during peak daytime convection on the East African Plateau the day before arriving at the Rwenzori. This relationship is supported by the fact that precipitation rates at the western end of the plateau follow a stronger diurnal cycle than precipitation rates at the eastern end, at Mount Kenya.

Automatic trajectory measurement of large numbers of crowded objects

NASA Astrophysics Data System (ADS)

Li, Hui; Liu, Ye; Chen, Yan Qiu

2013-06-01

Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput study of their collective behaviors. However, such data are rare mainly due to the challenges of detection and tracking of large numbers of objects with similar visual features and frequent occlusions. We present an automatic and effective framework to measure trajectories of large numbers of crowded oval-shaped objects, such as fish and cells. We first use a novel dual ellipse locator to detect the coarse position of each individual and then propose a variance minimization active contour method to obtain the optimal segmentation results. For tracking, cost matrix of assignment between consecutive frames is trainable via a random forest classifier with many spatial, texture, and shape features. The optimal trajectories are found for the whole image sequence by solving two linear assignment problems. We evaluate the proposed method on many challenging data sets.

Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

PubMed Central

Liu, Shaoli; Xia, Zeyang; Liu, Jianhua; Xu, Jing; Ren, He; Lu, Tong; Yang, Xiangdong

2016-01-01

The “robotic-assisted liver tumor coagulation therapy” (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These main difficulties include the following aspects: (1) multiple needles are needed to destroy the entire tumor, (2) the insertion trajectories of the needles should avoid the ribs, blood vessels, and other tissues and organs in the abdominal cavity, (3) the placement of multiple needles should avoid interference with each other, (4) an inserted needle will cause some deformation of liver, which will result in changes in subsequently inserted needles’ operating environment, and (5) the multiple needle-insertion trajectories should be consistent with the needle-driven robot’s movement characteristics. Thus, an effective multiple-needle surgical planning procedure is needed. To overcome these problems, we present an automatic multiple-needle surgical planning of optimal insertion trajectories to the targets, based on a mathematical description of all relevant structure surfaces. The method determines the analytical expression of boundaries of every needle “collision-free reachable workspace” (CFRW), which are the feasible insertion zones based on several constraints. Then, the optimal needle insertion trajectory within the optimization criteria will be chosen in the needle CFRW automatically. Also, the results can be visualized with our navigation system. In the simulation experiment, three needle-insertion trajectories were obtained successfully. In the in vitro experiment, the robot successfully achieved insertion of multiple needles. The proposed automatic multiple-needle surgical planning can improve the efficiency and safety of robot-assisted large liver tumor therapy, significantly reduce the surgeon’s workload, and is especially helpful for an inexperienced surgeon. The methodology should be easy to adapt in other body parts. PMID:26982341

Simultaneous Detection and Tracking of Pedestrian from Panoramic Laser Scanning Data

NASA Astrophysics Data System (ADS)

Xiao, Wen; Vallet, Bruno; Schindler, Konrad; Paparoditis, Nicolas

2016-06-01

Pedestrian traffic flow estimation is essential for public place design and construction planning. Traditional data collection by human investigation is tedious, inefficient and expensive. Panoramic laser scanners, e.g. Velodyne HDL-64E, which scan surroundings repetitively at a high frequency, have been increasingly used for 3D object tracking. In this paper, a simultaneous detection and tracking (SDAT) method is proposed for precise and automatic pedestrian trajectory recovery. First, the dynamic environment is detected using two different methods, Nearest-point and Max-distance. Then, all the points on moving objects are transferred into a space-time (x, y, t) coordinate system. The pedestrian detection and tracking amounts to assign the points belonging to pedestrians into continuous trajectories in space-time. We formulate the point assignment task as an energy function which incorporates the point evidence, trajectory number, pedestrian shape and motion. A low energy trajectory will well explain the point observations, and have plausible trajectory trend and length. The method inherently filters out points from other moving objects and false detections. The energy function is solved by a two-step optimization process: tracklet detection in a short temporal window; and global tracklet association through the whole time span. Results demonstrate that the proposed method can automatically recover the pedestrians trajectories with accurate positions and low false detections and mismatches.

Semi-automatic brain tumor segmentation by constrained MRFs using structural trajectories.

PubMed

Zhao, Liang; Wu, Wei; Corso, Jason J

2013-01-01

Quantifying volume and growth of a brain tumor is a primary prognostic measure and hence has received much attention in the medical imaging community. Most methods have sought a fully automatic segmentation, but the variability in shape and appearance of brain tumor has limited their success and further adoption in the clinic. In reaction, we present a semi-automatic brain tumor segmentation framework for multi-channel magnetic resonance (MR) images. This framework does not require prior model construction and only requires manual labels on one automatically selected slice. All other slices are labeled by an iterative multi-label Markov random field optimization with hard constraints. Structural trajectories-the medical image analog to optical flow and 3D image over-segmentation are used to capture pixel correspondences between consecutive slices for pixel labeling. We show robustness and effectiveness through an evaluation on the 2012 MICCAI BRATS Challenge Dataset; our results indicate superior performance to baselines and demonstrate the utility of the constrained MRF formulation.

Quantifying Postural Control during Exergaming Using Multivariate Whole-Body Movement Data: A Self-Organizing Maps Approach

PubMed Central

van Diest, Mike; Stegenga, Jan; Wörtche, Heinrich J.; Roerdink, Jos B. T. M; Verkerke, Gijsbertus J.; Lamoth, Claudine J. C.

2015-01-01

Background Exergames are becoming an increasingly popular tool for training balance ability, thereby preventing falls in older adults. Automatic, real time, assessment of the user’s balance control offers opportunities in terms of providing targeted feedback and dynamically adjusting the gameplay to the individual user, yet algorithms for quantification of balance control remain to be developed. The aim of the present study was to identify movement patterns, and variability therein, of young and older adults playing a custom-made weight-shifting (ice-skating) exergame. Methods Twenty older adults and twenty young adults played a weight-shifting exergame under five conditions of varying complexity, while multi-segmental whole-body movement data were captured using Kinect. Movement coordination patterns expressed during gameplay were identified using Self Organizing Maps (SOM), an artificial neural network, and variability in these patterns was quantified by computing Total Trajectory Variability (TTvar). Additionally a k Nearest Neighbor (kNN) classifier was trained to discriminate between young and older adults based on the SOM features. Results Results showed that TTvar was significantly higher in older adults than in young adults, when playing the exergame under complex task conditions. The kNN classifier showed a classification accuracy of 65.8%. Conclusions Older adults display more variable sway behavior than young adults, when playing the exergame under complex task conditions. The SOM features characterizing movement patterns expressed during exergaming allow for discriminating between young and older adults with limited accuracy. Our findings contribute to the development of algorithms for quantification of balance ability during home-based exergaming for balance training. PMID:26230655

Quantifying Postural Control during Exergaming Using Multivariate Whole-Body Movement Data: A Self-Organizing Maps Approach.

PubMed

van Diest, Mike; Stegenga, Jan; Wörtche, Heinrich J; Roerdink, Jos B T M; Verkerke, Gijsbertus J; Lamoth, Claudine J C

2015-01-01

Exergames are becoming an increasingly popular tool for training balance ability, thereby preventing falls in older adults. Automatic, real time, assessment of the user's balance control offers opportunities in terms of providing targeted feedback and dynamically adjusting the gameplay to the individual user, yet algorithms for quantification of balance control remain to be developed. The aim of the present study was to identify movement patterns, and variability therein, of young and older adults playing a custom-made weight-shifting (ice-skating) exergame. Twenty older adults and twenty young adults played a weight-shifting exergame under five conditions of varying complexity, while multi-segmental whole-body movement data were captured using Kinect. Movement coordination patterns expressed during gameplay were identified using Self Organizing Maps (SOM), an artificial neural network, and variability in these patterns was quantified by computing Total Trajectory Variability (TTvar). Additionally a k Nearest Neighbor (kNN) classifier was trained to discriminate between young and older adults based on the SOM features. Results showed that TTvar was significantly higher in older adults than in young adults, when playing the exergame under complex task conditions. The kNN classifier showed a classification accuracy of 65.8%. Older adults display more variable sway behavior than young adults, when playing the exergame under complex task conditions. The SOM features characterizing movement patterns expressed during exergaming allow for discriminating between young and older adults with limited accuracy. Our findings contribute to the development of algorithms for quantification of balance ability during home-based exergaming for balance training.

Automated Cooperative Trajectories

NASA Technical Reports Server (NTRS)

Hanson, Curt; Pahle, Joseph; Brown, Nelson

2015-01-01

This presentation is an overview of the Automated Cooperative Trajectories project. An introduction to the phenomena of wake vortices is given, along with a summary of past research into the possibility of extracting energy from the wake by flying close parallel trajectories. Challenges and barriers to adoption of civilian automatic wake surfing technology are identified. A hardware-in-the-loop simulation is described that will support future research. Finally, a roadmap for future research and technology transition is proposed.

Semi-Automatic Determination of Rockfall Trajectories

PubMed Central

Volkwein, Axel; Klette, Johannes

2014-01-01

In determining rockfall trajectories in the field, it is essential to calibrate and validate rockfall simulation software. This contribution presents an in situ device and a complementary Local Positioning System (LPS) that allow the determination of parts of the trajectory. An assembly of sensors (herein called rockfall sensor) is installed in the falling block recording the 3D accelerations and rotational velocities. The LPS automatically calculates the position of the block along the slope over time based on Wi-Fi signals emitted from the rockfall sensor. The velocity of the block over time is determined through post-processing. The setup of the rockfall sensor is presented followed by proposed calibration and validation procedures. The performance of the LPS is evaluated by means of different experiments. The results allow for a quality analysis of both the obtained field data and the usability of the rockfall sensor for future/further applications in the field. PMID:25268916

The simulation of automatic ladar sensor control during flight operations using USU LadarSIM software

NASA Astrophysics Data System (ADS)

Pack, Robert T.; Saunders, David; Fullmer, Rees; Budge, Scott

2006-05-01

USU LadarSIM Release 2.0 is a ladar simulator that has the ability to feed high-level mission scripts into a processor that automatically generates scan commands during flight simulations. The scan generation depends on specified flight trajectories and scenes consisting of terrain and targets. The scenes and trajectories can either consist of simulated or actual data. The first modeling step produces an outline of scan footprints in xyz space. Once mission goals have been analyzed and it is determined that the scan footprints are appropriately distributed or placed, specific scans can then be chosen for the generation of complete radiometry-based range images and point clouds. The simulation is capable of quickly modeling ray-trace geometry associated with (1) various focal plane arrays and scanner configurations and (2) various scene and trajectories associated with particular maneuvers or missions.

Automatic force balance calibration system

NASA Technical Reports Server (NTRS)

Ferris, Alice T. (Inventor)

1995-01-01

A system for automatically calibrating force balances is provided. The invention uses a reference balance aligned with the balance being calibrated to provide superior accuracy while minimizing the time required to complete the calibration. The reference balance and the test balance are rigidly attached together with closely aligned moment centers. Loads placed on the system equally effect each balance, and the differences in the readings of the two balances can be used to generate the calibration matrix for the test balance. Since the accuracy of the test calibration is determined by the accuracy of the reference balance and current technology allows for reference balances to be calibrated to within +/-0.05% the entire system has an accuracy of +/-0.2%. The entire apparatus is relatively small and can be mounted on a movable base for easy transport between test locations. The system can also accept a wide variety of reference balances, thus allowing calibration under diverse load and size requirements.

Automatic force balance calibration system

NASA Technical Reports Server (NTRS)

Ferris, Alice T. (Inventor)

1996-01-01

A system for automatically calibrating force balances is provided. The invention uses a reference balance aligned with the balance being calibrated to provide superior accuracy while minimizing the time required to complete the calibration. The reference balance and the test balance are rigidly attached together with closely aligned moment centers. Loads placed on the system equally effect each balance, and the differences in the readings of the two balances can be used to generate the calibration matrix for the test balance. Since the accuracy of the test calibration is determined by the accuracy of the reference balance and current technology allows for reference balances to be calibrated to within .+-.0.05%, the entire system has an accuracy of a .+-.0.2%. The entire apparatus is relatively small and can be mounted on a movable base for easy transport between test locations. The system can also accept a wide variety of reference balances, thus allowing calibration under diverse load and size requirements.

Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program (update to automatic flight trajectory design, performance prediction, and vehicle sizing for support of Shuttle and Shuttle derived vehicles) engineering manual

NASA Technical Reports Server (NTRS)

Lyons, J. T.

1993-01-01

The Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program and its predecessors, the ROBOT and the RAGMOP programs, have had a long history of supporting MSFC in the simulation of space boosters for the purpose of performance evaluation. The ROBOT program was used in the simulation of the Saturn 1B and Saturn 5 vehicles in the 1960's and provided the first utilization of the minimum Hamiltonian (or min-H) methodology and the steepest ascent technique to solve the optimum trajectory problem. The advent of the Space Shuttle in the 1970's and its complex airplane design required a redesign of the trajectory simulation code since aerodynamic flight and controllability were required for proper simulation. The RAGMOP program was the first attempt to incorporate the complex equations of the Space Shuttle into an optimization tool by using an optimization method based on steepest ascent techniques (but without the min-H methodology). Development of the complex partial derivatives associated with the Space Shuttle configuration and using techniques from the RAGMOP program, the ROBOT program was redesigned to incorporate these additional complexities. This redesign created the MASTRE program, which was referred to as the Minimum Hamiltonian Ascent Shuttle TRajectory Evaluation program at that time. Unique to this program were first-stage (or booster) nonlinear aerodynamics, upper-stage linear aerodynamics, engine control via moment balance, liquid and solid thrust forces, variable liquid throttling to maintain constant acceleration limits, and a total upgrade of the equations used in the forward and backward integration segments of the program. This modification of the MASTRE code has been used to simulate the new space vehicles associated with the National Launch Systems (NLS). Although not as complicated as the Space Shuttle, the simulation and analysis of the NLS vehicles required additional modifications to the MASTRE program in the areas of providing additional flexibility in the use of the program, allowing additional optimization options, and providing special options for the NLS configuration.

The symbolic computation and automatic analysis of trajectories

NASA Technical Reports Server (NTRS)

Grossman, Robert

1991-01-01

Research was generally done on computation of trajectories of dynamical systems, especially control systems. Algorithms were further developed for rewriting expressions involving differential operators. The differential operators involved arise in the local analysis of nonlinear control systems. An initial design was completed of the system architecture for software to analyze nonlinear control systems using data base computing.

Aortic Curvature Instead of Angulation Allows Improved Estimation of the True Aorto-iliac Trajectory.

PubMed

Schuurmann, R C L; Kuster, L; Slump, C H; Vahl, A; van den Heuvel, D A F; Ouriel, K; de Vries, J-P P M

2016-02-01

Supra- and infrarenal aortic neck angulation have been associated with complications after endovascular aortic aneurysm repair. However, a uniform angulation measurement method is lacking and the concept of angulation suggests a triangular oversimplification of the aortic anatomy. (Semi-)automated calculation of curvature along the center luminal line describes the actual trajectory of the aorta. This study proposes a methodology for calculating aortic (neck) curvature and suggests an additional method based on available tools in current workstations: curvature by digital calipers (CDC). Proprietary custom software was developed for automatic calculation of the severity and location of the largest supra- and infrarenal curvature over the center luminal line. Twenty-four patients with severe supra- or infrarenal angulations (≥45°) and 11 patients with small to moderate angulations (<45°) were included. Both CDC and angulation were measured by two independent observers on the pre- and postoperative computed tomographic angiography scans. The relationships between actual curvature and CDC and angulation were visualized and tested with Pearson's correlation coefficient. The CDC was also fully automatically calculated with proprietary custom software. The difference between manual and automatic determination of CDC was tested with a paired Student t test. A p-value was considered significant when two-tailed α < .05. The correlation between actual curvature and manual CDC is strong (.586-.962) and even stronger for automatic CDC (.865-.961). The correlation between actual curvature and angulation is much lower (.410-.737). Flow direction angulation values overestimate CDC measurements by 60%, with larger variance. No significant difference was found in automatically calculated CDC values and manually measured CDC values. Curvature calculation of the aortic neck improves determination of the true aortic trajectory. Automatic calculation of the actual curvature is preferable, but measurement or calculation of the curvature by digital calipers is a valid alternative if actual curvature is not at hand. Copyright © 2015 European Society for Vascular Surgery. Published by Elsevier Ltd. All rights reserved.

Automatic Generation of Indoor Navigable Space Using a Point Cloud and its Scanner Trajectory

NASA Astrophysics Data System (ADS)

Staats, B. R.; Diakité, A. A.; Voûte, R. L.; Zlatanova, S.

2017-09-01

Automatic generation of indoor navigable models is mostly based on 2D floor plans. However, in many cases the floor plans are out of date. Buildings are not always built according to their blue prints, interiors might change after a few years because of modified walls and doors, and furniture may be repositioned to the user's preferences. Therefore, new approaches for the quick recording of indoor environments should be investigated. This paper concentrates on laser scanning with a Mobile Laser Scanner (MLS) device. The MLS device stores a point cloud and its trajectory. If the MLS device is operated by a human, the trajectory contains information which can be used to distinguish different surfaces. In this paper a method is presented for the identification of walkable surfaces based on the analysis of the point cloud and the trajectory of the MLS scanner. This method consists of several steps. First, the point cloud is voxelized. Second, the trajectory is analysing and projecting to acquire seed voxels. Third, these seed voxels are generated into floor regions by the use of a region growing process. By identifying dynamic objects, doors and furniture, these floor regions can be modified so that each region represents a specific navigable space inside a building as a free navigable voxel space. By combining the point cloud and its corresponding trajectory, the walkable space can be identified for any type of building even if the interior is scanned during business hours.

Automatic estimation of retinal nerve fiber bundle orientation in SD-OCT images using a structure-oriented smoothing filter

NASA Astrophysics Data System (ADS)

Ghafaryasl, Babak; Baart, Robert; de Boer, Johannes F.; Vermeer, Koenraad A.; van Vliet, Lucas J.

2017-02-01

Optical coherence tomography (OCT) yields high-resolution, three-dimensional images of the retina. A better understanding of retinal nerve fiber bundle (RNFB) trajectories in combination with visual field data may be used for future diagnosis and monitoring of glaucoma. However, manual tracing of these bundles is a tedious task. In this work, we present an automatic technique to estimate the orientation of RNFBs from volumetric OCT scans. Our method consists of several steps, starting from automatic segmentation of the RNFL. Then, a stack of en face images around the posterior nerve fiber layer interface was extracted. The image showing the best visibility of RNFB trajectories was selected for further processing. After denoising the selected en face image, a semblance structure-oriented filter was applied to probe the strength of local linear structure in a discrete set of orientations creating an orientation space. Gaussian filtering along the orientation axis in this space is used to find the dominant orientation. Next, a confidence map was created to supplement the estimated orientation. This confidence map was used as pixel weight in normalized convolution to regularize the semblance filter response after which a new orientation estimate can be obtained. Finally, after several iterations an orientation field corresponding to the strongest local orientation was obtained. The RNFB orientations of six macular scans from three subjects were estimated. For all scans, visual inspection shows a good agreement between the estimated orientation fields and the RNFB trajectories in the en face images. Additionally, a good correlation between the orientation fields of two scans of the same subject was observed. Our method was also applied to a larger field of view around the macula. Manual tracing of the RNFB trajectories shows a good agreement with the automatically obtained streamlines obtained by fiber tracking.

Automatic computation and solution of generalized harmonic balance equations

NASA Astrophysics Data System (ADS)

Peyton Jones, J. C.; Yaser, K. S. A.; Stevenson, J.

2018-02-01

Generalized methods are presented for generating and solving the harmonic balance equations for a broad class of nonlinear differential or difference equations and for a general set of harmonics chosen by the user. In particular, a new algorithm for automatically generating the Jacobian of the balance equations enables efficient solution of these equations using continuation methods. Efficient numeric validation techniques are also presented, and the combined algorithm is applied to the analysis of dc, fundamental, second and third harmonic response of a nonlinear automotive damper.

Trajectory data analyses for pedestrian space-time activity study.

PubMed

Qi, Feng; Du, Fei

2013-02-25

It is well recognized that human movement in the spatial and temporal dimensions has direct influence on disease transmission(1-3). An infectious disease typically spreads via contact between infected and susceptible individuals in their overlapped activity spaces. Therefore, daily mobility-activity information can be used as an indicator to measure exposures to risk factors of infection. However, a major difficulty and thus the reason for paucity of studies of infectious disease transmission at the micro scale arise from the lack of detailed individual mobility data. Previously in transportation and tourism research detailed space-time activity data often relied on the time-space diary technique, which requires subjects to actively record their activities in time and space. This is highly demanding for the participants and collaboration from the participants greatly affects the quality of data(4). Modern technologies such as GPS and mobile communications have made possible the automatic collection of trajectory data. The data collected, however, is not ideal for modeling human space-time activities, limited by the accuracies of existing devices. There is also no readily available tool for efficient processing of the data for human behavior study. We present here a suite of methods and an integrated ArcGIS desktop-based visual interface for the pre-processing and spatiotemporal analyses of trajectory data. We provide examples of how such processing may be used to model human space-time activities, especially with error-rich pedestrian trajectory data, that could be useful in public health studies such as infectious disease transmission modeling. The procedure presented includes pre-processing, trajectory segmentation, activity space characterization, density estimation and visualization, and a few other exploratory analysis methods. Pre-processing is the cleaning of noisy raw trajectory data. We introduce an interactive visual pre-processing interface as well as an automatic module. Trajectory segmentation(5) involves the identification of indoor and outdoor parts from pre-processed space-time tracks. Again, both interactive visual segmentation and automatic segmentation are supported. Segmented space-time tracks are then analyzed to derive characteristics of one's activity space such as activity radius etc. Density estimation and visualization are used to examine large amount of trajectory data to model hot spots and interactions. We demonstrate both density surface mapping(6) and density volume rendering(7). We also include a couple of other exploratory data analyses (EDA) and visualizations tools, such as Google Earth animation support and connection analysis. The suite of analytical as well as visual methods presented in this paper may be applied to any trajectory data for space-time activity studies.

Phase control of the transient resonance of the automatic ball balancer

NASA Astrophysics Data System (ADS)

Michalczyk, Jerzy; Pakuła, Sebastian

2016-05-01

Hazards related to undesired increases of vibration amplitudes in transient resonance of vibroinsulated rotor systems with automatic ball balancer (ABB) are discussed in the paper. The application of the phase control method with taking into account the limited drive power is proposed for these amplitudes reduction. The high efficiency of this approach is indicated.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Automatic tracking of red blood cells in micro channels using OpenCV

NASA Astrophysics Data System (ADS)

Rodrigues, Vânia; Rodrigues, Pedro J.; Pereira, Ana I.; Lima, Rui

2013-10-01

The present study aims to developan automatic method able to track red blood cells (RBCs) trajectories flowing through a microchannel using the Open Source Computer Vision (OpenCV). The developed method is based on optical flux calculation assisted by the maximization of the template-matching product. The experimental results show a good functional performance of this method.

On-Line Use of Three-Dimensional Marker Trajectory Estimation From Cone-Beam Computed Tomography Projections for Precise Setup in Radiotherapy for Targets With Respiratory Motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Worm, Esben S., E-mail: esbeworm@rm.dk; Department of Medical Physics, Aarhus University Hospital, Aarhus; Hoyer, Morten

2012-05-01

Purpose: To develop and evaluate accurate and objective on-line patient setup based on a novel semiautomatic technique in which three-dimensional marker trajectories were estimated from two-dimensional cone-beam computed tomography (CBCT) projections. Methods and Materials: Seven treatment courses of stereotactic body radiotherapy for liver tumors were delivered in 21 fractions in total to 6 patients by a linear accelerator. Each patient had two to three gold markers implanted close to the tumors. Before treatment, a CBCT scan with approximately 675 two-dimensional projections was acquired during a full gantry rotation. The marker positions were segmented in each projection. From this, the three-dimensionalmore » marker trajectories were estimated using a probability based method. The required couch shifts for patient setup were calculated from the mean marker positions along the trajectories. A motion phantom moving with known tumor trajectories was used to examine the accuracy of the method. Trajectory-based setup was retrospectively used off-line for the first five treatment courses (15 fractions) and on-line for the last two treatment courses (6 fractions). Automatic marker segmentation was compared with manual segmentation. The trajectory-based setup was compared with setup based on conventional CBCT guidance on the markers (first 15 fractions). Results: Phantom measurements showed that trajectory-based estimation of the mean marker position was accurate within 0.3 mm. The on-line trajectory-based patient setup was performed within approximately 5 minutes. The automatic marker segmentation agreed with manual segmentation within 0.36 {+-} 0.50 pixels (mean {+-} SD; pixel size, 0.26 mm in isocenter). The accuracy of conventional volumetric CBCT guidance was compromised by motion smearing ({<=}21 mm) that induced an absolute three-dimensional setup error of 1.6 {+-} 0.9 mm (maximum, 3.2) relative to trajectory-based setup. Conclusions: The first on-line clinical use of trajectory estimation from CBCT projections for precise setup in stereotactic body radiotherapy was demonstrated. Uncertainty in the conventional CBCT-based setup procedure was eliminated with the new method.« less

Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

NASA Astrophysics Data System (ADS)

Khusainov, R.; Klimchik, A.; Magid, E.

2017-01-01

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

The Europa Mission: Multiple Europa Flyby Trajectory Design Trades and Challenges

NASA Technical Reports Server (NTRS)

Lam, Try; Arrieta-Camacho, Juan J.; Buffington, Brent B.

2015-01-01

With potential sources of water, energy and other chemicals essential for life, Europa is a top candidate for finding current life in our Solar System outside of Earth. This paper describes the current trajectory design concept for a multiple Europa flyby mission and discusses several trajectory design challenges. The candidate reference trajectory utilizes multiple Europa flybys while around Jupiter to enable near global coverage of Europa while balancing science requirements, radiation dose, propellant usage, and flight time. Trajectory design trades and robustness are also discussed.

An incremental DPMM-based method for trajectory clustering, modeling, and retrieval.

PubMed

Hu, Weiming; Li, Xi; Tian, Guodong; Maybank, Stephen; Zhang, Zhongfei

2013-05-01

Trajectory analysis is the basis for many applications, such as indexing of motion events in videos, activity recognition, and surveillance. In this paper, the Dirichlet process mixture model (DPMM) is applied to trajectory clustering, modeling, and retrieval. We propose an incremental version of a DPMM-based clustering algorithm and apply it to cluster trajectories. An appropriate number of trajectory clusters is determined automatically. When trajectories belonging to new clusters arrive, the new clusters can be identified online and added to the model without any retraining using the previous data. A time-sensitive Dirichlet process mixture model (tDPMM) is applied to each trajectory cluster for learning the trajectory pattern which represents the time-series characteristics of the trajectories in the cluster. Then, a parameterized index is constructed for each cluster. A novel likelihood estimation algorithm for the tDPMM is proposed, and a trajectory-based video retrieval model is developed. The tDPMM-based probabilistic matching method and the DPMM-based model growing method are combined to make the retrieval model scalable and adaptable. Experimental comparisons with state-of-the-art algorithms demonstrate the effectiveness of our algorithm.

Robotic autopositioning of the operating microscope.

PubMed

Oppenlander, Mark E; Chowdhry, Shakeel A; Merkl, Brandon; Hattendorf, Guido M; Nakaji, Peter; Spetzler, Robert F

2014-06-01

Use of the operating microscope has become pervasive since its introduction to the neurosurgical world. Neuronavigation fused with the operating microscope has allowed accurate correlation of the focal point of the microscope and its location on the downloaded imaging study. However, the robotic ability of the Pentero microscope has not been utilized to orient the angle of the microscope or to change its focal length to hone in on a predefined target. To report a novel technology that allows automatic positioning of the operating microscope onto a set target and utilization of a planned trajectory, either determined with the StealthStation S7 by using preoperative imaging or intraoperatively with the microscope. By utilizing the current motorized capabilities of the Zeiss OPMI Pentero microscope, a robotic autopositioning feature was developed in collaboration with Surgical Technologies, Medtronic, Inc. (StealthStation S7). The system is currently being tested at the Barrow Neurological Institute. Three options were developed for automatically positioning the microscope: AutoLock Current Point, Align Parallel to Plan, and Point to Plan Target. These options allow the microscope to pivot around the lesion, hover in a set plane parallel to the determined trajectory, or rotate and point to a set target point, respectively. Integration of automatic microscope positioning into the operative workflow has potential to increase operative efficacy and safety. This technology is best suited for precise trajectories and entry points into deep-seated lesions.

Automatic event recognition and anomaly detection with attribute grammar by learning scene semantics

NASA Astrophysics Data System (ADS)

Qi, Lin; Yao, Zhenyu; Li, Li; Dong, Junyu

2007-11-01

In this paper we present a novel framework for automatic event recognition and abnormal behavior detection with attribute grammar by learning scene semantics. This framework combines learning scene semantics by trajectory analysis and constructing attribute grammar-based event representation. The scene and event information is learned automatically. Abnormal behaviors that disobey scene semantics or event grammars rules are detected. By this method, an approach to understanding video scenes is achieved. Further more, with this prior knowledge, the accuracy of abnormal event detection is increased.

Generalization and refinement of an automatic landing system capable of curved trajectories

NASA Technical Reports Server (NTRS)

Sherman, W. L.

1976-01-01

Refinements in the lateral and longitudinal guidance for an automatic landing system capable of curved trajectories were studied. Wing flaps or drag flaps (speed brakes) were found to provide faster and more precise speed control than autothrottles. In the case of the lateral control it is shown that the use of the integral of the roll error in the roll command over the first 30 to 40 seconds of flight reduces the sensitivity of the lateral guidance to the gain on the azimuth guidance angle error in the roll command. Also, changes to the guidance algorithm are given that permit pi-radian approaches and constrain the airplane to fly in a specified plane defined by the position of the airplane at the start of letdown and the flare point.

Autobalancing of a rigid rotor in viscoelastic orthotropic supports considering eccentricity of the automatic ball balancer

NASA Astrophysics Data System (ADS)

Bykov, V. G.; Kovachev, A. S.

2018-05-01

A statically unbalanced rotor in viscoelastic orthotropic supports equipped with an automatic ball balancer (ABB), the axis of symmetry of which does not coincide with the symmetry axis of the rotor, is considered. Based on an analysis of the equations describing the stationary modes of motion of the system, the principal impossibility of complete balancing of the rotor is shown. The possibility of the existence of two types of stationary modes is established, one of which has a constant average amplitude of residual vibration equal to the eccentricity of the ABB. The solution corresponding to this almost balanced mode is constructed analytically. A study is made of its asymptotic stability.

Laser Balancing

NASA Technical Reports Server (NTRS)

1981-01-01

Mechanical Technology, Incorporated developed a fully automatic laser machining process that allows more precise balancing removes metal faster, eliminates excess metal removal and other operator induced inaccuracies, and provides significant reduction in balancing time. Manufacturing costs are reduced as a result.

An Automatic Medium to High Fidelity Low-Thrust Global Trajectory Toolchain; EMTG-GMAT

NASA Technical Reports Server (NTRS)

Beeson, Ryne T.; Englander, Jacob A.; Hughes, Steven P.; Schadegg, Maximillian

2015-01-01

Solving the global optimization, low-thrust, multiple-flyby interplanetary trajectory problem with high-fidelity dynamical models requires an unreasonable amount of computational resources. A better approach, and one that is demonstrated in this paper, is a multi-step process whereby the solution of the aforementioned problem is solved at a lower-fidelity and this solution is used as an initial guess for a higher-fidelity solver. The framework presented in this work uses two tools developed by NASA Goddard Space Flight Center: the Evolutionary Mission Trajectory Generator (EMTG) and the General Mission Analysis Tool (GMAT). EMTG is a medium to medium-high fidelity low-thrust interplanetary global optimization solver, which now has the capability to automatically generate GMAT script files for seeding a high-fidelity solution using GMAT's local optimization capabilities. A discussion of the dynamical models as well as thruster and power modeling for both EMTG and GMAT are given in this paper. Current capabilities are demonstrated with examples that highlight the toolchains ability to efficiently solve the difficult low-thrust global optimization problem with little human intervention.

Visual traffic jam analysis based on trajectory data.

PubMed

Wang, Zuchao; Lu, Min; Yuan, Xiaoru; Zhang, Junping; van de Wetering, Huub

2013-12-01

In this work, we present an interactive system for visual analysis of urban traffic congestion based on GPS trajectories. For these trajectories we develop strategies to extract and derive traffic jam information. After cleaning the trajectories, they are matched to a road network. Subsequently, traffic speed on each road segment is computed and traffic jam events are automatically detected. Spatially and temporally related events are concatenated in, so-called, traffic jam propagation graphs. These graphs form a high-level description of a traffic jam and its propagation in time and space. Our system provides multiple views for visually exploring and analyzing the traffic condition of a large city as a whole, on the level of propagation graphs, and on road segment level. Case studies with 24 days of taxi GPS trajectories collected in Beijing demonstrate the effectiveness of our system.

A software architecture for hard real-time execution of automatically synthesized plans or control laws

NASA Technical Reports Server (NTRS)

Schoppers, Marcel

1994-01-01

The design of a flexible, real-time software architecture for trajectory planning and automatic control of redundant manipulators is described. Emphasis is placed on a technique of designing control systems that are both flexible and robust yet have good real-time performance. The solution presented involves an artificial intelligence algorithm that dynamically reprograms the real-time control system while planning system behavior.

SU-G-JeP4-03: Anomaly Detection of Respiratory Motion by Use of Singular Spectrum Analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kotoku, J; Kumagai, S; Nakabayashi, S

Purpose: The implementation and realization of automatic anomaly detection of respiratory motion is a very important technique to prevent accidental damage during radiation therapy. Here, we propose an automatic anomaly detection method using singular value decomposition analysis. Methods: The anomaly detection procedure consists of four parts:1) measurement of normal respiratory motion data of a patient2) calculation of a trajectory matrix representing normal time-series feature3) real-time monitoring and calculation of a trajectory matrix of real-time data.4) calculation of an anomaly score from the similarity of the two feature matrices. Patient motion was observed by a marker-less tracking system using a depthmore » camera. Results: Two types of motion e.g. cough and sudden stop of breathing were successfully detected in our real-time application. Conclusion: Automatic anomaly detection of respiratory motion using singular spectrum analysis was successful in the cough and sudden stop of breathing. The clinical use of this algorithm will be very hopeful. This work was supported by JSPS KAKENHI Grant Number 15K08703.« less

Adaptive density trajectory cluster based on time and space distance

NASA Astrophysics Data System (ADS)

Liu, Fagui; Zhang, Zhijie

2017-10-01

There are some hotspot problems remaining in trajectory cluster for discovering mobile behavior regularity, such as the computation of distance between sub trajectories, the setting of parameter values in cluster algorithm and the uncertainty/boundary problem of data set. As a result, based on the time and space, this paper tries to define the calculation method of distance between sub trajectories. The significance of distance calculation for sub trajectories is to clearly reveal the differences in moving trajectories and to promote the accuracy of cluster algorithm. Besides, a novel adaptive density trajectory cluster algorithm is proposed, in which cluster radius is computed through using the density of data distribution. In addition, cluster centers and number are selected by a certain strategy automatically, and uncertainty/boundary problem of data set is solved by designed weighted rough c-means. Experimental results demonstrate that the proposed algorithm can perform the fuzzy trajectory cluster effectively on the basis of the time and space distance, and obtain the optimal cluster centers and rich cluster results information adaptably for excavating the features of mobile behavior in mobile and sociology network.

ADMAP (automatic data manipulation program)

NASA Technical Reports Server (NTRS)

Mann, F. I.

1971-01-01

Instructions are presented on the use of ADMAP, (automatic data manipulation program) an aerospace data manipulation computer program. The program was developed to aid in processing, reducing, plotting, and publishing electric propulsion trajectory data generated by the low thrust optimization program, HILTOP. The program has the option of generating SC4020 electric plots, and therefore requires the SC4020 routines to be available at excution time (even if not used). Several general routines are present, including a cubic spline interpolation routine, electric plotter dash line drawing routine, and single parameter and double parameter sorting routines. Many routines are tailored for the manipulation and plotting of electric propulsion data, including an automatic scale selection routine, an automatic curve labelling routine, and an automatic graph titling routine. Data are accepted from either punched cards or magnetic tape.

Design and development of an automatic data acquisition system for a balance study using a smartcard system.

PubMed

Ambrozy, C; Kolar, N A; Rattay, F

2010-01-01

For measurement value logging of board angle values during balance training, it is necessary to develop a measurement system. This study will provide data for a balance study using the smartcard. The data acquisition comes automatically. An individually training plan for each proband is necessary. To store the proband identification a smartcard with an I2C data bus protocol and an E2PROM memory system is used. For reading the smartcard data a smartcard reader is connected via universal serial bus (USB) to a notebook. The data acquisition and smartcard read programme is designed with Microsoft® Visual C#. A training plan file contains the individual training plan for each proband. The data of the test persons are saved in a proband directory. Each event is automatically saved as a log-file for the exact documentation. This system makes study development easy and time-saving.

Increasing fire severity, alternate successional trajectories, and the carbon balance of Alaskan boreal forests

NASA Astrophysics Data System (ADS)

Mack, M. C.; Alexander, H. D.; Jean, M.; Melvin, A. M.; Johnstone, J. F.

2016-12-01

Climate-sensitive disturbances, such as wildfire, can feed back positively to climate warming via the carbon (C) cycle if C released by disturbance is not replaced over post-fire succession. In boreal forests, burning of carbon in deep organic soils is not only an important determinate of ecosystem element balance over the disturbance cycle, but also sets the conditions that control plant recruitment, species dominance and successional trajectory. Species dominance, in turn, has the potential to exert strong control over the plant-soil-microbial feedbacks that determine C and nutrient coupling, C storage, and ultimately, replacement of combusted C. We examined the consequences of increasing fire severity for C balance and C and nitrogen (N) coupling in Alaskan boreal forests. We estimated combustion losses in 90 black spruce (conifer) stands that burned in 2004. Over the next decade, we followed natural tree seedling establishment in these stands and used seedling species dominance identify conifer versus deciduous successional trajectories. We assembled data from 120 stands that varied in time after fire and successional trajectory, and estimated C and N dynamics across 150 years of post-fire succession for each trajectory. Conifer stands that burned with high severity transitioned to deciduous tree dominance after fire. These stands had smaller ecosystem pools of C and N before fire, lost a larger proportion of these pools during the fire, and began succession with smaller residual pools than stands that returned to conifer dominance after fire. Over secondary succession, deciduous stands accumulated about 10 times more carbon in aboveground biomass than conifer stands. Belowground biomass and soil carbon accumulation, by contrast, was about three times higher in the black spruce stands than in deciduous stands. As a result, net ecosystem C accumulation over the 100 year inter-fire interval was three times higher in deciduous stands than in coniferous stands. Nitrogen accumulation did not differ between the trajectories; high C:N ratio biomass accumulation in deciduous stands balanced low C:N ratio soil organic matter accumulation in conifer stands. The timing of N accumulation, however, differed substantially, supporting the idea that deciduous stands mine N from degrading permafrost after fire.

Learning a stick-balancing task involves task-specific coupling between posture and hand displacements.

PubMed

Cluff, Tyler; Boulet, Jason; Balasubramaniam, Ramesh

2011-08-01

Theories of motor learning argue that the acquisition of novel motor skills requires a task-specific organization of sensory and motor subsystems. We examined task-specific coupling between motor subsystems as subjects learned a novel stick-balancing task. We focused on learning-induced changes in finger movements and body sway and investigated the effect of practice on their coupling. Eight subjects practiced balancing a cylindrical wooden stick for 30 min a day during a 20 day learning period. Finger movements and center of pressure trajectories were recorded in every fifth practice session (4 in total) using a ten camera VICON motion capture system interfaced with two force platforms. Motor learning was quantified using average balancing trial lengths, which increased with practice and confirmed that subjects learned the task. Nonlinear time series and phase space reconstruction methods were subsequently used to investigate changes in the spatiotemporal properties of finger movements, body sway and their progressive coupling. Systematic increases in subsystem coupling were observed despite reduced autocorrelation and differences in the temporal properties of center of pressure and finger trajectories. The average duration of these coupled trajectories increased systematically across the learning period. In short, the abrupt transition between coupled and decoupled subsystem dynamics suggested that stick balancing is regulated by a hierarchical control mechanism that switches from collective to independent control of the finger and center of pressure. In addition to traditional measures of motor performance, dynamical analyses revealed changes in motor subsystem organization that occurred when subjects learned a novel stick-balancing task.

Mixed Pattern Matching-Based Traffic Abnormal Behavior Recognition

PubMed Central

Cui, Zhiming; Zhao, Pengpeng

2014-01-01

A motion trajectory is an intuitive representation form in time-space domain for a micromotion behavior of moving target. Trajectory analysis is an important approach to recognize abnormal behaviors of moving targets. Against the complexity of vehicle trajectories, this paper first proposed a trajectory pattern learning method based on dynamic time warping (DTW) and spectral clustering. It introduced the DTW distance to measure the distances between vehicle trajectories and determined the number of clusters automatically by a spectral clustering algorithm based on the distance matrix. Then, it clusters sample data points into different clusters. After the spatial patterns and direction patterns learned from the clusters, a recognition method for detecting vehicle abnormal behaviors based on mixed pattern matching was proposed. The experimental results show that the proposed technical scheme can recognize main types of traffic abnormal behaviors effectively and has good robustness. The real-world application verified its feasibility and the validity. PMID:24605045

75 FR 62345 - Minimum Balance Requirement and Automatic Replenishment Option for Deposit Account Holders

Federal Register 2010, 2011, 2012, 2013, 2014

2010-10-08

... LIBRARY OF CONGRESS Copyright Office 37 CFR Part 201 [Docket No. RM 2009-4] Minimum Balance... transactions per year; require deposit account holders to maintain a minimum balance in that account; mandate... against the balance instead of sending separate payments with applications and other requests for services...

Ultramap v3 - a Revolution in Aerial Photogrammetry

NASA Astrophysics Data System (ADS)

Reitinger, B.; Sormann, M.; Zebedin, L.; Schachinger, B.; Hoefler, M.; Tomasi, R.; Lamperter, M.; Gruber, B.; Schiester, G.; Kobald, M.; Unger, M.; Klaus, A.; Bernoegger, S.; Karner, K.; Wiechert, A.; Ponticelli, M.; Gruber, M.

2012-07-01

In the last years, Microsoft has driven innovation in the aerial photogrammetry community. Besides the market leading camera technology, UltraMap has grown to an outstanding photogrammetric workflow system which enables users to effectively work with large digital aerial image blocks in a highly automated way. Best example is the project-based color balancing approach which automatically balances images to a homogeneous block. UltraMap V3 continues innovation, and offers a revolution in terms of ortho processing. A fully automated dense matching module strives for high precision digital surface models (DSMs) which are calculated either on CPUs or on GPUs using a distributed processing framework. By applying constrained filtering algorithms, a digital terrain model can be derived which in turn can be used for fully automated traditional ortho texturing. By having the knowledge about the underlying geometry, seamlines can be generated automatically by applying cost functions in order to minimize visual disturbing artifacts. By exploiting the generated DSM information, a DSMOrtho is created using the balanced input images. Again, seamlines are detected automatically resulting in an automatically balanced ortho mosaic. Interactive block-based radiometric adjustments lead to a high quality ortho product based on UltraCam imagery. UltraMap v3 is the first fully integrated and interactive solution for supporting UltraCam images at best in order to deliver DSM and ortho imagery.

Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

NASA Astrophysics Data System (ADS)

Chen, Hongbin

2018-03-01

Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

Automatic Collision Avoidance Technology (ACAT)

NASA Technical Reports Server (NTRS)

Swihart, Donald E.; Skoog, Mark A.

2007-01-01

This document represents two views of the Automatic Collision Avoidance Technology (ACAT). One viewgraph presentation reviews the development and system design of Automatic Collision Avoidance Technology (ACAT). Two types of ACAT exist: Automatic Ground Collision Avoidance (AGCAS) and Automatic Air Collision Avoidance (AACAS). The AGCAS Uses Digital Terrain Elevation Data (DTED) for mapping functions, and uses Navigation data to place aircraft on map. It then scans DTED in front of and around aircraft and uses future aircraft trajectory (5g) to provide automatic flyup maneuver when required. The AACAS uses data link to determine position and closing rate. It contains several canned maneuvers to avoid collision. Automatic maneuvers can occur at last instant and both aircraft maneuver when using data link. The system can use sensor in place of data link. The second viewgraph presentation reviews the development of a flight test and an evaluation of the test. A review of the operation and comparison of the AGCAS and a pilot's performance are given. The same review is given for the AACAS is given.

Comparison of a laboratory grade force platform with a Nintendo Wii Balance Board on measurement of postural control in single-leg stance balance tasks.

PubMed

Huurnink, Arnold; Fransz, Duncan P; Kingma, Idsart; van Dieën, Jaap H

2013-04-26

Training and testing of balance have potential applications in sports and medicine. Laboratory grade force plates (FP) are considered the gold standard for the measurement of balance performance. Measurements in these systems are based on the parameterization of center of pressure (CoP) trajectories. Previous research validated the inexpensive, widely available and portable Nintendo Wii Balance Board (WBB). The novelty of the present study is that FP and WBB are compared on CoP data that was collected simultaneously, by placing the WBB on the FP. Fourteen healthy participants performed ten sequences of single-leg stance tasks with eyes open (EO), eyes closed (EC) and after a sideways hop (HOP). Within trial comparison of the two systems showed small root-mean-square differences for the CoP trajectories in the x and y direction during the three tasks (mean±SD; EO: 0.33±0.10 and 0.31±0.16 mm; EC: 0.58±0.17 and 0.63±0.19 mm; HOP: 0.74±0.34 and 0.74±0.27 mm, respectively). Additionally, during all 420 trials, comparison of FP and WBB revealed very high Pearson's correlation coefficients (r) of the CoP trajectories (x: 0.999±0.002; y: 0.998±0.003). A general overestimation was found on the WBB compared to the FP for 'CoP path velocity' (EO: 5.3±1.9%; EC: 4.0±1.4%; HOP: 4.6±1.6%) and 'mean absolute CoP sway' (EO: 3.5±0.7%; EC: 3.7±0.5%; HOP: 3.6±1.0%). This overestimation was highly consistent over the 140 trials per task (r>0.996). The present findings demonstrate that WBB is sufficiently accurate in quantifying CoP trajectory, and overall amplitude and velocity during single-leg stance balance tasks. Copyright © 2013 Elsevier Ltd. All rights reserved.

Relationships among Rapid Digit Naming, Phonological Processing, Motor Automaticity, and Speech Perception in Poor, Average, and Good Readers and Spellers

ERIC Educational Resources Information Center

Savage, Robert S.; Frederickson, Norah; Goodwin, Roz; Patni, Ulla; Smith, Nicola; Tuersley, Louise

2005-01-01

In this article, we explore the relationship between rapid automatized naming (RAN) and other cognitive processes among below-average, average, and above-average readers and spellers. Nonsense word reading, phonological awareness, RAN, automaticity of balance, speech perception, and verbal short-term and working memory were measured. Factor…

Trajectory Based Behavior Analysis for User Verification

NASA Astrophysics Data System (ADS)

Pao, Hsing-Kuo; Lin, Hong-Yi; Chen, Kuan-Ta; Fadlil, Junaidillah

Many of our activities on computer need a verification step for authorized access. The goal of verification is to tell apart the true account owner from intruders. We propose a general approach for user verification based on user trajectory inputs. The approach is labor-free for users and is likely to avoid the possible copy or simulation from other non-authorized users or even automatic programs like bots. Our study focuses on finding the hidden patterns embedded in the trajectories produced by account users. We employ a Markov chain model with Gaussian distribution in its transitions to describe the behavior in the trajectory. To distinguish between two trajectories, we propose a novel dissimilarity measure combined with a manifold learnt tuning for catching the pairwise relationship. Based on the pairwise relationship, we plug-in any effective classification or clustering methods for the detection of unauthorized access. The method can also be applied for the task of recognition, predicting the trajectory type without pre-defined identity. Given a trajectory input, the results show that the proposed method can accurately verify the user identity, or suggest whom owns the trajectory if the input identity is not provided.

Optimal Recovery Trajectories for Automatic Ground Collision Avoidance Systems (Auto GCAS)

DTIC Science & Technology

2015-03-01

the Multi-Trajectory path uses a sphere buffer (with a 350 ft radius) around each time point in the propagated path. Hence, the yellow Xs indicate the...the HUD as well as a matrix/line of Xs on the radar electro optical (REO) display. Enhanced ground clobber (EGC) mechanization was integrated on the F...reachable in the timespan t ∈ [t0, tf ], and dthreshold is a scalar user-defined terrain buffer. For the work de- veloped herein, dthreshold was set to 350

Motion Coordination and Adaptation Using Deception and Human Interactions

DTIC Science & Technology

2016-11-18

evolves an interface (front) by embedding it as a hyper - surface in a higher dimension, where time is the augmented dimension. Automatic handling of...the open- loop system trajectories. The results are depicted in Fig. 32. From the shape of the value function in Fig. 32(b) it is seen that the value is...estimate of the value function only over the area of the state space visited by the sampled (open- loop ) trajectories. In that sense, the areas not

Development Of Maneuvering Autopilot For Flight Tests

NASA Technical Reports Server (NTRS)

Menon, P. K. A.; Walker, R. A.

1992-01-01

Report describes recent efforts to develop automatic control system operating under supervision of pilot and making airplane follow prescribed trajectories during flight tests. Report represents additional progress on this project. Gives background information on technology of control of test-flight trajectories; presents mathematical models of airframe, engine and command-augmentation system; focuses on mathematical modeling of maneuvers; addresses design of autopilots for maneuvers; discusses numerical simulation and evaluation of results of simulation of eight maneuvers under control of simulated autopilot; and presents summary and discussion of future work.

Modeling Off-Nominal Recovery in NextGen Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Callantine, Todd J.

2011-01-01

Robust schedule-based arrival management requires efficient recovery from off-nominal situations. This paper presents research on modeling off-nominal situations and plans for recovering from them using TRAC, a route/airspace design, fast-time simulation, and analysis tool for studying NextGen trajectory-based operations. The paper provides an overview of a schedule-based arrival-management concept and supporting controller tools, then describes TRAC implementations of methods for constructing off-nominal scenarios, generating trajectory options to meet scheduling constraints, and automatically producing recovery plans.

Optimal Trajectories for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Zhao, Yiyuan; Chen, Robert T. N.

1996-01-01

This paper presents a summary of a series of recent analytical studies conducted to investigate One-Engine-Inoperative (OEI) optimal control strategies and the associated optimal trajectories for a twin engine helicopter in Category-A terminal-area operations. These studies also examine the associated heliport size requirements and the maximum gross weight capability of the helicopter. Using an eight states, two controls, augmented point-mass model representative of the study helicopter, Continued TakeOff (CTO), Rejected TakeOff (RTO), Balked Landing (BL), and Continued Landing (CL) are investigated for both Vertical-TakeOff-and-Landing (VTOL) and Short-TakeOff-and-Landing (STOL) terminal-area operations. The formulation of the nonlinear optimal control problems with considerations for realistic constraints, solution methods for the two-point boundary-value problem, a new real-time generation method for the optimal OEI trajectories, and the main results of this series of trajectory optimization studies are presented. In particular, a new balanced- weight concept for determining the takeoff decision point for VTOL Category-A operations is proposed, extending the balanced-field length concept used for STOL operations.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

Semi-automatic tracking, smoothing and segmentation of hyoid bone motion from videofluoroscopic swallowing study.

PubMed

Kim, Won-Seok; Zeng, Pengcheng; Shi, Jian Qing; Lee, Youngjo; Paik, Nam-Jong

2017-01-01

Motion analysis of the hyoid bone via videofluoroscopic study has been used in clinical research, but the classical manual tracking method is generally labor intensive and time consuming. Although some automatic tracking methods have been developed, masked points could not be tracked and smoothing and segmentation, which are necessary for functional motion analysis prior to registration, were not provided by the previous software. We developed software to track the hyoid bone motion semi-automatically. It works even in the situation where the hyoid bone is masked by the mandible and has been validated in dysphagia patients with stroke. In addition, we added the function of semi-automatic smoothing and segmentation. A total of 30 patients' data were used to develop the software, and data collected from 17 patients were used for validation, of which the trajectories of 8 patients were partly masked. Pearson correlation coefficients between the manual and automatic tracking are high and statistically significant (0.942 to 0.991, P-value<0.0001). Relative errors between automatic tracking and manual tracking in terms of the x-axis, y-axis and 2D range of hyoid bone excursion range from 3.3% to 9.2%. We also developed an automatic method to segment each hyoid bone trajectory into four phases (elevation phase, anterior movement phase, descending phase and returning phase). The semi-automatic hyoid bone tracking from VFSS data by our software is valid compared to the conventional manual tracking method. In addition, the ability of automatic indication to switch the automatic mode to manual mode in extreme cases and calibration without attaching the radiopaque object is convenient and useful for users. Semi-automatic smoothing and segmentation provide further information for functional motion analysis which is beneficial to further statistical analysis such as functional classification and prognostication for dysphagia. Therefore, this software could provide the researchers in the field of dysphagia with a convenient, useful, and all-in-one platform for analyzing the hyoid bone motion. Further development of our method to track the other swallowing related structures or objects such as epiglottis and bolus and to carry out the 2D curve registration may be needed for a more comprehensive functional data analysis for dysphagia with big data.

Anatomy-driven multiple trajectory planning (ADMTP) of intracranial electrodes for epilepsy surgery.

PubMed

Sparks, Rachel; Vakharia, Vejay; Rodionov, Roman; Vos, Sjoerd B; Diehl, Beate; Wehner, Tim; Miserocchi, Anna; McEvoy, Andrew W; Duncan, John S; Ourselin, Sebastien

2017-08-01

Epilepsy is potentially curable with resective surgery if the epileptogenic zone (EZ) can be identified. If non-invasive imaging is unable to elucidate the EZ, intracranial electrodes may be implanted to identify the EZ as well as map cortical function. In current clinical practice, each electrode trajectory is determined by time-consuming manual inspection of preoperative imaging to find a path that avoids blood vessels while traversing appropriate deep and superficial regions of interest (ROIs). We present anatomy-driven multiple trajectory planning (ADMTP) to find safe trajectories from a list of user-defined ROIs within minutes rather than the hours required for manual planning. Electrode trajectories are automatically computed in three steps: (1) Target Point Selection to identify appropriate target points within each ROI; (2) Trajectory Risk Scoring to quantify the cumulative distance to critical structures (blood vessels) along each trajectory, defined as the skull entry point to target point. (3) Implantation Plan Computation: to determine a feasible combination of low-risk trajectories for all electrodes. ADMTP was evaluated on 20 patients (190 electrodes). ADMTP lowered the quantitative risk score in 83% of electrodes. Qualitative results show ADMTP found suitable trajectories for 70% of electrodes; a similar portion of manual trajectories were considered suitable. Trajectory suitability for ADMTP was 95% if traversing sulci was not included in the safety criteria. ADMTP is computationally efficient, computing between 7 and 12 trajectories in 54.5 (17.3-191.9) s. ADMTP efficiently compute safe and surgically feasible electrode trajectories.

76 FR 9229 - Administration of Copyright Office Deposit Accounts

Federal Register 2010, 2011, 2012, 2013, 2014

2011-02-17

... balance in that account; require the closure of a deposit account the second time it is overdrawn within... against the balance instead of sending separate payments with applications and other requests for services... requiring a minimum deposit account balance and optional automatic replenishment discussed herein is a more...

Wind Tunnel Force Balance Calibration Study - Interim Results

NASA Technical Reports Server (NTRS)

Rhew, Ray D.

2012-01-01

Wind tunnel force balance calibration is preformed utilizing a variety of different methods and does not have a direct traceable standard such as standards used for most calibration practices (weights, and voltmeters). These different calibration methods and practices include, but are not limited to, the loading schedule, the load application hardware, manual and automatic systems, re-leveling and non-re-leveling. A study of the balance calibration techniques used by NASA was undertaken to develop metrics for reviewing and comparing results using sample calibrations. The study also includes balances of different designs, single and multi-piece. The calibration systems include, the manual, and the automatic that are provided by NASA and its vendors. The results to date will be presented along with the techniques for comparing the results. In addition, future planned calibrations and investigations based on the results will be provided.

Visual display and alarm system for wind tunnel static and dynamic loads

NASA Technical Reports Server (NTRS)

Hanly, Richard D.; Fogarty, James T.

1987-01-01

A wind tunnel balance monitor and alarm system developed at NASA Ames Research Center will produce several beneficial results. The costs of wind tunnel delays because of inadvertent balance damage and the costs of balance repair or replacement can be greatly reduced or eliminated with better real-time information on the balance static and dynamic loading. The wind tunnel itself will have enhanced utility with the elimination of overly cautious limits on test conditions. The microprocessor-based system features automatic scaling and 16 multicolored LED bargraphs to indicate both static and dynamic components of the signals from eight individual channels. Five individually programmable alarm levels are available with relay closures for internal or external visual and audible warning devices and other functions such as automatic activation of external recording devices, model positioning mechanisms, or tunnel shutdown.

Visual display and alarm system for wind tunnel static and dynamic loads

NASA Technical Reports Server (NTRS)

Hanly, Richard D.; Fogarty, James T.

1987-01-01

A wind tunnel balance monitor and alarm system developed at NASA Ames Research Center will produce several beneficial results. The costs of wind tunnel delays because of inadvertent balance damage and the costs of balance repair or replacement can be greatly reduced or eliminated with better real-time information on the balance static and dynamic loading. The wind tunnel itself will have enhanced utility with the elimination of overly cautious limits on test conditions. The microprocessor-based system features automatic scaling and 16 multicolored LED bargraphs to indicate both static and dynamic components of the signals from eight individual channels. Five individually programmable alarm levels are available with relay closures for internal or external visual and audible warning devices and other functions such as automatic activation of external recording devices, model positioning mechanism, or tunnel shutdown.

Robot Trajectories Comparison: A Statistical Approach

PubMed Central

Ansuategui, A.; Arruti, A.; Susperregi, L.; Yurramendi, Y.; Jauregi, E.; Lazkano, E.; Sierra, B.

2014-01-01

The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them. Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided. The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners. PMID:25525618

Dynamic load balancing of applications

DOEpatents

Wheat, Stephen R.

1997-01-01

An application-level method for dynamically maintaining global load balance on a parallel computer, particularly on massively parallel MIMD computers. Global load balancing is achieved by overlapping neighborhoods of processors, where each neighborhood performs local load balancing. The method supports a large class of finite element and finite difference based applications and provides an automatic element management system to which applications are easily integrated.

Self-balancing dynamic scheduling of electrical energy for energy-intensive enterprises

NASA Astrophysics Data System (ADS)

Gao, Yunlong; Gao, Feng; Zhai, Qiaozhu; Guan, Xiaohong

2013-06-01

Balancing production and consumption with self-generation capacity in energy-intensive enterprises has huge economic and environmental benefits. However, balancing production and consumption with self-generation capacity is a challenging task since the energy production and consumption must be balanced in real time with the criteria specified by power grid. In this article, a mathematical model for minimising the production cost with exactly realisable energy delivery schedule is formulated. And a dynamic programming (DP)-based self-balancing dynamic scheduling algorithm is developed to obtain the complete solution set for such a multiple optimal solutions problem. For each stage, a set of conditions are established to determine whether a feasible control trajectory exists. The state space under these conditions is partitioned into subsets and each subset is viewed as an aggregate state, the cost-to-go function is then expressed as a function of initial and terminal generation levels of each stage and is proved to be a staircase function with finite steps. This avoids the calculation of the cost-to-go of every state to resolve the issue of dimensionality in DP algorithm. In the backward sweep process of the algorithm, an optimal policy is determined to maximise the realisability of energy delivery schedule across the entire time horizon. And then in the forward sweep process, the feasible region of the optimal policy with the initial and terminal state at each stage is identified. Different feasible control trajectories can be identified based on the region; therefore, optimising for the feasible control trajectory is performed based on the region with economic and reliability objectives taken into account.

Automated tracking, segmentation and trajectory classification of pelvic organs on dynamic MRI.

PubMed

Nekooeimehr, Iman; Lai-Yuen, Susana; Bao, Paul; Weitzenfeld, Alfredo; Hart, Stuart

2016-08-01

Pelvic organ prolapse is a major health problem in women where pelvic floor organs (bladder, uterus, small bowel, and rectum) fall from their normal position and bulge into the vagina. Dynamic Magnetic Resonance Imaging (DMRI) is presently used to analyze the organs' movements from rest to maximum strain providing complementary support for diagnosis. However, there is currently no automated or quantitative approach to measure the movement of the pelvic organs and their correlation with the severity of prolapse. In this paper, a two-stage method is presented to automatically track and segment pelvic organs on DMRI followed by a multiple-object trajectory classification method to improve the diagnosis of pelvic organ prolapse. Organs are first tracked using particle filters and K-means clustering with prior information. Then, they are segmented using the convex hull of the cluster of particles. Finally, the trajectories of the pelvic organs are modeled using a new Coupled Switched Hidden Markov Model (CSHMM) to classify the severity of pelvic organ prolapse. The tracking and segmentation results are validated using Dice Similarity Index (DSI) whereas the classification results are compared with two manual clinical measurements. Results demonstrate that the presented method is able to automatically track and segment pelvic organs with a DSI above 82% for 26 out of 46 cases and DSI above 75% for all 46 tested cases. The accuracy of the trajectory classification model is also better than current manual measurements.

Safe electrode trajectory planning in SEEG via MIP-based vessel segmentation

NASA Astrophysics Data System (ADS)

Scorza, Davide; Moccia, Sara; De Luca, Giuseppe; Plaino, Lisa; Cardinale, Francesco; Mattos, Leonardo S.; Kabongo, Luis; De Momi, Elena

2017-03-01

Stereo-ElectroEncephaloGraphy (SEEG) is a surgical procedure that allows brain exploration of patients affected by focal epilepsy by placing intra-cerebral multi-lead electrodes. The electrode trajectory planning is challenging and time consuming. Various constraints have to be taken into account simultaneously, such as absence of vessels at the electrode Entry Point (EP), where bleeding is more likely to occur. In this paper, we propose a novel framework to help clinicians in defining a safe trajectory and focus our attention on EP. For each electrode, a Maximum Intensity Projection (MIP) image was obtained from Computer Tomography Angiography (CTA) slices of the brain first centimeter measured along the electrode trajectory. A Gaussian Mixture Model (GMM), modified to include neighborhood prior through Markov Random Fields (GMM-MRF), is used to robustly segment vessels and deal with the noisy nature of MIP images. Results are compared with simple GMM and manual global Thresholding (Th) by computing sensitivity, specificity, accuracy and Dice similarity index against manual segmentation performed under the supervision of an expert surgeon. In this work we present a novel framework which can be easily integrated into manual and automatic planner to help surgeon during the planning phase. GMM-MRF qualitatively showed better performance over GMM in reproducing the connected nature of brain vessels also in presence of noise and image intensity drops typical of MIP images. With respect Th, it is a completely automatic method and it is not influenced by inter-subject variability.

Encoding Time in Feedforward Trajectories of a Recurrent Neural Network Model.

PubMed

Hardy, N F; Buonomano, Dean V

2018-02-01

Brain activity evolves through time, creating trajectories of activity that underlie sensorimotor processing, behavior, and learning and memory. Therefore, understanding the temporal nature of neural dynamics is essential to understanding brain function and behavior. In vivo studies have demonstrated that sequential transient activation of neurons can encode time. However, it remains unclear whether these patterns emerge from feedforward network architectures or from recurrent networks and, furthermore, what role network structure plays in timing. We address these issues using a recurrent neural network (RNN) model with distinct populations of excitatory and inhibitory units. Consistent with experimental data, a single RNN could autonomously produce multiple functionally feedforward trajectories, thus potentially encoding multiple timed motor patterns lasting up to several seconds. Importantly, the model accounted for Weber's law, a hallmark of timing behavior. Analysis of network connectivity revealed that efficiency-a measure of network interconnectedness-decreased as the number of stored trajectories increased. Additionally, the balance of excitation (E) and inhibition (I) shifted toward excitation during each unit's activation time, generating the prediction that observed sequential activity relies on dynamic control of the E/I balance. Our results establish for the first time that the same RNN can generate multiple functionally feedforward patterns of activity as a result of dynamic shifts in the E/I balance imposed by the connectome of the RNN. We conclude that recurrent network architectures account for sequential neural activity, as well as for a fundamental signature of timing behavior: Weber's law.

Developmental Trajectories of Perceived Friendship Intimacy, Constructive Problem Solving, and Depression from Early to Late Adolescence

ERIC Educational Resources Information Center

Selfhout, M. H. W.; Branje, S. J. T.; Meeus, W. H. J.

2009-01-01

This study examined friendship types in developmental trajectories of perceived closeness and balanced relatedness. In addition, differences between friendship types in the development of constructive problem solving and depression were examined. Questionnaire data of five annual waves were used from two adolescent cohorts (cohort 1: M = 12.41…

Designing train-speed trajectory with energy efficiency and service quality

NASA Astrophysics Data System (ADS)

Jia, Jiannan; Yang, Kai; Yang, Lixing; Gao, Yuan; Li, Shukai

2018-05-01

With the development of automatic train operations, optimal trajectory design is significant to the performance of train operations in railway transportation systems. Considering energy efficiency and service quality, this article formulates a bi-objective train-speed trajectory optimization model to minimize simultaneously the energy consumption and travel time in an inter-station section. This article is distinct from previous studies in that more sophisticated train driving strategies characterized by the acceleration/deceleration gear, the cruising speed, and the speed-shift site are specifically considered. For obtaining an optimal train-speed trajectory which has equal satisfactory degree on both objectives, a fuzzy linear programming approach is applied to reformulate the objectives. In addition, a genetic algorithm is developed to solve the proposed train-speed trajectory optimization problem. Finally, a series of numerical experiments based on a real-world instance of Beijing-Tianjin Intercity Railway are implemented to illustrate the practicability of the proposed model as well as the effectiveness of the solution methodology.

Hyper-X Stage Separation Trajectory Validation Studies

NASA Technical Reports Server (NTRS)

Tartabini, Paul V.; Bose, David M.; McMinn, John D.; Martin, John G.; Strovers, Brian K.

2003-01-01

An independent twelve degree-of-freedom simulation of the X-43A separation trajectory was created with the Program to Optimize Simulated trajectories (POST II). This simulation modeled the multi-body dynamics of the X-43A and its booster and included the effect of two pyrotechnically actuated pistons used to push the vehicles apart as well as aerodynamic interaction forces and moments between the two vehicles. The simulation was developed to validate trajectory studies conducted with a 14 degree-of-freedom simulation created early in the program using the Automatic Dynamic Analysis of Mechanics Systems (ADAMS) simulation software. The POST simulation was less detailed than the official ADAMS-based simulation used by the Project, but was simpler, more concise and ran faster, while providing similar results. The increase in speed provided by the POST simulation provided the Project with an alternate analysis tool. This tool was ideal for performing separation control logic trade studies that required the running of numerous Monte Carlo trajectories.

Traffic Aware Strategic Aircrew Requests (TASAR) Concept of Operations

NASA Technical Reports Server (NTRS)

Henderson, Jeffrey

2013-01-01

Aircrews submit trajectory change requests to air traffic control (ATC) to better achieve the operator's preferred business trajectory. Requests are currently made with limited information and are often denied because the change is not compatible with traffic. Also, request opportunities can be overlooked due to lack of automation that advises aircrews of trajectory changes that improve flight time, fuel burn, and other objectives. The Traffic Aware Strategic Aircrew Requests (TASAR) concept leverages Automatic Dependent Surveillance-Broadcast (ADS-B) surveillance information to advise the aircrew of beneficial trajectory changes that are probed for traffic compatibility prior to issuing the request to ATC. This document describes the features, benefits, and limitations of TASAR automation hosted on an Electronic Flight Bag. TASAR has two modes: (1) auto mode that continuously assesses opportunities for improving the performance of the flight and (2) manual mode that probes trajectory changes entered by aircrews for conflicts and performance objectives. The roles and procedures of the aircrew and ATC remain unchanged under TASAR.

Influence of dopaminergic medication on automatic postural responses and balance impairment in Parkinson's disease.

PubMed

Bloem, B R; Beckley, D J; van Dijk, J G; Zwinderman, A H; Remler, M P; Roos, R A

1996-09-01

It is still unclear why balance impairment in Parkinson's disease (PD) often responds insufficiently to dopaminergic medication. We have studied this issue in 23 patients with idiopathic PD and 24 healthy controls. Our specific purposes were (a) to investigate the contribution of abnormal automatic postural responses to balance impairment in PD and (b) to assess the influence of dopaminergic medication on abnormal automatic postural responses and balance impairment. Standing subjects received 4 degrees "toe-up" rotational perturbations of a supporting forceplate. We bilaterally recorded posturally destabilizing medium latency (ML) responses from the stretched gastrocnemius muscles and functionally corrective long latency (LL) responses from the shortened tibialis anterior (TA) muscles. We also assessed changes in the center of foot pressure (CFP) and the center of gravity (COG). All patients were tested in the "off" and "on" phases. All controls were tested and retested after 1 h. During the off phase, we found enlarged ML amplitudes and diminished LL amplitudes in patients, together with a markedly increased posterior displacement of the COG. The abnormal ML and LL responses were partially responsible for the increased body sway in patients because the initial forward (destabilizing) displacement of the CFP was increased, while the subsequent backward displacement of the CFP (a measure of the corrective braking action of LL responses) was delayed. Abnormal late automatic or possibly more voluntary postural corrections also contributed substantially to the increased body sway. During the on phase, ML amplitudes were reduced in patients but remained increased compared with controls. LL amplitudes no longer differed between both groups due to a modest, possibly dopamine-related increase in patients and a simultaneous decrease in controls. The abnormal CFP displacement was only partially improved by dopaminergic medication. The later postural corrections were not improved at all. Consequently, the increased posterior COG displacement was not ameliorated during the on phase. We conclude that (a) a combination of abnormal automatic and perhaps more voluntary postural corrections contributes to increased body sway in PD and (b) dopaminergic medication fails to improve balance impairment in PD because early automatic postural responses are only partially corrected, while later occurring postural corrections are not improved at all. These electrophysiological results support clinical observations and suggest that nondopaminergic lesions play a significant role in the pathophysiology of postural abnormalities in PD.

Numerical simulation of low gravity draining. [computerized simulation of liquid sloshing in cylindrical tanks, and boundary value problems

NASA Technical Reports Server (NTRS)

Bizzell, G. D.; Crane, G. E.

1976-01-01

A boundary value problem was solved numerically for a liquid that is assumed to be inviscid and incompressible, having a motion that is irrotational and axisymmetric, and having a constant (5 degrees) solid-liquid contact angle. The avoidance of excessive mesh distortion, encountered with strictly Lagrangian or Eulerian kinematics, was achieved by introducing an auxiliary kinematic velocity field along the free surface in order to vary the trajectories used in integrating the ordinary differential equations simulating the moving boundary. The computation of the velocity potential was based upon a nonuniform triangular mesh which was automatically revised to varying depths to accommodate the motion of the free surface. These methods permitted calculation of draining induced axisymmetric slosh through the many (or fractional) finite amplitude oscillations that can occur depending upon the balance of draining, gravitational, and surface tension forces. Velocity fields, evolution of the free surface with time, and liquid residual volumes were computed for three and one half decades of Weber number and for two Bond numbers, tank fill levels, and drain radii. Comparisons with experimental data are very satisfactory.

Dynamic load balancing of applications

DOEpatents

Wheat, S.R.

1997-05-13

An application-level method for dynamically maintaining global load balance on a parallel computer, particularly on massively parallel MIMD computers is disclosed. Global load balancing is achieved by overlapping neighborhoods of processors, where each neighborhood performs local load balancing. The method supports a large class of finite element and finite difference based applications and provides an automatic element management system to which applications are easily integrated. 13 figs.

Experimental Evaluation of Balance Prediction Models for Sit-to-Stand Movement in the Sagittal Plane

PubMed Central

Pena Cabra, Oscar David; Watanabe, Takashi

2013-01-01

Evaluation of balance control ability would become important in the rehabilitation training. In this paper, in order to make clear usefulness and limitation of a traditional simple inverted pendulum model in balance prediction in sit-to-stand movements, the traditional simple model was compared to an inertia (rotational radius) variable inverted pendulum model including multiple-joint influence in the balance predictions. The predictions were tested upon experimentation with six healthy subjects. The evaluation showed that the multiple-joint influence model is more accurate in predicting balance under demanding sit-to-stand conditions. On the other hand, the evaluation also showed that the traditionally used simple inverted pendulum model is still reliable in predicting balance during sit-to-stand movement under non-demanding (normal) condition. Especially, the simple model was shown to be effective for sit-to-stand movements with low center of mass velocity at the seat-off. Moreover, almost all trajectories under the normal condition seemed to follow the same control strategy, in which the subjects used extra energy than the minimum one necessary for standing up. This suggests that the safety considerations come first than the energy efficiency considerations during a sit to stand, since the most energy efficient trajectory is close to the backward fall boundary. PMID:24187580

Dynamic Weather Routes: A Weather Avoidance Concept for Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

McNally, B. David; Love, John

2011-01-01

The integration of convective weather modeling with trajectory automation for conflict detection, trial planning, direct routing, and auto resolution has uncovered a concept that could help controllers, dispatchers, and pilots identify improved weather routes that result in significant savings in flying time and fuel burn. Trajectory automation continuously and automatically monitors aircraft in flight to find those that could potentially benefit from improved weather reroutes. Controllers, dispatchers, and pilots then evaluate reroute options to assess their suitability given current weather and traffic. In today's operations aircraft fly convective weather avoidance routes that were implemented often hours before aircraft approach the weather and automation does not exist to automatically monitor traffic to find improved weather routes that open up due to changing weather conditions. The automation concept runs in real-time and employs two keysteps. First, a direct routing algorithm automatically identifies flights with large dog legs in their routes and therefore potentially large savings in flying time. These are common - and usually necessary - during convective weather operations and analysis of Fort Worth Center traffic shows many aircraft with short cuts that indicate savings on the order of 10 flying minutes. The second and most critical step is to apply trajectory automation with weather modeling to determine what savings could be achieved by modifying the direct route such that it avoids weather and traffic and is acceptable to controllers and flight crews. Initial analysis of Fort Worth Center traffic suggests a savings of roughly 50% of the direct route savings could be achievable.The core concept is to apply trajectory automation with convective weather modeling in real time to identify a reroute that is free of weather and traffic conflicts and indicates enough time and fuel savings to be considered. The concept is interoperable with today's integrated FMS/datalink. Auxiliary(lat/long) waypoints define a minimum delay reroute between current position and a downstream capture fix beyond the weather. These auxiliary waypoints can be uplinked to equipped aircraft and auto-loaded into the FMS. Alternatively, for unequipped aircraft, auxiliary waypoints can be replaced by nearby named fixes, but this could reduce potential savings. The presentation includes an overview of the automation approach and focuses on several cases in terms of potential savings, reroute complexity, best auxiliary waypoint solution vs. named fix solution, and other metrics.

Towards parsimony in habit measurement: Testing the convergent and predictive validity of an automaticity subscale of the Self-Report Habit Index

PubMed Central

2012-01-01

Background The twelve-item Self-Report Habit Index (SRHI) is the most popular measure of energy-balance related habits. This measure characterises habit by automatic activation, behavioural frequency, and relevance to self-identity. Previous empirical research suggests that the SRHI may be abbreviated with no losses in reliability or predictive utility. Drawing on recent theorising suggesting that automaticity is the ‘active ingredient’ of habit-behaviour relationships, we tested whether an automaticity-specific SRHI subscale could capture habit-based behaviour patterns in self-report data. Methods A content validity task was undertaken to identify a subset of automaticity indicators within the SRHI. The reliability, convergent validity and predictive validity of the automaticity item subset was subsequently tested in secondary analyses of all previous SRHI applications, identified via systematic review, and in primary analyses of four raw datasets relating to energy‐balance relevant behaviours (inactive travel, active travel, snacking, and alcohol consumption). Results A four-item automaticity subscale (the ‘Self-Report Behavioural Automaticity Index’; ‘SRBAI’) was found to be reliable and sensitive to two hypothesised effects of habit on behaviour: a habit-behaviour correlation, and a moderating effect of habit on the intention-behaviour relationship. Conclusion The SRBAI offers a parsimonious measure that adequately captures habitual behaviour patterns. The SRBAI may be of particular utility in predicting future behaviour and in studies tracking habit formation or disruption. PMID:22935297

Automatic segmentation of the facial nerve and chorda tympani in pediatric CT scans.

PubMed

Reda, Fitsum A; Noble, Jack H; Rivas, Alejandro; McRackan, Theodore R; Labadie, Robert F; Dawant, Benoit M

2011-10-01

Cochlear implant surgery is used to implant an electrode array in the cochlea to treat hearing loss. The authors recently introduced a minimally invasive image-guided technique termed percutaneous cochlear implantation. This approach achieves access to the cochlea by drilling a single linear channel from the outer skull into the cochlea via the facial recess, a region bounded by the facial nerve and chorda tympani. To exploit existing methods for computing automatically safe drilling trajectories, the facial nerve and chorda tympani need to be segmented. The goal of this work is to automatically segment the facial nerve and chorda tympani in pediatric CT scans. The authors have proposed an automatic technique to achieve the segmentation task in adult patients that relies on statistical models of the structures. These models contain intensity and shape information along the central axes of both structures. In this work, the authors attempted to use the same method to segment the structures in pediatric scans. However, the authors learned that substantial differences exist between the anatomy of children and that of adults, which led to poor segmentation results when an adult model is used to segment a pediatric volume. Therefore, the authors built a new model for pediatric cases and used it to segment pediatric scans. Once this new model was built, the authors employed the same segmentation method used for adults with algorithm parameters that were optimized for pediatric anatomy. A validation experiment was conducted on 10 CT scans in which manually segmented structures were compared to automatically segmented structures. The mean, standard deviation, median, and maximum segmentation errors were 0.23, 0.17, 0.18, and 1.27 mm, respectively. The results indicate that accurate segmentation of the facial nerve and chorda tympani in pediatric scans is achievable, thus suggesting that safe drilling trajectories can also be computed automatically.

Automated robot-assisted surgical skill evaluation: Predictive analytics approach.

PubMed

Fard, Mahtab J; Ameri, Sattar; Darin Ellis, R; Chinnam, Ratna B; Pandya, Abhilash K; Klein, Michael D

2018-02-01

Surgical skill assessment has predominantly been a subjective task. Recently, technological advances such as robot-assisted surgery have created great opportunities for objective surgical evaluation. In this paper, we introduce a predictive framework for objective skill assessment based on movement trajectory data. Our aim is to build a classification framework to automatically evaluate the performance of surgeons with different levels of expertise. Eight global movement features are extracted from movement trajectory data captured by a da Vinci robot for surgeons with two levels of expertise - novice and expert. Three classification methods - k-nearest neighbours, logistic regression and support vector machines - are applied. The result shows that the proposed framework can classify surgeons' expertise as novice or expert with an accuracy of 82.3% for knot tying and 89.9% for a suturing task. This study demonstrates and evaluates the ability of machine learning methods to automatically classify expert and novice surgeons using global movement features. Copyright © 2017 John Wiley & Sons, Ltd.

Automated determination of dust particles trajectories in the coma of comet 67P

NASA Astrophysics Data System (ADS)

Marín-Yaseli de la Parra, J.; Küppers, M.; Perez Lopez, F.; Besse, S.; Moissl, R.

2017-09-01

During more than two years Rosetta spent at comet 67P, it took thousands of images that contain individual dust particles. To arrive at a statistics of the dust properties, automatic image analysis is required. We present a new methodology for fast-dust identification using a star mask reference system for matching a set of images automatically. The main goal is to derive particle size distributions and to determine if traces of the size distribution of primordial pebbles are still present in today's cometary dust [1].

Developmental Trajectories for Children With Dyslexia and Low IQ Poor Readers

PubMed Central

2016-01-01

Reading difficulties are found in children with both high and low IQ and it is now clear that both groups exhibit difficulties in phonological processing. Here, we apply the developmental trajectories approach, a new methodology developed for studying language and cognitive impairments in developmental disorders, to both poor reader groups. The trajectory methodology enables identification of atypical versus delayed development in datasets gathered using group matching designs. Regarding the cognitive predictors of reading, which here are phonological awareness, phonological short-term memory (PSTM) and rapid automatized naming (RAN), the method showed that trajectories for the two groups diverged markedly. Children with dyslexia showed atypical development in phonological awareness, while low IQ poor readers showed developmental delay. Low IQ poor readers showed atypical PSTM and RAN development, but children with dyslexia showed developmental delay. These divergent trajectories may have important ramifications for supporting each type of poor reader, although all poor readers showed weakness in all areas. Regarding auditory processing, the developmental trajectories were very similar for the two poor reader groups. However, children with dyslexia demonstrated developmental delay for auditory discrimination of Duration, while the low IQ children showed atypical development on this measure. The data show that, regardless of IQ, poor readers have developmental trajectories that differ from typically developing children. The trajectories approach enables differences in trajectory classification to be identified across poor reader group, as well as specifying the individual nature of these trajectories. PMID:27110928

Motor Performance is Impaired Following Vestibular Stimulation in Ageing Mice

PubMed Central

Tung, Victoria W. K.; Burton, Thomas J.; Quail, Stephanie L.; Mathews, Miranda A.; Camp, Aaron J.

2016-01-01

Balance and maintaining postural equilibrium are important during stationary and dynamic movements to prevent falls, particularly in older adults. While our sense of balance is influenced by vestibular, proprioceptive, and visual information, this study focuses primarily on the vestibular component and its age-related effects on balance. C57Bl/6J mice of ages 1, 5–6, 8–9 and 27–28 months were tested using a combination of standard (such as grip strength and rotarod) and newly-developed behavioral tests (including balance beam and walking trajectory tests with a vestibular stimulus). In the current study, we confirm a decline in fore-limb grip strength and gross motor coordination as age increases. We also show that a vestibular stimulus of low frequency (2–3 Hz) and duration can lead to age-dependent changes in balance beam performance, which was evident by increases in latency to begin walking on the beam as well as the number of times hind-feet slip (FS) from the beam. Furthermore, aged mice (27–28 months) that received continuous access to a running wheel for 4 weeks did not improve when retested. Mice of ages 1, 10, 13 and 27–28 months were also tested for changes in walking trajectory as a result of the vestibular stimulus. While no linear relationship was observed between the changes in trajectory and age, 1-month-old mice were considerably less affected than mice of ages 10, 13 and 27–28 months. Conclusion: this study confirms there are age-related declines in grip strength and gross motor coordination. We also demonstrate age-dependent changes to finer motor abilities as a result of a low frequency and duration vestibular stimulus. These changes showed that while the ability to perform the balance beam task remained intact across all ages tested, behavioral changes in task performance were observed. PMID:26869921

Motor Performance is Impaired Following Vestibular Stimulation in Ageing Mice.

PubMed

Tung, Victoria W K; Burton, Thomas J; Quail, Stephanie L; Mathews, Miranda A; Camp, Aaron J

2016-01-01

Balance and maintaining postural equilibrium are important during stationary and dynamic movements to prevent falls, particularly in older adults. While our sense of balance is influenced by vestibular, proprioceptive, and visual information, this study focuses primarily on the vestibular component and its age-related effects on balance. C57Bl/6J mice of ages 1, 5-6, 8-9 and 27-28 months were tested using a combination of standard (such as grip strength and rotarod) and newly-developed behavioral tests (including balance beam and walking trajectory tests with a vestibular stimulus). In the current study, we confirm a decline in fore-limb grip strength and gross motor coordination as age increases. We also show that a vestibular stimulus of low frequency (2-3 Hz) and duration can lead to age-dependent changes in balance beam performance, which was evident by increases in latency to begin walking on the beam as well as the number of times hind-feet slip (FS) from the beam. Furthermore, aged mice (27-28 months) that received continuous access to a running wheel for 4 weeks did not improve when retested. Mice of ages 1, 10, 13 and 27-28 months were also tested for changes in walking trajectory as a result of the vestibular stimulus. While no linear relationship was observed between the changes in trajectory and age, 1-month-old mice were considerably less affected than mice of ages 10, 13 and 27-28 months. this study confirms there are age-related declines in grip strength and gross motor coordination. We also demonstrate age-dependent changes to finer motor abilities as a result of a low frequency and duration vestibular stimulus. These changes showed that while the ability to perform the balance beam task remained intact across all ages tested, behavioral changes in task performance were observed.

Dual Sticky Hierarchical Dirichlet Process Hidden Markov Model and Its Application to Natural Language Description of Motions.

PubMed

Hu, Weiming; Tian, Guodong; Kang, Yongxin; Yuan, Chunfeng; Maybank, Stephen

2017-09-25

In this paper, a new nonparametric Bayesian model called the dual sticky hierarchical Dirichlet process hidden Markov model (HDP-HMM) is proposed for mining activities from a collection of time series data such as trajectories. All the time series data are clustered. Each cluster of time series data, corresponding to a motion pattern, is modeled by an HMM. Our model postulates a set of HMMs that share a common set of states (topics in an analogy with topic models for document processing), but have unique transition distributions. For the application to motion trajectory modeling, topics correspond to motion activities. The learnt topics are clustered into atomic activities which are assigned predicates. We propose a Bayesian inference method to decompose a given trajectory into a sequence of atomic activities. On combining the learnt sources and sinks, semantic motion regions, and the learnt sequence of atomic activities, the action represented by the trajectory can be described in natural language in as automatic a way as possible. The effectiveness of our dual sticky HDP-HMM is validated on several trajectory datasets. The effectiveness of the natural language descriptions for motions is demonstrated on the vehicle trajectories extracted from a traffic scene.

In situ data analytics and indexing of protein trajectories.

PubMed

Johnston, Travis; Zhang, Boyu; Liwo, Adam; Crivelli, Silvia; Taufer, Michela

2017-06-15

The transition toward exascale computing will be accompanied by a performance dichotomy. Computational peak performance will rapidly increase; I/O performance will either grow slowly or be completely stagnant. Essentially, the rate at which data are generated will grow much faster than the rate at which data can be read from and written to the disk. MD simulations will soon face the I/O problem of efficiently writing to and reading from disk on the next generation of supercomputers. This article targets MD simulations at the exascale and proposes a novel technique for in situ data analysis and indexing of MD trajectories. Our technique maps individual trajectories' substructures (i.e., α-helices, β-strands) to metadata frame by frame. The metadata captures the conformational properties of the substructures. The ensemble of metadata can be used for automatic, strategic analysis within a trajectory or across trajectories, without manually identify those portions of trajectories in which critical changes take place. We demonstrate our technique's effectiveness by applying it to 26.3k helices and 31.2k strands from 9917 PDB proteins and by providing three empirical case studies. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

Fighting Testing ACAT/FRRP: Automatic Collision Avoidance Technology/Fighter Risk Reduction Project

NASA Technical Reports Server (NTRS)

Skoog, Mark A.

2009-01-01

This slide presentation reviews the work of the Flight testing Automatic Collision Avoidance Technology/Fighter Risk Reduction Project (ACAT/FRRP). The goal of this project is to develop common modular architecture for all aircraft, and to enable the transition of technology from research to production as soon as possible to begin to reduce the rate of mishaps. The automated Ground Collision Avoidance System (GCAS) system is designed to prevent collision with the ground, by avionics that project the future trajectory over digital terrain, and request an evasion maneuver at the last instance. The flight controls are capable of automatically performing a recovery. The collision avoidance is described in the presentation. Also included in the presentation is a description of the flight test.

HICOV - Newton-Raphson calculus of variation with automatic transversalities

NASA Technical Reports Server (NTRS)

Heintschel, T. J.

1968-01-01

Computer program generates trajectories that are optimum with respect to payload placed in an earth orbit. It uses a subroutine package which produces the terminal and transversality conditions and their partial derivatives. This program is written in FORTRAN 4 and FORMAC for the IBM 7094 computer.

Optimized x-ray source scanning trajectories for iterative reconstruction in high cone-angle tomography

NASA Astrophysics Data System (ADS)

Kingston, Andrew M.; Myers, Glenn R.; Latham, Shane J.; Li, Heyang; Veldkamp, Jan P.; Sheppard, Adrian P.

2016-10-01

With the GPU computing becoming main-stream, iterative tomographic reconstruction (IR) is becoming a com- putationally viable alternative to traditional single-shot analytical methods such as filtered back-projection. IR liberates one from the continuous X-ray source trajectories required for analytical reconstruction. We present a family of novel X-ray source trajectories for large-angle CBCT. These discrete (sparsely sampled) trajectories optimally fill the space of possible source locations by maximising the degree of mutually independent information. They satisfy a discrete equivalent of Tuy's sufficiency condition and allow high cone-angle (high-flux) tomog- raphy. The highly isotropic nature of the trajectory has several advantages: (1) The average source distance is approximately constant throughout the reconstruction volume, thus avoiding the differential-magnification artefacts that plague high cone-angle helical computed tomography; (2) Reduced streaking artifacts due to e.g. X-ray beam-hardening; (3) Misalignment and component motion manifests as blur in the tomogram rather than double-edges, which is easier to automatically correct; (4) An approximately shift-invariant point-spread-function which enables filtering as a pre-conditioner to speed IR convergence. We describe these space-filling trajectories and demonstrate their above-mentioned properties compared with a traditional helical trajectories.

Classification and Segmentation of Nanoparticle Diffusion Trajectories in Cellular Micro Environments

PubMed Central

Kroll, Alexandra; Haramagatti, Chandrashekara R.; Lipinski, Hans-Gerd; Wiemann, Martin

2017-01-01

Darkfield and confocal laser scanning microscopy both allow for a simultaneous observation of live cells and single nanoparticles. Accordingly, a characterization of nanoparticle uptake and intracellular mobility appears possible within living cells. Single particle tracking allows to measure the size of a diffusing particle close to a cell. However, within the more complex system of a cell’s cytoplasm normal, confined or anomalous diffusion together with directed motion may occur. In this work we present a method to automatically classify and segment single trajectories into their respective motion types. Single trajectories were found to contain more than one motion type. We have trained a random forest with 9 different features. The average error over all motion types for synthetic trajectories was 7.2%. The software was successfully applied to trajectories of positive controls for normal- and constrained diffusion. Trajectories captured by nanoparticle tracking analysis served as positive control for normal diffusion. Nanoparticles inserted into a diblock copolymer membrane was used to generate constrained diffusion. Finally we segmented trajectories of diffusing (nano-)particles in V79 cells captured with both darkfield- and confocal laser scanning microscopy. The software called “TraJClassifier” is freely available as ImageJ/Fiji plugin via https://git.io/v6uz2. PMID:28107406

Traffic Aware Strategic Aircrew Requests (TASAR)

NASA Technical Reports Server (NTRS)

Ballin, Mark G.; Wing, David J.

2012-01-01

Under Instrument Flight Rules, pilots are not permitted to make changes to their approved trajectory without first receiving permission from Air Traffic Control (ATC). Referred to as "user requests," trajectory change requests from aircrews are often denied or deferred by controllers because they have awareness of traffic and airspace constraints not currently available to flight crews. With the introduction of Automatic Dependent Surveillance-Broadcast (ADS-B) and other information services, a rich traffic, weather, and airspace information environment is becoming available on the flight deck. Automation developed by NASA uses this information to aid flight crews in the identification and formulation of optimal conflict-free trajectory requests. The concept of Traffic Aware Strategic Aircrew Requests (TASAR) combines ADS-B and airborne automation to enable user-optimal in-flight trajectory replanning and to increase the likelihood of ATC approval for the resulting trajectory change request. TASAR may improve flight efficiency or other user-desired attributes of the flight while not impacting and potentially benefiting the air traffic controller. This paper describes the TASAR concept of operations, its enabling automation technology which is currently under development, and NASA s plans for concept assessment and maturation.

78 FR 12136 - Fifty Eighth Meeting: RTCA Special Committee 186, Automatic Dependent Surveillance-Broadcast (ADS-B)

Federal Register 2010, 2011, 2012, 2013, 2014

2013-02-21

.... Issued in Washington, DC, on February 19, 2013. Paige Williams, Management Analyst, Business Operations... Trajectory Management Other? Other Business. None Identified Review Action Items/Work Programs. Adjourn...) [ssquf] Flight-deck Interval Management (FIM) [ssquf] CAVS and CDTI Assisted Pilot Procedures (CAPP...

MARS Science Laboratory Post-Landing Location Estimation Using Post2 Trajectory Simulation

NASA Technical Reports Server (NTRS)

Davis, J. L.; Shidner, Jeremy D.; Way, David W.

2013-01-01

The Mars Science Laboratory (MSL) Curiosity rover landed safely on Mars August 5th, 2012 at 10:32 PDT, Earth Received Time. Immediately following touchdown confirmation, best estimates of position were calculated to assist in determining official MSL locations during entry, descent and landing (EDL). Additionally, estimated balance mass impact locations were provided and used to assess how predicted locations compared to actual locations. For MSL, the Program to Optimize Simulated Trajectories II (POST2) was the primary trajectory simulation tool used to predict and assess EDL performance from cruise stage separation through rover touchdown and descent stage impact. This POST2 simulation was used during MSL operations for EDL trajectory analyses in support of maneuver decisions and imaging MSL during EDL. This paper presents the simulation methodology used and results of pre/post-landing MSL location estimates and associated imagery from Mars Reconnaissance Orbiter s (MRO) High Resolution Imaging Science Experiment (HiRISE) camera. To generate these estimates, the MSL POST2 simulation nominal and Monte Carlo data, flight telemetry from onboard navigation, relay orbiter positions from MRO and Mars Odyssey and HiRISE generated digital elevation models (DEM) were utilized. A comparison of predicted rover and balance mass location estimations against actual locations are also presented.

Parenting styles and body mass index trajectories from adolescence to adulthood.

PubMed

Fuemmeler, Bernard F; Yang, Chongming; Costanzo, Phil; Hoyle, Rick H; Siegler, Ilene C; Williams, Redford B; Ostbye, Truls

2012-07-01

Parenting styles such as authoritarian, disengaged, or permissive are thought to be associated with greater adolescent obesity risk than an authoritative style. This study assessed the relationship between parenting styles and changes in body mass index (BMI) from adolescence to young adulthood. The study included self-reported data from adolescents in the National Longitudinal Study of Adolescent Health. Factor mixture modeling, a data-driven approach, was used to classify participants into parenting style groups based on measures of acceptance and control. Latent growth modeling (LGM) identified patterns of developmental changes in BMI. After a number of potential confounders were controlled for, parenting style variables were entered as predictors of BMI trajectories. Analyses were also conducted for male and female individuals of 3 racial-ethnic groups (Hispanic, black, white) to assess whether parenting styles were differentially associated with BMI trajectories in these 6 groups. Parenting styles were classified into 4 groups: authoritarian, disengaged, permissive, and balanced. Compared with the balanced parenting style, authoritarian and disengaged parenting styles were associated with a less steep average BMI increase (linear slope) over time, but also less leveling off (quadratic) of BMI over time. Differences in BMI trajectories were observed for various genders and races, but the differences did not reach statistical significance. Adolescents who reported having parents with authoritarian or disengaged parenting styles had greater increases in BMI as they transitioned to young adulthood despite having a lower BMI trajectory through adolescence.

Parenting Styles and Body Mass Index Trajectories From Adolescence to Adulthood

PubMed Central

Fuemmeler, Bernard F.; Yang, Chongming; Costanzo, Phil; Hoyle, Rick H.; Ph.D.; Siegler, Ilene C.; Williams, Redford B.; Østbye, Truls

2013-01-01

Objective Parenting styles such as authoritarian, disengaged, or permissive are thought to be associated with greater adolescent obesity risk than an authoritative style. This study assessed the relationship between parenting styles and changes in body mass index (BMI) from adolescence to young adulthood. Methods The study included self-reported data from adolescents in the National Longitudinal Study of Adolescent Health. Factor mixture modeling, a data-driven approach, was used to classify participants into parenting style groups based on measures of acceptance and control. Latent growth modeling (LGM) identified patterns of developmental changes in BMI. After a number of potential cofounders were controlled for, parenting style variables were entered as predictors of BMI trajectories. Analyses were also conducted for males and females of three racial/ethnic groups (Hispanic, black, white) to assess whether parenting styles were differentially associated with BMI trajectories in these 6 groups. Results Parenting styles were classified into 4 groups: authoritarian, disengaged, permissive, and balanced. Compared with the balanced parenting style, authoritarian and disengaged parenting styles were associated with a less steep average BMI increase (linear slope) over time, but also less leveling off (quadratic) of BMI over time. Differences in BMI trajectories were observed for various genders and races, but the differences did not reach statistical significance. Conclusions Adolescents who reported having parents with authoritarian or disengaged parenting styles had greater increases in BMI as they transitioned to young adulthood despite having a lower BMI trajectory through adolescence. PMID:22545979

Estimation of Tree Position and STEM Diameter Using Simultaneous Localization and Mapping with Data from a Backpack-Mounted Laser Scanner

NASA Astrophysics Data System (ADS)

Holmgren, J.; Tulldahl, H. M.; Nordlöf, J.; Nyström, M.; Olofsson, K.; Rydell, J.; Willén, E.

2017-10-01

A system was developed for automatic estimations of tree positions and stem diameters. The sensor trajectory was first estimated using a positioning system that consists of a low precision inertial measurement unit supported by image matching with data from a stereo-camera. The initial estimation of the sensor trajectory was then calibrated by adjustments of the sensor pose using the laser scanner data. Special features suitable for forest environments were used to solve the correspondence and matching problems. Tree stem diameters were estimated for stem sections using laser data from individual scanner rotations and were then used for calibration of the sensor pose. A segmentation algorithm was used to associate stem sections to individual tree stems. The stem diameter estimates of all stem sections associated to the same tree stem were then combined for estimation of stem diameter at breast height (DBH). The system was validated on four 20 m radius circular plots and manual measured trees were automatically linked to trees detected in laser data. The DBH could be estimated with a RMSE of 19 mm (6 %) and a bias of 8 mm (3 %). The calibrated sensor trajectory and the combined use of circle fits from individual scanner rotations made it possible to obtain reliable DBH estimates also with a low precision positioning system.

Development of Intent Information Changes to Revised Minimum Aviation System Performance Standards for Automatic Dependent Surveillance Broadcast (RTCA/DO-242A)

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Warren, Anthony W.

2002-01-01

RTCA Special Committee 186 has recently adopted a series of changes to the original Minimum Aviation System Performance Standards (MASPS) for Automatic Dependent Surveillance Broadcast (ADS-B). The new document will be published as DO-242A. Major changes to the MASPS include a significant restructuring and expansion of the intent parameters for future ADS-B systems. ADS-B provides a means for aircraft to exchange information about their intended trajectories with each other and with ground systems. NASA and Boeing have played significant roles in recommending these changes and providing supporting analysis. The intent changes are anticipated to provide substantial benefits to several programs and operational concepts under development by the two organizations. Major changes include the addition of Target State reports and the replacement of Trajectory Change Point reports with Trajectory Change reports. These changes have been designed to better reflect the capabilities of existing and future aircraft avionics, while providing benefits to current and proposed applications. DO-242A implements intent information elements that can be supported by current avionics systems and data buses. Provisions are made for future incorporation of other intent elements, as needed to meet operational requirements. This document summarizes the reasons for the DO-242A intent changes and provides a detailed overview of current and future intended ADS-B MASPS changes related to aircraft intent.

Fuel-Conservation Guidance System for Powered-Lift Aircraft

NASA Technical Reports Server (NTRS)

Erzberger, Heinz; McLean, John D.

1981-01-01

A technique is described for the design of fuel-conservative guidance systems and is applied to a system that was flight tested on board NASA's sugmentor wing jet STOL research aircraft. An important operational feature of the system is its ability to rapidly synthesize fuel-efficient trajectories for a large set of initial aircraft positions, altitudes, and headings. This feature allows the aircraft to be flown efficiently under conditions of changing winds and air traffic control vectors. Rapid synthesis of fuel-efficient trajectories is accomplished in the airborne computer by fast-time trajectory integration using a simplified dynamic performance model of the aircraft. This technique also ensures optimum flap deployment and, for powered-lift STOL aircraft, optimum transition to low-speed flight. Also included in the design is accurate prediction of touchdown time for use in four-dimensional guidance applications. Flight test results have demonstrated that the automatically synthesized trajectories produce significant fuel savings relative to manually flown conventional approaches.

Evaluation of a computer-generated perspective tunnel display for flight path following

NASA Technical Reports Server (NTRS)

Grunwald, A. J.; Robertson, J. B.; Hatfield, J. J.

1980-01-01

The display was evaluated by monitoring pilot performance in a fixed base simulator with the vehicle dynamics of a CH-47 tandem rotor helicopter. Superposition of the predicted future vehicle position on the tunnel image was also investigated to determine whether, and to what extent, it contributes to better system performance (the best predicted future vehicle position was sought). Three types of simulator experiments were conducted: following a desired trajectory in the presence of disturbances; entering the trajectory from a random position, outside the trajectory; detecting and correcting failures in automatic flight. The tunnel display with superimposed predictor/director symbols was shown to be a very successful combination, which outperformed the other two displays in all three experiments. A prediction time of 4 to 7 sec. was found to optimize trajectory tracking for the given vehicle dynamics and flight condition. Pilot acceptance of the tunnel plus predictor/director display was found to be favorable and the time the pilot needed for familiarization with the display was found to be relatively short.

Minimum Hamiltonian ascent trajectory evaluation (MASTRE) program (update to automatic flight trajectory design, performance prediction, and vehicle sizing for support of shuttle and shuttle derived vehicles) users manual

NASA Technical Reports Server (NTRS)

Lyons, J. T.; Borchers, William R.

1993-01-01

Documentation for the User Interface Program for the Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) is provided. The User Interface Program is a separate software package designed to ease the user input requirements when using the MASTRE Trajectory Program. This document supplements documentation on the MASTRE Program that consists of the MASTRE Engineering Manual and the MASTRE Programmers Guide. The User Interface Program provides a series of menus and tables using the VAX Screen Management Guideline (SMG) software. These menus and tables allow the user to modify the MASTRE Program input without the need for learning the various program dependent mnemonics. In addition, the User Interface Program allows the user to modify and/or review additional input Namelist and data files, to build and review command files, to formulate and calculate mass properties related data, and to have a plotting capability.

Automatic guidance and control laws for helicopter obstacle avoidance

NASA Technical Reports Server (NTRS)

Cheng, Victor H. L.; Lam, T.

1992-01-01

The authors describe the implementation of a full-function guidance and control system for automatic obstacle avoidance in helicopter nap-of-the-earth (NOE) flight. The guidance function assumes that the helicopter is sufficiently responsive so that the flight path can be readily adjusted at NOE speeds. The controller, basically an autopilot for following the derived flight path, was implemented with parameter values to control a generic helicopter model used in the simulation. Evaluation of the guidance and control system with a 3-dimensional graphical helicopter simulation suggests that the guidance has the potential for providing good and meaningful flight trajectories.

Using Crowdsourced Trajectories for Automated OSM Data Entry Approach

PubMed Central

Basiri, Anahid; Amirian, Pouria; Mooney, Peter

2016-01-01

The concept of crowdsourcing is nowadays extensively used to refer to the collection of data and the generation of information by large groups of users/contributors. OpenStreetMap (OSM) is a very successful example of a crowd-sourced geospatial data project. Unfortunately, it is often the case that OSM contributor inputs (including geometry and attribute data inserts, deletions and updates) have been found to be inaccurate, incomplete, inconsistent or vague. This is due to several reasons which include: (1) many contributors with little experience or training in mapping and Geographic Information Systems (GIS); (2) not enough contributors familiar with the areas being mapped; (3) contributors having different interpretations of the attributes (tags) for specific features; (4) different levels of enthusiasm between mappers resulting in different number of tags for similar features and (5) the user-friendliness of the online user-interface where the underlying map can be viewed and edited. This paper suggests an automatic mechanism, which uses raw spatial data (trajectories of movements contributed by contributors to OSM) to minimise the uncertainty and impact of the above-mentioned issues. This approach takes the raw trajectory datasets as input and analyses them using data mining techniques. In addition, we extract some patterns and rules about the geometry and attributes of the recognised features for the purpose of insertion or editing of features in the OSM database. The underlying idea is that certain characteristics of user trajectories are directly linked to the geometry and the attributes of geographic features. Using these rules successfully results in the generation of new features with higher spatial quality which are subsequently automatically inserted into the OSM database. PMID:27649192

SU-E-T-142: Automatic Linac Log File: Analysis and Reporting

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gainey, M; Rothe, T

Purpose: End to end QA for IMRT/VMAT is time consuming. Automated linac log file analysis and recalculation of daily recorded fluence, and hence dose, distribution bring this closer. Methods: Matlab (R2014b, Mathworks) software was written to read in and analyse IMRT/VMAT trajectory log files (TrueBeam 1.5, Varian Medical Systems) overnight, and are archived on a backed-up network drive (figure). A summary report (PDF) is sent by email to the duty linac physicist. A structured summary report (PDF) for each patient is automatically updated for embedding into the R&V system (Mosaiq 2.5, Elekta AG). The report contains cross-referenced hyperlinks to easemore » navigation between treatment fractions. Gamma analysis can be performed on planned (DICOM RTPlan) and treated (trajectory log) fluence distributions. Trajectory log files can be converted into RTPlan files for dose distribution calculation (Eclipse, AAA10.0.28, VMS). Results: All leaf positions are within +/−0.10mm: 57% within +/−0.01mm; 89% within 0.05mm. Mean leaf position deviation is 0.02mm. Gantry angle variations lie in the range −0.1 to 0.3 degrees, mean 0.04 degrees. Fluence verification shows excellent agreement between planned and treated fluence. Agreement between planned and treated dose distribution, the derived from log files, is very good. Conclusion: Automated log file analysis is a valuable tool for the busy physicist, enabling potential treated fluence distribution errors to be quickly identified. In the near future we will correlate trajectory log analysis with routine IMRT/VMAT QA analysis. This has the potential to reduce, but not eliminate, the QA workload.« less

Stop! border ahead: Automatic detection of subthalamic exit during deep brain stimulation surgery.

PubMed

Valsky, Dan; Marmor-Levin, Odeya; Deffains, Marc; Eitan, Renana; Blackwell, Kim T; Bergman, Hagai; Israel, Zvi

2017-01-01

Microelectrode recordings along preplanned trajectories are often used for accurate definition of the subthalamic nucleus (STN) borders during deep brain stimulation (DBS) surgery for Parkinson's disease. Usually, the demarcation of the STN borders is performed manually by a neurophysiologist. The exact detection of the borders is difficult, especially detecting the transition between the STN and the substantia nigra pars reticulata. Consequently, demarcation may be inaccurate, leading to suboptimal location of the DBS lead and inadequate clinical outcomes. We present machine-learning classification procedures that use microelectrode recording power spectra and allow for real-time, high-accuracy discrimination between the STN and substantia nigra pars reticulata. A support vector machine procedure was tested on microelectrode recordings from 58 trajectories that included both STN and substantia nigra pars reticulata that achieved a 97.6% consistency with human expert classification (evaluated by 10-fold cross-validation). We used the same data set as a training set to find the optimal parameters for a hidden Markov model using both microelectrode recording features and trajectory history to enable real-time classification of the ventral STN border (STN exit). Seventy-three additional trajectories were used to test the reliability of the learned statistical model in identifying the exit from the STN. The hidden Markov model procedure identified the STN exit with an error of 0.04 ± 0.18 mm and detection reliability (error < 1 mm) of 94%. The results indicate that robust, accurate, and automatic real-time electrophysiological detection of the ventral STN border is feasible. © 2016 International Parkinson and Movement Disorder Society. © 2016 International Parkinson and Movement Disorder Society.

Automated Generation of 3D Volcanic Gas Plume Models for Geobrowsers

NASA Astrophysics Data System (ADS)

Wright, T. E.; Burton, M.; Pyle, D. M.

2007-12-01

A network of five UV spectrometers on Etna automatically gathers column amounts of SO2 during daylight hours. Near-simultaneous scans from adjacent spectrometers, comprising 210 column amounts in total, are then converted to 2D slices showing the spatial distribution of the gas by tomographic reconstruction. The trajectory of the plume is computed using an automatically-submitted query to NOAA's HYSPLIT Trajectory Model. This also provides local estimates of air temperature, which are used to determine the atmospheric stability and therefore the degree to which the plume is dispersed by turbulence. This information is sufficient to construct an animated sequence of models which show how the plume is advected and diffused over time. These models are automatically generated in the Collada Digital Asset Exchange format and combined into a single file which displays the evolution of the plume in Google Earth. These models are useful for visualising and predicting the shape and distribution of the plume for civil defence, to assist field campaigns and as a means of communicating some of the work of volcano observatories to the public. The Simultaneous Algebraic Reconstruction Technique is used to create the 2D slices. This is a well-known method, based on iteratively updating a forward model (from 2D distribution to column amounts). Because it is based on a forward model, it also provides a simple way to quantify errors.

Automated Steering Control Design by Visual Feedback Approach —System Identification and Control Experiments with a Radio-Controlled Car—

NASA Astrophysics Data System (ADS)

Fujiwara, Yukihiro; Yoshii, Masakazu; Arai, Yasuhito; Adachi, Shuichi

Advanced safety vehicle(ASV)assists drivers’ manipulation to avoid trafic accidents. A variety of researches on automatic driving systems are necessary as an element of ASV. Among them, we focus on visual feedback approach in which the automatic driving system is realized by recognizing road trajectory using image information. The purpose of this paper is to examine the validity of this approach by experiments using a radio-controlled car. First, a practical image processing algorithm to recognize white lines on the road is proposed. Second, a model of the radio-controlled car is built by system identication experiments. Third, an automatic steering control system is designed based on H∞ control theory. Finally, the effectiveness of the designed control system is examined via traveling experiments.

Optimal guidance with obstacle avoidance for nap-of-the-earth flight

NASA Technical Reports Server (NTRS)

Pekelsma, Nicholas J.

1988-01-01

The development of automatic guidance is discussed for helicopter Nap-of-the-Earth (NOE) and near-NOE flight. It deals with algorithm refinements relating to automated real-time flight path planning and to mission planning. With regard to path planning, it relates rotorcraft trajectory characteristics to the NOE computation scheme and addresses real-time computing issues and both ride quality issues and pilot-vehicle interfaces. The automated mission planning algorithm refinements include route optimization, automatic waypoint generation, interactive applications, and provisions for integrating the results into the real-time path planning software. A microcomputer based mission planning workstation was developed and is described. Further, the application of Defense Mapping Agency (DMA) digital terrain to both the mission planning workstation and to automatic guidance is both discussed and illustrated.

Development of an algorithm to model an aircraft equipped with a generic CDTI display

NASA Technical Reports Server (NTRS)

Driscoll, W. C.; Houck, J. A.

1986-01-01

A model of human pilot performance of a tracking task using a generic Cockpit Display of Traffic Information (CDTI) display is developed from experimental data. The tracking task is to use CDTI in tracking a leading aircraft at a nominal separation of three nautical miles over a prescribed trajectory in space. The analysis of the data resulting from a factorial design of experiments reveals that the tracking task performance depends on the pilot and his experience at performing the task. Performance was not strongly affected by the type of control system used (velocity vector control wheel steering versus 3D automatic flight path guidance and control). The model that is developed and verified results in state trajectories whose difference from the experimental state trajectories is small compared to the variation due to the pilot and experience factors.

Statistical learning of movement.

PubMed

Ongchoco, Joan Danielle Khonghun; Uddenberg, Stefan; Chun, Marvin M

2016-12-01

The environment is dynamic, but objects move in predictable and characteristic ways, whether they are a dancer in motion, or a bee buzzing around in flight. Sequences of movement are comprised of simpler motion trajectory elements chained together. But how do we know where one trajectory element ends and another begins, much like we parse words from continuous streams of speech? As a novel test of statistical learning, we explored the ability to parse continuous movement sequences into simpler element trajectories. Across four experiments, we showed that people can robustly parse such sequences from a continuous stream of trajectories under increasingly stringent tests of segmentation ability and statistical learning. Observers viewed a single dot as it moved along simple sequences of paths, and were later able to discriminate these sequences from novel and partial ones shown at test. Observers demonstrated this ability when there were potentially helpful trajectory-segmentation cues such as a common origin for all movements (Experiment 1); when the dot's motions were entirely continuous and unconstrained (Experiment 2); when sequences were tested against partial sequences as a more stringent test of statistical learning (Experiment 3); and finally, even when the element trajectories were in fact pairs of trajectories, so that abrupt directional changes in the dot's motion could no longer signal inter-trajectory boundaries (Experiment 4). These results suggest that observers can automatically extract regularities in movement - an ability that may underpin our capacity to learn more complex biological motions, as in sport or dance.

A stereoscopic imaging system for laser back scatter based trajectory measurement in ballistics: part 2

NASA Astrophysics Data System (ADS)

Chalupka, Uwe; Rothe, Hendrik

2012-03-01

The progress on a laser- and stereo-camera-based trajectory measurement system that we already proposed and described in recent publications is given. The system design was extended from one to two more powerful, DSP-controllable LASER systems. Experimental results of the extended system using different projectile-/weapon combinations will be shown and discussed. Automatic processing of acquired images using common 3DIP techniques was realized. Processing steps to extract trajectory segments from images as representative for the current application will be presented. Used algorithms for backward-calculation of the projectile trajectory will be shown. Verification of produced results is done against simulated trajectories, once in terms of detection robustness and once in terms of detection accuracy. Fields of use for the current system are within the ballistic domain. The first purpose is for trajectory measurement of small and middle caliber projectiles on a shooting range. Extension to big caliber projectiles as well as an application for sniper detection is imaginable, but would require further work. Beside classical RADAR, acoustic and optical projectile detection methods, the current system represents a further projectile location method under the new class of electro-optical methods that have been evolved in recent decades and that uses 3D imaging acquisition and processing techniques.

A Multiple-range Self-balancing Thermocouple Potentiometer

NASA Technical Reports Server (NTRS)

Warshawsky, I; Estrin, M

1951-01-01

A multiple-range potentiometer circuit is described that provides automatic measurement of temperatures or temperature differences with any one of several thermocouple-material pairs. Techniques of automatic reference junction compensation, span adjustment, and zero suppression are described that permit rapid selection of range and wire material, without the necessity for restandardization, by setting of two external tap switches.

Partitioning of net carbon dioxide flux measured by automatic transparent chamber

NASA Astrophysics Data System (ADS)

Dyukarev, EA

2018-03-01

Mathematical model was developed for describing carbon dioxide fluxes at open sedge-sphagnum fen during growing season. The model was calibrated using the results of observations from automatic transparent chamber and it allows us to estimate autotrophic, heterotrophic and ecosystem respiration fluxes, gross and net primary vegetation production, and the net carbon balance.

The Six-Component Wind Balance

NASA Technical Reports Server (NTRS)

Zahm, A F

1923-01-01

Dr. Zahm's report is a description of the six-component wind-tunnel balance in use at the Aerodynamic Laboratory, Washington Navy Yard. The description of the balance gives the mechanical details and the method of operation, and is accompanied by line drawings showing the construction of the balance. The balance is of particular interest, as it allows the model to be set up quickly and accurately in roll, pitch, and yaw, without stopping the wind. It is possible to measure automatically, directly, and independently the drag, cross-wind force, and lift; also the rolling, pitching, and yawing moments. It is also possible to make the balance self-recording.

Multiresolution strategies for the numerical solution of optimal control problems

NASA Astrophysics Data System (ADS)

Jain, Sachin

There exist many numerical techniques for solving optimal control problems but less work has been done in the field of making these algorithms run faster and more robustly. The main motivation of this work is to solve optimal control problems accurately in a fast and efficient way. Optimal control problems are often characterized by discontinuities or switchings in the control variables. One way of accurately capturing the irregularities in the solution is to use a high resolution (dense) uniform grid. This requires a large amount of computational resources both in terms of CPU time and memory. Hence, in order to accurately capture any irregularities in the solution using a few computational resources, one can refine the mesh locally in the region close to an irregularity instead of refining the mesh uniformly over the whole domain. Therefore, a novel multiresolution scheme for data compression has been designed which is shown to outperform similar data compression schemes. Specifically, we have shown that the proposed approach results in fewer grid points in the grid compared to a common multiresolution data compression scheme. The validity of the proposed mesh refinement algorithm has been verified by solving several challenging initial-boundary value problems for evolution equations in 1D. The examples have demonstrated the stability and robustness of the proposed algorithm. The algorithm adapted dynamically to any existing or emerging irregularities in the solution by automatically allocating more grid points to the region where the solution exhibited sharp features and fewer points to the region where the solution was smooth. Thereby, the computational time and memory usage has been reduced significantly, while maintaining an accuracy equivalent to the one obtained using a fine uniform mesh. Next, a direct multiresolution-based approach for solving trajectory optimization problems is developed. The original optimal control problem is transcribed into a nonlinear programming (NLP) problem that is solved using standard NLP codes. The novelty of the proposed approach hinges on the automatic calculation of a suitable, nonuniform grid over which the NLP problem is solved, which tends to increase numerical efficiency and robustness. Control and/or state constraints are handled with ease, and without any additional computational complexity. The proposed algorithm is based on a simple and intuitive method to balance several conflicting objectives, such as accuracy of the solution, convergence, and speed of the computations. The benefits of the proposed algorithm over uniform grid implementations are demonstrated with the help of several nontrivial examples. Furthermore, two sequential multiresolution trajectory optimization algorithms for solving problems with moving targets and/or dynamically changing environments have been developed. For such problems, high accuracy is desirable only in the immediate future, yet the ultimate mission objectives should be accommodated as well. An intelligent trajectory generation for such situations is thus enabled by introducing the idea of multigrid temporal resolution to solve the associated trajectory optimization problem on a non-uniform grid across time that is adapted to: (i) immediate future, and (ii) potential discontinuities in the state and control variables.

Benefits of Using Pairwise Trajectory Management in the Central East Pacific

NASA Technical Reports Server (NTRS)

Chartrand, Ryan; Ballard, Kathryn

2017-01-01

Pairwise Trajectory Management (PTM) is a concept that utilizes airborne and ground-based capabilities to enable airborne spacing operations in procedural airspace. This concept makes use of updated ground automation, Automatic Dependent Surveillance-Broadcast (ADS-B) and on board avionics generating real time guidance. An experiment was conducted to examine the potential benefits of implementing PTM in the Central East Pacific oceanic region. An explanation of the experiment and some of the results are included in this paper. The PTM concept allowed for an increase in the average time an aircraft is able to spend at its desired flight level and a reduction in fuel burn.

Developing an Onboard Traffic-Aware Flight Optimization Capability for Near-Term Low-Cost Implementation

NASA Technical Reports Server (NTRS)

Wing, David J.; Ballin, Mark G.; Koczo, Stefan, Jr.; Vivona, Robert A.; Henderson, Jeffrey M.

2013-01-01

The concept of Traffic Aware Strategic Aircrew Requests (TASAR) combines Automatic Dependent Surveillance Broadcast (ADS-B) IN and airborne automation to enable user-optimal in-flight trajectory replanning and to increase the likelihood of Air Traffic Control (ATC) approval for the resulting trajectory change request. TASAR is designed as a near-term application to improve flight efficiency or other user-desired attributes of the flight while not impacting and potentially benefiting ATC. Previous work has indicated the potential for significant benefits for each TASAR-equipped aircraft. This paper will discuss the approach to minimizing TASAR's cost for implementation and accelerating readiness for near-term implementation.

Planning, guidance, and quality assurance of pelvic screw placement using deformable image registration

NASA Astrophysics Data System (ADS)

Goerres, J.; Uneri, A.; Jacobson, M.; Ramsay, B.; De Silva, T.; Ketcha, M.; Han, R.; Manbachi, A.; Vogt, S.; Kleinszig, G.; Wolinsky, J.-P.; Osgood, G.; Siewerdsen, J. H.

2017-12-01

Percutaneous pelvic screw placement is challenging due to narrow bone corridors surrounded by vulnerable structures and difficult visual interpretation of complex anatomical shapes in 2D x-ray projection images. To address these challenges, a system for planning, guidance, and quality assurance (QA) is presented, providing functionality analogous to surgical navigation, but based on robust 3D-2D image registration techniques using fluoroscopy images already acquired in routine workflow. Two novel aspects of the system are investigated: automatic planning of pelvic screw trajectories and the ability to account for deformation of surgical devices (K-wire deflection). Atlas-based registration is used to calculate a patient-specific plan of screw trajectories in preoperative CT. 3D-2D registration aligns the patient to CT within the projective geometry of intraoperative fluoroscopy. Deformable known-component registration (dKC-Reg) localizes the surgical device, and the combination of plan and device location is used to provide guidance and QA. A leave-one-out analysis evaluated the accuracy of automatic planning, and a cadaver experiment compared the accuracy of dKC-Reg to rigid approaches (e.g. optical tracking). Surgical plans conformed within the bone cortex by 3-4 mm for the narrowest corridor (superior pubic ramus) and  >5 mm for the widest corridor (tear drop). The dKC-Reg algorithm localized the K-wire tip within 1.1 mm and 1.4° and was consistently more accurate than rigid-body tracking (errors up to 9 mm). The system was shown to automatically compute reliable screw trajectories and accurately localize deformed surgical devices (K-wires). Such capability could improve guidance and QA in orthopaedic surgery, where workflow is impeded by manual planning, conventional tool trackers add complexity and cost, rigid tool assumptions are often inaccurate, and qualitative interpretation of complex anatomy from 2D projections is prone to trial-and-error with extended fluoroscopy time.

Postural perturbations: new insights for treatment of balance disorders

NASA Technical Reports Server (NTRS)

Horak, F. B.; Henry, S. M.; Shumway-Cook, A.; Peterson, B. W. (Principal Investigator)

1997-01-01

This article reviews the neural control of posture as understood through studies of automatic responses to mechanical perturbations. Recent studies of responses to postural perturbations have provided a new view of how postural stability is controlled, and this view has profound implications for physical therapy practice. We discuss the implications for rehabilitation of balance disorders and demonstrate how an understanding of the specific systems underlying postural control can help to focus and enrich our therapeutic approaches. By understanding the basic systems underlying control of balance, such as strategy selection, rapid latencies, coordinated temporal spatial patterns, force control, and context-specific adaptations, therapists can focus their treatment on each patient's specific impairments. Research on postural responses to surface translations has shown that balance is not based on a fixed set of equilibrium reflexes but on a flexible, functional motor skill that can adapt with training and experience. More research is needed to determine the extent to which quantification of automatic postural responses has practical implications for predicting falls in patients with constraints in their postural control system.

Affordable, automatic quantitative fall risk assessment based on clinical balance scales and Kinect data.

PubMed

Colagiorgio, P; Romano, F; Sardi, F; Moraschini, M; Sozzi, A; Bejor, M; Ricevuti, G; Buizza, A; Ramat, S

2014-01-01

The problem of a correct fall risk assessment is becoming more and more critical with the ageing of the population. In spite of the available approaches allowing a quantitative analysis of the human movement control system's performance, the clinical assessment and diagnostic approach to fall risk assessment still relies mostly on non-quantitative exams, such as clinical scales. This work documents our current effort to develop a novel method to assess balance control abilities through a system implementing an automatic evaluation of exercises drawn from balance assessment scales. Our aim is to overcome the classical limits characterizing these scales i.e. limited granularity and inter-/intra-examiner reliability, to obtain objective scores and more detailed information allowing to predict fall risk. We used Microsoft Kinect to record subjects' movements while performing challenging exercises drawn from clinical balance scales. We then computed a set of parameters quantifying the execution of the exercises and fed them to a supervised classifier to perform a classification based on the clinical score. We obtained a good accuracy (~82%) and especially a high sensitivity (~83%).

Development of an automatic rotational orthosis for walking with arm swing.

PubMed

Fang, Juan; Yang, Guo-Yuan; Xie, Le

2017-07-01

Interlimb neural coupling is often observed during normal gait and is postulated to be important for gait restoration. In order to provide a testbed for investigation of interlimb neural coupling, we previously developed a rotational orthosis for walking with arm swing (ROWAS). The present study aimed to develop and evaluate the feasibility of a new system, viz. an automatic ROWAS (aROWAS). We developed the mechanical structures of aROWAS in SolidWorks, and implemented the concept in a prototype. Normal gait data from walking at various speeds were used as reference trajectories of the shoulder, hip, knee and ankle joints. The aROWAS prototype was tested in three able-bodied subjects. The prototype could automatically adjust to size and height, and automatically produced adaptable coordinated performance in the upper and lower limbs, with joint profiles similar to those occurring in normal gait. The subjects reported better acceptance in aROWAS than in ROWAS. The aROWAS system was deemed feasible among able-bodied subjects.

Miss-distance indicator for tank main gun systems

NASA Astrophysics Data System (ADS)

Bornstein, Jonathan A.; Hillis, David B.

1994-07-01

The initial development of a passive, automated system to track bullet trajectories near a target to determine the `miss distance,' and the corresponding correction necessary to bring the following round `on target' is discussed. The system consists of a visible wavelength CCD sensor, long focal length optics, and a separate IR sensor to detect the muzzle flash of the firing event; this is coupled to a `PC' based image processing and automatic tracking system designed to follow the projectile trajectory by intelligently comparing frame to frame variation of the projectile tracer image. An error analysis indicates that the device is particularly sensitive to variation of the projectile time of flight to the target, and requires development of algorithms to estimate this value from the 2D images employed by the sensor to monitor the projectile trajectory. Initial results obtained by using a brassboard prototype to track training ammunition are promising.

Cerebral palsy characterization by estimating ocular motion

NASA Astrophysics Data System (ADS)

González, Jully; Atehortúa, Angélica; Moncayo, Ricardo; Romero, Eduardo

2017-11-01

Cerebral palsy (CP) is a large group of motion and posture disorders caused during the fetal or infant brain development. Sensorial impairment is commonly found in children with CP, i.e., between 40-75 percent presents some form of vision problems or disabilities. An automatic characterization of the cerebral palsy is herein presented by estimating the ocular motion during a gaze pursuing task. Specifically, After automatically detecting the eye location, an optical flow algorithm tracks the eye motion following a pre-established visual assignment. Subsequently, the optical flow trajectories are characterized in the velocity-acceleration phase plane. Differences are quantified in a small set of patients between four to ten years.

Configuration management and automatic control of an augmentor wing aircraft with vectored thrust

NASA Technical Reports Server (NTRS)

Cicolani, L. S.; Sridhar, B.; Meyer, G.

1979-01-01

An advanced structure for automatic flight control logic for powered-lift aircraft operating in terminal areas is under investigation at Ames Research Center. This structure is based on acceleration control; acceleration commands are constructed as the sum of acceleration on the reference trajectory and a corrective feedback acceleration to regulate path tracking errors. The central element of the structure, termed a Trimmap, uses a model of the aircraft aerodynamic and engine forces to calculate the control settings required to generate the acceleration commands. This report describes the design criteria for the Trimmap and derives a Trimmap for Ames experimental augmentor wing jet STOL research aircraft.

FAMA: Fast Automatic MOOG Analysis

NASA Astrophysics Data System (ADS)

Magrini, Laura; Randich, Sofia; Friel, Eileen; Spina, Lorenzo; Jacobson, Heather; Cantat-Gaudin, Tristan; Donati, Paolo; Baglioni, Roberto; Maiorca, Enrico; Bragaglia, Angela; Sordo, Rosanna; Vallenari, Antonella

2014-02-01

FAMA (Fast Automatic MOOG Analysis), written in Perl, computes the atmospheric parameters and abundances of a large number of stars using measurements of equivalent widths (EWs) automatically and independently of any subjective approach. Based on the widely-used MOOG code, it simultaneously searches for three equilibria, excitation equilibrium, ionization balance, and the relationship between logn(FeI) and the reduced EWs. FAMA also evaluates the statistical errors on individual element abundances and errors due to the uncertainties in the stellar parameters. Convergence criteria are not fixed "a priori" but instead are based on the quality of the spectra.

Two-year trajectory of fall risk in people with Parkinson’s disease: a latent class analysis

PubMed Central

Paul, Serene S; Thackeray, Anne; Duncan, Ryan P; Cavanaugh, James T; Ellis, Theresa D; Earhart, Gammon M; Ford, Matthew P; Foreman, K Bo; Dibble, Leland E

2015-01-01

Objective To examine fall risk trajectories occurring naturally in a sample of individuals with early to middle stage Parkinson’s disease (PD). Design Latent class analysis, specifically growth mixture modeling (GMM) of longitudinal fall risk trajectories. Setting Not applicable. Participants 230 community-dwelling PD participants of a longitudinal cohort study who attended at least two of five assessments over a two year period. Interventions Not applicable. Main Outcome Measures Fall risk trajectory (low, medium or high risk) and stability of fall risk trajectory (stable or fluctuating). Fall risk was determined at 6-monthly intervals using a simple clinical tool based on fall history, freezing of gait, and gait speed. Results The GMM optimally grouped participants into three fall risk trajectories that closely mirrored baseline fall risk status (p=.001). The high fall risk trajectory was most common (42.6%) and included participants with longer and more severe disease and with higher postural instability and gait disability (PIGD) scores than the low and medium risk trajectories (p<.001). Fluctuating fall risk (posterior probability <0.8 of belonging to any trajectory) was found in only 22.6% of the sample, most commonly among individuals who were transitioning to PIGD predominance. Conclusions Regardless of their baseline characteristics, most participants had clear and stable fall risk trajectories over two years. Further investigation is required to determine whether interventions to improve gait and balance may improve fall risk trajectories in people with PD. PMID:26606871

Assessment and Rehabilitation of Central Sensory Impairments for Balance in mTBI

DTIC Science & Technology

2016-10-01

place; 95% complete. ● Purchasing and testing software of Opals ; awaiting release of newer, updated sensor from APDM to determine need for more sensors...2016. ● Develop new algorithm to automatically quantify head movements from Opal sensor; 100% complete 23-Sep-2016. ● Set up and test gait paradigm...Interaction in Balance (mCTSIB), Modified Balance Error Scoring System (mBESS) and walking tests, subjects wear five Opal inertial sensors (APDM, Inc

The Denis-gruson Six-component Wind-tunnel Balance

NASA Technical Reports Server (NTRS)

1935-01-01

The 6.C.1 balance is the first fully automatic balance assuring a continuous and simultaneous record of the aerodynamic characteristics of an airfoil in a wind tunnel. Because of the rapidity of the measurements a complete polar (six components) requires only about three minutes of wind, that is to say, of motive power, which is of interest for wind tunnels with high efficiency factors and may lead to the economical design of large size wind tunnels.

Fast Beam-Based BPM Calibration

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bertsche, K.; Loos, H.; Nuhn, H.-D.

2012-10-15

The Alignment Diagnostic System (ADS) of the LCLS undulator system indicates that the 33 undulator quadrupoles have extremely high position stability over many weeks. However, beam trajectory straightness and lasing efficiency degrade more quickly than this. A lengthy Beam Based Alignment (BBA) procedure must be executed every two to four weeks to re-optimize the X-ray beam parameters. The undulator system includes RF cavity Beam Position Monitors (RFBPMs), several of which are utilized by an automatic feedback system to align the incoming electron-beam trajectory to the undulator axis. The beam trajectory straightness degradation has been traced to electronic drifts of themore » gain and offset of the BPMs used in the beam feedback system. To quickly recover the trajectory straightness, we have developed a fast beam-based procedure to recalibrate the BPMs. This procedure takes advantage of the high-precision monitoring capability of the ADS, which allows highly repeatable positioning of undulator quadrupoles. This report describes the ADS, the position stability of the LCLS undulator quadrupoles, and some results of the new recovery procedure.« less

Accurately tracking single-cell movement trajectories in microfluidic cell sorting devices.

PubMed

Jeong, Jenny; Frohberg, Nicholas J; Zhou, Enlu; Sulchek, Todd; Qiu, Peng

2018-01-01

Microfluidics are routinely used to study cellular properties, including the efficient quantification of single-cell biomechanics and label-free cell sorting based on the biomechanical properties, such as elasticity, viscosity, stiffness, and adhesion. Both quantification and sorting applications require optimal design of the microfluidic devices and mathematical modeling of the interactions between cells, fluid, and the channel of the device. As a first step toward building such a mathematical model, we collected video recordings of cells moving through a ridged microfluidic channel designed to compress and redirect cells according to cell biomechanics. We developed an efficient algorithm that automatically and accurately tracked the cell trajectories in the recordings. We tested the algorithm on recordings of cells with different stiffness, and showed the correlation between cell stiffness and the tracked trajectories. Moreover, the tracking algorithm successfully picked up subtle differences of cell motion when passing through consecutive ridges. The algorithm for accurately tracking cell trajectories paves the way for future efforts of modeling the flow, forces, and dynamics of cell properties in microfluidics applications.

A Supporting Platform for Semi-Automatic Hyoid Bone Tracking and Parameter Extraction from Videofluoroscopic Images for the Diagnosis of Dysphagia Patients.

PubMed

Lee, Jun Chang; Nam, Kyoung Won; Jang, Dong Pyo; Paik, Nam Jong; Ryu, Ju Seok; Kim, In Young

2017-04-01

Conventional kinematic analysis of videofluoroscopic (VF) swallowing image, most popular for dysphagia diagnosis, requires time-consuming and repetitive manual extraction of diagnostic information from multiple images representing one swallowing period, which results in a heavy work load for clinicians and excessive hospital visits for patients to receive counseling and prescriptions. In this study, a software platform was developed that can assist in the VF diagnosis of dysphagia by automatically extracting a two-dimensional moving trajectory of the hyoid bone as well as 11 temporal and kinematic parameters. Fifty VF swallowing videos containing both non-mandible-overlapped and mandible-overlapped cases from eight patients with dysphagia of various etiologies and 19 videos from ten healthy controls were utilized for performance verification. Percent errors of hyoid bone tracking were 1.7 ± 2.1% for non-overlapped images and 4.2 ± 4.8% for overlapped images. Correlation coefficients between manually extracted and automatically extracted moving trajectories of the hyoid bone were 0.986 ± 0.017 (X-axis) and 0.992 ± 0.006 (Y-axis) for non-overlapped images, and 0.988 ± 0.009 (X-axis) and 0.991 ± 0.006 (Y-axis) for overlapped images. Based on the experimental results, we believe that the proposed platform has the potential to improve the satisfaction of both clinicians and patients with dysphagia.

Handling Trajectory Uncertainties for Airborne Conflict Management

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Doble, Nathan A.; Karr, David; Palmer, Michael T.

2005-01-01

Airborne conflict management is an enabling capability for NASA's Distributed Air-Ground Traffic Management (DAG-TM) concept. DAGTM has the goal of significantly increasing capacity within the National Airspace System, while maintaining or improving safety. Under DAG-TM, autonomous aircraft maintain separation from each other and from managed aircraft unequipped for autonomous flight. NASA Langley Research Center has developed the Autonomous Operations Planner (AOP), an onboard decision support system that provides airborne conflict management (ACM) and strategic flight planning support for autonomous aircraft pilots. The AOP performs conflict detection, prevention, and resolution from nearby traffic aircraft and area hazards. Traffic trajectory information is assumed to be provided by Automatic Dependent Surveillance Broadcast (ADS-B). Reliable trajectory prediction is a key capability for providing effective ACM functions. Trajectory uncertainties due to environmental effects, differences in aircraft systems and performance, and unknown intent information lead to prediction errors that can adversely affect AOP performance. To accommodate these uncertainties, the AOP has been enhanced to create cross-track, vertical, and along-track buffers along the predicted trajectories of both ownship and traffic aircraft. These buffers will be structured based on prediction errors noted from previous simulations such as a recent Joint Experiment between NASA Ames and Langley Research Centers and from other outside studies. Currently defined ADS-B parameters related to navigation capability, trajectory type, and path conformance will be used to support the algorithms that generate the buffers.

Cognition and balance control: does processing of explicit contextual cues of impending perturbations modulate automatic postural responses?

PubMed

Coelho, Daniel Boari; Teixeira, Luis Augusto

2017-08-01

Processing of predictive contextual cues of an impending perturbation is thought to induce adaptive postural responses. Cueing in previous research has been provided through repeated perturbations with a constant foreperiod. This experimental strategy confounds explicit predictive cueing with adaptation and non-specific properties of temporal cueing. Two experiments were performed to assess those factors separately. To perturb upright balance, the base of support was suddenly displaced backwards in three amplitudes: 5, 10 and 15 cm. In Experiment 1, we tested the effect of cueing the amplitude of the impending postural perturbation by means of visual signals, and the effect of adaptation to repeated exposures by comparing block versus random sequences of perturbation. In Experiment 2, we evaluated separately the effects of cueing the characteristics of an impending balance perturbation and cueing the timing of perturbation onset. Results from Experiment 1 showed that the block sequence of perturbations led to increased stability of automatic postural responses, and modulation of magnitude and onset latency of muscular responses. Results from Experiment 2 showed that only the condition cueing timing of platform translation onset led to increased balance stability and modulation of onset latency of muscular responses. Conversely, cueing platform displacement amplitude failed to induce any effects on automatic postural responses in both experiments. Our findings support the interpretation of improved postural responses via optimized sensorimotor processes, at the same time that cast doubt on the notion that cognitive processing of explicit contextual cues advancing the magnitude of an impending perturbation can preset adaptive postural responses.

Implementation of an optimum profile guidance system on STOLAND

NASA Technical Reports Server (NTRS)

Flanagan, P. F.

1978-01-01

The implementation on the STOLAND airborne digital computer of an optimum profile guidance system for the augmentor wing jet STOL research aircraft is described. Major tasks were to implement the guidance and control logic to airborne computer software and to integrate the module with the existing STOLAND navigation, display, and autopilot routines. The optimum profile guidance system comprises an algorithm for synthesizing mimimum fuel trajectories for a wide range of starting positions in the terminal area and a control law for flying the aircraft automatically along the trajectory. The avionics software developed is described along with a FORTRAN program that was constructed to reflect the modular nature and algorthms implemented in the avionics software.

Dynamic load balancing algorithm for molecular dynamics based on Voronoi cells domain decompositions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fattebert, J.-L.; Richards, D.F.; Glosli, J.N.

2012-12-01

We present a new algorithm for automatic parallel load balancing in classical molecular dynamics. It assumes a spatial domain decomposition of particles into Voronoi cells. It is a gradient method which attempts to minimize a cost function by displacing Voronoi sites associated with each processor/sub-domain along steepest descent directions. Excellent load balance has been obtained for quasi-2D and 3D practical applications, with up to 440·10 6 particles on 65,536 MPI tasks.

Properties of the optimal trajectories for coplanar, aeroassisted orbital transfer

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Deaton, A. W.

1990-01-01

The optimization of trajectories for coplaner, aeroassisted orbital transfer (AOT) from a high Earth orbit (HEO) to a low Earth orbit (LEO) is examined. In particular, HEO can be a geosynchronous Earth orbit (GEO). It is assumed that the initial and final orbits are circular, that the gravitational field is central and is governed by the inverse square law, and that two impulses are employed, one at HEO exit and one at LEO entry. During the atmospheric pass, the trajectory is controlled via the lift coefficient in such a way that the total characteristic velocity is minimized. First, an ideal optimal trajectory is determined analytically for lift coefficient unbounded. This trajectory is called grazing trajectory, because the atmospheric pass is made by flying at constant altitude along the edge of the atmosphere until the excess velocity is depleted. For the grazing trajectory, the lift coefficient varies in such a way that the lift, the centrifugal force due to the Earth's curvature, the weight, and the Coriolis force due to the Earth's rotation are in static balance. Also, the grazing trajectory minimizes the total characteristic velocity and simultaneously nearly minimizes the peak values of the altitude drop, dynamic pressure, and heating rate. Next, starting from the grazing trajectory results, a real optimal trajectory is determined numerically for the lift coefficient bounded from both below and above. This trajectory is characterized by atmospheric penetration with the smallest possible entry angle, followed by flight at the lift coefficient lower bound. Consistently with the grazing trajectory behavior, the real optimal trajectory minimizes the total characteristic velocity and simultaneously nearly minimizes the peak values of the altitude drop, the dynamic pressure, and the heating rate.

Role of sinoatrial node architecture in maintaining a balanced source-sink relationship and synchronous cardiac pacemaking

PubMed Central

Unudurthi, Sathya D.; Wolf, Roseanne M.; Hund, Thomas J.

2014-01-01

Normal heart rhythm (sinus rhythm) depends on regular activity of the sinoatrial node (SAN), a heterogeneous collection of specialized myocytes in the right atrium. SAN cells, in general, possess a unique electrophysiological profile that promotes spontaneous electrical activity (automaticity). However, while automaticity is required for normal pacemaking, it is not necessarily sufficient. Less appreciated is the importance of the elaborate structure of the SAN complex for proper pacemaker function. Here, we review the important structural features of the SAN with a focus on how these elements help manage a precarious balance between electrical charge generated by the SAN (“source”) and the charge needed to excite the surrounding atrial tissue (“sink”). We also discuss how compromised “source-sink” balance due, for example to fibrosis, may promote SAN dysfunction, characterized by slow and/or asynchronous pacemaker activity and even failure, in the setting of cardiovascular disease (e.g., heart failure, atrial fibrillation). Finally, we discuss implications of the “source-sink” balance in the SAN complex for cell and gene therapies aimed at creating a biological pacemaker as replacement or bridge to conventional electronic pacemakers. PMID:25505419

Two-Year Trajectory of Fall Risk in People With Parkinson Disease: A Latent Class Analysis.

PubMed

Paul, Serene S; Thackeray, Anne; Duncan, Ryan P; Cavanaugh, James T; Ellis, Theresa D; Earhart, Gammon M; Ford, Matthew P; Foreman, K Bo; Dibble, Leland E

2016-03-01

To examine fall risk trajectories occurring naturally in a sample of individuals with early to middle stage Parkinson disease (PD). Latent class analysis, specifically growth mixture modeling (GMM), of longitudinal fall risk trajectories. Assessments were conducted at 1 of 4 universities. Community-dwelling participants with PD of a longitudinal cohort study who attended at least 2 of 5 assessments over a 2-year follow-up period (N=230). Not applicable. Fall risk trajectory (low, medium, or high risk) and stability of fall risk trajectory (stable or fluctuating). Fall risk was determined at 6 monthly intervals using a simple clinical tool based on fall history, freezing of gait, and gait speed. The GMM optimally grouped participants into 3 fall risk trajectories that closely mirrored baseline fall risk status (P=.001). The high fall risk trajectory was most common (42.6%) and included participants with longer and more severe disease and with higher postural instability and gait disability (PIGD) scores than the low and medium fall risk trajectories (P<.001). Fluctuating fall risk (posterior probability <0.8 of belonging to any trajectory) was found in only 22.6% of the sample, most commonly among individuals who were transitioning to PIGD predominance. Regardless of their baseline characteristics, most participants had clear and stable fall risk trajectories over 2 years. Further investigation is required to determine whether interventions to improve gait and balance may improve fall risk trajectories in people with PD. Copyright © 2016 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

How does the 'rest-self overlap' mediate the qualitative and automatic features of self-reference?

PubMed

Northoff, Georg

2016-01-01

The target article points out the qualitative and automatic features of self-reference while leaving open the underlying neural mechanisms. Based on empirical evidence about rest-self overlap and rest-stimulus interaction being special for self-related stimuli, I postulate that the resting state shows self-specific organization. The resting state's self-specific organization may be encoded by activity balances between different networks which in turn predispose the qualitative features of subsequent self-related stimulus-induced activity in, for instance, SAN as well as the automatic features of self-reference effects.

Balanced states of mind in psychopathology and psychological well-being.

PubMed

Wong, Shyh Shin

2010-08-01

The balanced states of mind (BSOM) model proposes that coping with stress and psychological well-being is a function of the BSOM ratio of positive thoughts to the sum of positive and negative thoughts. Based on different BSOM ratios, different BSOM categories are constructed to quantitatively differentiate levels of coping with stress and psychological well-being. The cognitive content-specificity hypothesis states that there are unique themes of semantic content in self-reported automatic thoughts particular to depression or anxiety. This study investigated the BSOM model and its cognitive content-specificity for depression, anxiety, anger, stress, life satisfaction, and happiness, based on negative and positive automatic thoughts. Three hundred and ninety-eight college students from Singapore participated in this study. First, BSOM ratio and positive automatic thoughts were positively correlated with life satisfaction and happiness, and negatively correlated with stress, anxiety, depression, and anger. In contrast, negative automatic thoughts were positively correlated with stress, anxiety, depression, and anger, and negatively correlated with life satisfaction and happiness. Second, levels of psychopathology and psychological well-being were statistically differentiable among the BSOM categories for depression, happiness, perceived stress, and life satisfaction; and less statistically differentiable among the BSOM categories for anxiety and anger, as expected based on the BSOM model and cognitive content-specificity hypothesis. Third, the results were more supportive of the BSOM model for depression, followed by happiness, perceived stress, life satisfaction, anxiety, and anger in terms of percentage of variance accounted for by BSOM categories, as expected based on the cognitive content-specificity hypothesis. Taken together, the results suggested that the more moderately positive thoughts one has (balanced by negative thoughts), the better mental health outcomes one has. Implications and limitations of these findings are discussed.

Fuzzy Logic Trajectory Design and Guidance for Terminal Area Energy Management

NASA Technical Reports Server (NTRS)

Burchett, Bradley

2003-01-01

The second generation reusable launch vehicle will leverage many new technologies to make flight to low earth orbit safer and more cost effective. One important capability will be completely autonomous flight during reentry and landing, thus making it unnecessary to man the vehicle for cargo missions with stringent weight constraints. Implementation of sophisticated new guidance and control methods will enable the vehicle to return to earth under less than favorable conditions. The return to earth consists of three phases--Entry, Terminal Area Energy Management (TAEM), and Approach and Landing. The Space Shuttle is programmed to fly all three phases of flight automatically, and under normal circumstances the astronaut-pilot takes manual control only during the Approach and Landing phase. The automatic control algorithms used in the Shuttle for TAEM and Approach and Landing have been developed over the past 30 years. They are computationally efficient, and based on careful study of the spacecraft's flight dynamics, and heuristic reasoning. The gliding return trajectory is planned prior to the mission, and only minor adjustments are made during flight for perturbations in the vehicle energy state. With the advent of the X-33 and X-34 technology demonstration vehicles, several authors investigated implementing advanced control methods to provide autonomous real-time design of gliding return trajectories thus enhancing the ability of the vehicle to adjust to unusual energy states. The bulk of work published to date deals primarily with the approach and landing phase of flight where changes in heading angle are small, and range to the runway is monotonically decreasing. These benign flight conditions allow for model simplification and fairly straightforward optimization. This project focuses on the TAEM phase of flight where mathematically precise methods have produced limited results. Fuzzy Logic methods are used to make onboard autonomous gliding return trajectory design robust to a wider energy envelope, and the possibility of control surface failures, thus increasing the flexibility of unmanned gliding recovery and landing.

Analysis of straw row in the image to control the trajectory of the agricultural combine harvester

NASA Astrophysics Data System (ADS)

Shkanaev, Aleksandr Yurievich; Polevoy, Dmitry Valerevich; Panchenko, Aleksei Vladimirovich; Krokhina, Darya Alekseevna; Nailevish, Sadekov Rinat

2018-04-01

The paper proposes a solution to the automatic operation of the combine harvester along the straw rows by means of the images from the camera, installed in the cab of the harvester. The U-Net is used to recognize straw rows in the image. The edges of the row are approximated in the segmented image by the curved lines and further converted into the harvester coordinate system for the automatic operating system. The "new" network architecture and approaches to the row approximation has improved the quality of the recognition task and the processing speed of the frames up to 96% and 7.5 fps, respectively. Keywords: Grain harvester,

Automatic assessment of average diaphragm motion trajectory from 4DCT images through machine learning.

PubMed

Li, Guang; Wei, Jie; Huang, Hailiang; Gaebler, Carl Philipp; Yuan, Amy; Deasy, Joseph O

2015-12-01

To automatically estimate average diaphragm motion trajectory (ADMT) based on four-dimensional computed tomography (4DCT), facilitating clinical assessment of respiratory motion and motion variation and retrospective motion study. We have developed an effective motion extraction approach and a machine-learning-based algorithm to estimate the ADMT. Eleven patients with 22 sets of 4DCT images (4DCT1 at simulation and 4DCT2 at treatment) were studied. After automatically segmenting the lungs, the differential volume-per-slice (dVPS) curves of the left and right lungs were calculated as a function of slice number for each phase with respective to the full-exhalation. After 5-slice moving average was performed, the discrete cosine transform (DCT) was applied to analyze the dVPS curves in frequency domain. The dimensionality of the spectrum data was reduced by using several lowest frequency coefficients ( f v ) to account for most of the spectrum energy (Σ f v 2 ). Multiple linear regression (MLR) method was then applied to determine the weights of these frequencies by fitting the ground truth-the measured ADMT, which are represented by three pivot points of the diaphragm on each side. The 'leave-one-out' cross validation method was employed to analyze the statistical performance of the prediction results in three image sets: 4DCT1, 4DCT2, and 4DCT1 + 4DCT2. Seven lowest frequencies in DCT domain were found to be sufficient to approximate the patient dVPS curves ( R = 91%-96% in MLR fitting). The mean error in the predicted ADMT using leave-one-out method was 0.3 ± 1.9 mm for the left-side diaphragm and 0.0 ± 1.4 mm for the right-side diaphragm. The prediction error is lower in 4DCT2 than 4DCT1, and is the lowest in 4DCT1 and 4DCT2 combined. This frequency-analysis-based machine learning technique was employed to predict the ADMT automatically with an acceptable error (0.2 ± 1.6 mm). This volumetric approach is not affected by the presence of the lung tumors, providing an automatic robust tool to evaluate diaphragm motion.

Introducing the fit-criteria assessment plot - A visualisation tool to assist class enumeration in group-based trajectory modelling.

PubMed

Klijn, Sven L; Weijenberg, Matty P; Lemmens, Paul; van den Brandt, Piet A; Lima Passos, Valéria

2017-10-01

Background and objective Group-based trajectory modelling is a model-based clustering technique applied for the identification of latent patterns of temporal changes. Despite its manifold applications in clinical and health sciences, potential problems of the model selection procedure are often overlooked. The choice of the number of latent trajectories (class-enumeration), for instance, is to a large degree based on statistical criteria that are not fail-safe. Moreover, the process as a whole is not transparent. To facilitate class enumeration, we introduce a graphical summary display of several fit and model adequacy criteria, the fit-criteria assessment plot. Methods An R-code that accepts universal data input is presented. The programme condenses relevant group-based trajectory modelling output information of model fit indices in automated graphical displays. Examples based on real and simulated data are provided to illustrate, assess and validate fit-criteria assessment plot's utility. Results Fit-criteria assessment plot provides an overview of fit criteria on a single page, placing users in an informed position to make a decision. Fit-criteria assessment plot does not automatically select the most appropriate model but eases the model assessment procedure. Conclusions Fit-criteria assessment plot is an exploratory, visualisation tool that can be employed to assist decisions in the initial and decisive phase of group-based trajectory modelling analysis. Considering group-based trajectory modelling's widespread resonance in medical and epidemiological sciences, a more comprehensive, easily interpretable and transparent display of the iterative process of class enumeration may foster group-based trajectory modelling's adequate use.

A stochastic framework for spot-scanning particle therapy.

PubMed

Robini, Marc; Yuemin Zhu; Wanyu Liu; Magnin, Isabelle

2016-08-01

In spot-scanning particle therapy, inverse treatment planning is usually limited to finding the optimal beam fluences given the beam trajectories and energies. We address the much more challenging problem of jointly optimizing the beam fluences, trajectories and energies. For this purpose, we design a simulated annealing algorithm with an exploration mechanism that balances the conflicting demands of a small mixing time at high temperatures and a reasonable acceptance rate at low temperatures. Numerical experiments substantiate the relevance of our approach and open new horizons to spot-scanning particle therapy.

Automatic Online Motor Control Is Intact in Parkinson's Disease With and Without Perceptual Awareness.

PubMed

Merritt, Kate E; Seergobin, Ken N; Mendonça, Daniel A; Jenkins, Mary E; Goodale, Melvyn A; MacDonald, Penny A

2017-01-01

In the double-step paradigm, healthy human participants automatically correct reaching movements when targets are displaced. Motor deficits are prominent in Parkinson's disease (PD) patients. In the lone investigation of online motor correction in PD using the double-step task, a recent study found that PD patients performed unconscious adjustments appropriately but seemed impaired for consciously-perceived modifications. Conscious perception of target movement was achieved by linking displacement to movement onset. PD-related bradykinesia disproportionately prolonged preparatory phases for movements to original target locations for patients, potentially accounting for deficits. Eliminating this confound in a double-step task, we evaluated the effect of conscious awareness of trajectory change on online motor corrections in PD. On and off dopaminergic therapy, PD patients ( n = 14) and healthy controls ( n = 14) reached to peripheral visual targets that remained stationary or unexpectedly moved during an initial saccade. Saccade latencies in PD are comparable to controls'. Hence, target displacements occurred at equal times across groups. Target jump size affected conscious awareness, confirmed in an independent target displacement judgment task. Small jumps were subliminal, but large target displacements were consciously perceived. Contrary to the previous result, PD patients performed online motor corrections normally and automatically, irrespective of conscious perception. Patients evidenced equivalent movement durations for jump and stay trials, and trajectories for patients and controls were identical, irrespective of conscious perception. Dopaminergic therapy had no effect on performance. In summary, online motor control is intact in PD, unaffected by conscious perceptual awareness. The basal ganglia are not implicated in online corrective responses.

Automatic Online Motor Control Is Intact in Parkinson’s Disease With and Without Perceptual Awareness

PubMed Central

Seergobin, Ken N.; Mendonça, Daniel A.

2017-01-01

Abstract In the double-step paradigm, healthy human participants automatically correct reaching movements when targets are displaced. Motor deficits are prominent in Parkinson’s disease (PD) patients. In the lone investigation of online motor correction in PD using the double-step task, a recent study found that PD patients performed unconscious adjustments appropriately but seemed impaired for consciously-perceived modifications. Conscious perception of target movement was achieved by linking displacement to movement onset. PD-related bradykinesia disproportionately prolonged preparatory phases for movements to original target locations for patients, potentially accounting for deficits. Eliminating this confound in a double-step task, we evaluated the effect of conscious awareness of trajectory change on online motor corrections in PD. On and off dopaminergic therapy, PD patients (n = 14) and healthy controls (n = 14) reached to peripheral visual targets that remained stationary or unexpectedly moved during an initial saccade. Saccade latencies in PD are comparable to controls’. Hence, target displacements occurred at equal times across groups. Target jump size affected conscious awareness, confirmed in an independent target displacement judgment task. Small jumps were subliminal, but large target displacements were consciously perceived. Contrary to the previous result, PD patients performed online motor corrections normally and automatically, irrespective of conscious perception. Patients evidenced equivalent movement durations for jump and stay trials, and trajectories for patients and controls were identical, irrespective of conscious perception. Dopaminergic therapy had no effect on performance. In summary, online motor control is intact in PD, unaffected by conscious perceptual awareness. The basal ganglia are not implicated in online corrective responses. PMID:29085900

Model-based segmentation of the facial nerve and chorda tympani in pediatric CT scans

NASA Astrophysics Data System (ADS)

Reda, Fitsum A.; Noble, Jack H.; Rivas, Alejandro; Labadie, Robert F.; Dawant, Benoit M.

2011-03-01

In image-guided cochlear implant surgery an electrode array is implanted in the cochlea to treat hearing loss. Access to the cochlea is achieved by drilling from the outer skull to the cochlea through the facial recess, a region bounded by the facial nerve and the chorda tympani. To exploit existing methods for computing automatically safe drilling trajectories, the facial nerve and chorda tympani need to be segmented. The effectiveness of traditional segmentation approaches to achieve this is severely limited because the facial nerve and chorda are small structures (~1 mm and ~0.3 mm in diameter, respectively) and exhibit poor image contrast. We have recently proposed a technique to achieve this task in adult patients, which relies on statistical models of the structures. These models contain intensity and shape information along the central axes of both structures. In this work we use the same method to segment pediatric scans. We show that substantial differences exist between the anatomy of children and the anatomy of adults, which lead to poor segmentation results when an adult model is used to segment a pediatric volume. We have built a new model for pediatric cases and we have applied it to ten scans. A leave-one-out validation experiment was conducted in which manually segmented structures were compared to automatically segmented structures. The maximum segmentation error was 1 mm. This result indicates that accurate segmentation of the facial nerve and chorda in pediatric scans is achievable, thus suggesting that safe drilling trajectories can also be computed automatically.

Supraspinal control of automatic postural responses in people with multiple sclerosis.

PubMed

Peterson, D S; Gera, G; Horak, F B; Fling, B W

2016-06-01

The neural underpinnings of delayed automatic postural responses in people with multiple sclerosis (PwMS) are unclear. We assessed whether white matter pathways of two supraspinal regions (the cortical proprioceptive Broadman's Area-3; and the balance/locomotor-related pedunculopontine nucleus) were related to delayed postural muscle response latencies in response to external perturbations. 19 PwMS (48.8±11.4years; EDSS=3.5 (range: 2-4)) and 12 healthy adults (51.7±12.2years) underwent 20 discrete, backward translations of a support surface. Onset latency of agonist (medial-gastrocnemius) and antagonist (tibialis anterior) muscles were assessed. Diffusion tensor imaging assessed white-matter integrity (i.e. radial diffusivity) of cortical proprioceptive and balance/locomotor-related tracts. Latency of the tibialis anterior, but not medial gastrocnemius was larger in PwMS than control subjects (p=0.012 and 0.071, respectively). Radial diffusivity of balance/locomotor tracts was higher (worse) in PwMS than control subjects (p=0.004), and was significantly correlated with tibialis (p=0.002), but not gastrocnemius (p=0.06) onset latency. Diffusivity of cortical proprioceptive tracts was not correlated with muscle onset. Lesions in supraspinal structures including the pedunculopontine nucleus balance/locomotor network may contribute to delayed onset of postural muscle activity in PwMS, contributing to balance deficits in PwMS. Published by Elsevier B.V.

PaCER - A fully automated method for electrode trajectory and contact reconstruction in deep brain stimulation.

PubMed

Husch, Andreas; V Petersen, Mikkel; Gemmar, Peter; Goncalves, Jorge; Hertel, Frank

2018-01-01

Deep brain stimulation (DBS) is a neurosurgical intervention where electrodes are permanently implanted into the brain in order to modulate pathologic neural activity. The post-operative reconstruction of the DBS electrodes is important for an efficient stimulation parameter tuning. A major limitation of existing approaches for electrode reconstruction from post-operative imaging that prevents the clinical routine use is that they are manual or semi-automatic, and thus both time-consuming and subjective. Moreover, the existing methods rely on a simplified model of a straight line electrode trajectory, rather than the more realistic curved trajectory. The main contribution of this paper is that for the first time we present a highly accurate and fully automated method for electrode reconstruction that considers curved trajectories. The robustness of our proposed method is demonstrated using a multi-center clinical dataset consisting of N  = 44 electrodes. In all cases the electrode trajectories were successfully identified and reconstructed. In addition, the accuracy is demonstrated quantitatively using a high-accuracy phantom with known ground truth. In the phantom experiment, the method could detect individual electrode contacts with high accuracy and the trajectory reconstruction reached an error level below 100 μm (0.046 ± 0.025 mm). An implementation of the method is made publicly available such that it can directly be used by researchers or clinicians. This constitutes an important step towards future integration of lead reconstruction into standard clinical care.

Paternalism v. autonomy - are we barking up the wrong tree?

PubMed

Lepping, Peter; Palmstierna, Tom; Raveesh, Bevinahalli N

2016-08-01

We explore whether we can reduce paternalism by increasing patient autonomy. We argue that autonomy should not have any automatic priority over other ethical values. Thus, balancing autonomy v. other ethical pillars and finding the optimal balance between the patient's wishes and those of other relevant stakeholders such as the patient's family has to be dynamic over time. © The Royal College of Psychiatrists 2016.

Automatic load sharing in inverter modules

NASA Technical Reports Server (NTRS)

Nagano, S.

1979-01-01

Active feedback loads transistor equally with little power loss. Circuit is suitable for balancing modular inverters in spacecraft, computer power supplies, solar-electric power generators, and electric vehicles. Current-balancing circuit senses differences between collector current for power transistor and average value of load currents for all power transistors. Principle is effective not only in fixed duty-cycle inverters but also in converters operating at variable duty cycles.

The impact of biomass burning in North Korea to the air quality in Seoul, South Korea

NASA Astrophysics Data System (ADS)

Kim, I.; Lee, J.; Kim, Y.

2011-12-01

South Korea is contiguous to China, Japan and North Koreas, so air pollutants transported from outside South Korea should be investigated. Nevertheless, few researches have dealt with the influences of air pollutants from North Korea to other areas. The objectives of this study are to understand the influences of air pollutants' emission from North Korea to South Korea, especially Seoul, using the chemical mass balance (CMB) model and the backward trajectory analysis. CMB model were applied to analyze the source apportionment of PAHs at Seoul between 2006 and 2007. To understand the transport of air pollutants emitted from North Korea, the backward trajectories in sampling days were classified to four cases depending on which area the trajectories predominantly passed through. Based on the contribution of biomass burning calculated by CMB and the trajectories, the influence of air pollutants from North Korea to Seoul is quantified. In order to strengthen the uncertainty of CMB result, the trend of levoglucosan (1,6-anhydro-b-D-glucopyranose) concentration at Seoul is also discussed depending on the classification of trajectories.

Improved configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

Advanced Structural Optimization Under Consideration of Cost Tracking

NASA Astrophysics Data System (ADS)

Zell, D.; Link, T.; Bickelmaier, S.; Albinger, J.; Weikert, S.; Cremaschi, F.; Wiegand, A.

2014-06-01

In order to improve the design process of launcher configurations in the early development phase, the software Multidisciplinary Optimization (MDO) was developed. The tool combines different efficient software tools such as Optimal Design Investigations (ODIN) for structural optimizations, Aerospace Trajectory Optimization Software (ASTOS) for trajectory and vehicle design optimization for a defined payload and mission.The present paper focuses to the integration and validation of ODIN. ODIN enables the user to optimize typical axis-symmetric structures by means of sizing the stiffening designs concerning strength and stability while minimizing the structural mass. In addition a fully automatic finite element model (FEM) generator module creates ready-to-run FEM models of a complete stage or launcher assembly.Cost tracking respectively future improvements concerning cost optimization are indicated.

Real-time UAV trajectory generation using feature points matching between video image sequences

NASA Astrophysics Data System (ADS)

Byun, Younggi; Song, Jeongheon; Han, Dongyeob

2017-09-01

Unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance mission. In this paper, we present a systematic approach for the generation of UAV trajectory using a video image matching system based on SURF (Speeded up Robust Feature) and Preemptive RANSAC (Random Sample Consensus). Video image matching to find matching points is one of the most important steps for the accurate generation of UAV trajectory (sequence of poses in 3D space). We used the SURF algorithm to find the matching points between video image sequences, and removed mismatching by using the Preemptive RANSAC which divides all matching points to outliers and inliers. The inliers are only used to determine the epipolar geometry for estimating the relative pose (rotation and translation) between image sequences. Experimental results from simulated video image sequences showed that our approach has a good potential to be applied to the automatic geo-localization of the UAVs system

An automated method to find transition states using chemical dynamics simulations.

PubMed

Martínez-Núñez, Emilio

2015-02-05

A procedure to automatically find the transition states (TSs) of a molecular system (MS) is proposed. It has two components: high-energy chemical dynamics simulations (CDS), and an algorithm that analyzes the geometries along the trajectories to find reactive pathways. Two levels of electronic structure calculations are involved: a low level (LL) is used to integrate the trajectories and also to optimize the TSs, and a higher level (HL) is used to reoptimize the structures. The method has been tested in three MSs: formaldehyde, formic acid (FA), and vinyl cyanide (VC), using MOPAC2012 and Gaussian09 to run the LL and HL calculations, respectively. Both the efficacy and efficiency of the method are very good, with around 15 TS structures optimized every 10 trajectories, which gives a total of 7, 12, and 83 TSs for formaldehyde, FA, and VC, respectively. The use of CDS makes it a powerful tool to unveil possible nonstatistical behavior of the system under study. © 2014 Wiley Periodicals, Inc.

Recognition of early stage thigmotaxis in Morris water maze test with convolutional neural network.

PubMed

Higaki, Akinori; Mogi, Masaki; Iwanami, Jun; Min, Li-Juan; Bai, Hui-Yu; Shan, Bao-Shuai; Kan-No, Harumi; Ikeda, Shuntaro; Higaki, Jitsuo; Horiuchi, Masatsugu

2018-01-01

The Morris water maze test (MWM) is a useful tool to evaluate rodents' spatial learning and memory, but the outcome is susceptible to various experimental conditions. Thigmotaxis is a commonly observed behavioral pattern which is thought to be related to anxiety or fear. This behavior is associated with prolonged escape latency, but the impact of its frequency in the early stage on the final outcome is not clearly understood. We analyzed swim path trajectories in male C57BL/6 mice with or without bilateral common carotid artery stenosis (BCAS) treatment. There was no significant difference in the frequencies of particular types of trajectories according to ischemic brain surgery. The mouse groups with thigmotaxis showed significantly prolonged escape latency and lower cognitive score on day 5 compared to those without thigmotaxis. As the next step, we made a convolutional neural network (CNN) model to recognize the swim path trajectories. Our model could distinguish thigmotaxis from other trajectories with 96% accuracy and specificity as high as 0.98. These results suggest that thigmotaxis in the early training stage is a predictive factor for impaired performance in MWM, and machine learning can detect such behavior easily and automatically.

Semantic-based surveillance video retrieval.

PubMed

Hu, Weiming; Xie, Dan; Fu, Zhouyu; Zeng, Wenrong; Maybank, Steve

2007-04-01

Visual surveillance produces large amounts of video data. Effective indexing and retrieval from surveillance video databases are very important. Although there are many ways to represent the content of video clips in current video retrieval algorithms, there still exists a semantic gap between users and retrieval systems. Visual surveillance systems supply a platform for investigating semantic-based video retrieval. In this paper, a semantic-based video retrieval framework for visual surveillance is proposed. A cluster-based tracking algorithm is developed to acquire motion trajectories. The trajectories are then clustered hierarchically using the spatial and temporal information, to learn activity models. A hierarchical structure of semantic indexing and retrieval of object activities, where each individual activity automatically inherits all the semantic descriptions of the activity model to which it belongs, is proposed for accessing video clips and individual objects at the semantic level. The proposed retrieval framework supports various queries including queries by keywords, multiple object queries, and queries by sketch. For multiple object queries, succession and simultaneity restrictions, together with depth and breadth first orders, are considered. For sketch-based queries, a method for matching trajectories drawn by users to spatial trajectories is proposed. The effectiveness and efficiency of our framework are tested in a crowded traffic scene.

EmbryoMiner: A new framework for interactive knowledge discovery in large-scale cell tracking data of developing embryos.

PubMed

Schott, Benjamin; Traub, Manuel; Schlagenhauf, Cornelia; Takamiya, Masanari; Antritter, Thomas; Bartschat, Andreas; Löffler, Katharina; Blessing, Denis; Otte, Jens C; Kobitski, Andrei Y; Nienhaus, G Ulrich; Strähle, Uwe; Mikut, Ralf; Stegmaier, Johannes

2018-04-01

State-of-the-art light-sheet and confocal microscopes allow recording of entire embryos in 3D and over time (3D+t) for many hours. Fluorescently labeled structures can be segmented and tracked automatically in these terabyte-scale 3D+t images, resulting in thousands of cell migration trajectories that provide detailed insights to large-scale tissue reorganization at the cellular level. Here we present EmbryoMiner, a new interactive open-source framework suitable for in-depth analyses and comparisons of entire embryos, including an extensive set of trajectory features. Starting at the whole-embryo level, the framework can be used to iteratively focus on a region of interest within the embryo, to investigate and test specific trajectory-based hypotheses and to extract quantitative features from the isolated trajectories. Thus, the new framework provides a valuable new way to quantitatively compare corresponding anatomical regions in different embryos that were manually selected based on biological prior knowledge. As a proof of concept, we analyzed 3D+t light-sheet microscopy images of zebrafish embryos, showcasing potential user applications that can be performed using the new framework.

Estimation of mean response via effective balancing score

PubMed Central

Hu, Zonghui; Follmann, Dean A.; Wang, Naisyin

2015-01-01

Summary We introduce effective balancing scores for estimation of the mean response under a missing at random mechanism. Unlike conventional balancing scores, the effective balancing scores are constructed via dimension reduction free of model specification. Three types of effective balancing scores are introduced: those that carry the covariate information about the missingness, the response, or both. They lead to consistent estimation with little or no loss in efficiency. Compared to existing estimators, the effective balancing score based estimator relieves the burden of model specification and is the most robust. It is a near-automatic procedure which is most appealing when high dimensional covariates are involved. We investigate both the asymptotic and the numerical properties, and demonstrate the proposed method in a study on Human Immunodeficiency Virus disease. PMID:25797955

Markov random field based automatic image alignment for electron tomography.

PubMed

Amat, Fernando; Moussavi, Farshid; Comolli, Luis R; Elidan, Gal; Downing, Kenneth H; Horowitz, Mark

2008-03-01

We present a method for automatic full-precision alignment of the images in a tomographic tilt series. Full-precision automatic alignment of cryo electron microscopy images has remained a difficult challenge to date, due to the limited electron dose and low image contrast. These facts lead to poor signal to noise ratio (SNR) in the images, which causes automatic feature trackers to generate errors, even with high contrast gold particles as fiducial features. To enable fully automatic alignment for full-precision reconstructions, we frame the problem probabilistically as finding the most likely particle tracks given a set of noisy images, using contextual information to make the solution more robust to the noise in each image. To solve this maximum likelihood problem, we use Markov Random Fields (MRF) to establish the correspondence of features in alignment and robust optimization for projection model estimation. The resulting algorithm, called Robust Alignment and Projection Estimation for Tomographic Reconstruction, or RAPTOR, has not needed any manual intervention for the difficult datasets we have tried, and has provided sub-pixel alignment that is as good as the manual approach by an expert user. We are able to automatically map complete and partial marker trajectories and thus obtain highly accurate image alignment. Our method has been applied to challenging cryo electron tomographic datasets with low SNR from intact bacterial cells, as well as several plastic section and X-ray datasets.

On the Origin of Muscle Synergies: Invariant Balance in the Co-activation of Agonist and Antagonist Muscle Pairs

PubMed Central

Hirai, Hiroaki; Miyazaki, Fumio; Naritomi, Hiroaki; Koba, Keitaro; Oku, Takanori; Uno, Kanna; Uemura, Mitsunori; Nishi, Tomoki; Kageyama, Masayuki; Krebs, Hermano Igo

2015-01-01

Investigation of neural representation of movement planning has attracted the attention of neuroscientists, as it may reveal the sensorimotor transformation essential to motor control. The analysis of muscle synergies based on the activity of agonist–antagonist (AA) muscle pairs may provide insight into such transformations, especially for a reference frame in the muscle space. In this study, we examined the AA concept using the following explanatory variables: the AA ratio, which is related to the equilibrium-joint angle, and the AA sum, which is associated with joint stiffness. We formulated muscle synergies as a function of AA sums, positing that muscle synergies are composite units of mechanical impedance. The AA concept can be regarded as another form of the equilibrium-point (EP) hypothesis, and it can be extended to the concept of EP-based synergies. We introduce, here, a novel tool for analyzing the neurological and motor functions underlying human movements and review some initial insights from our results about the relationships between muscle synergies, endpoint stiffness, and virtual trajectories (time series of EP). Our results suggest that (1) muscle synergies reflect an invariant balance in the co-activation of AA muscle pairs; (2) each synergy represents the basis for the radial, tangential, and null movements of the virtual trajectory in the polar coordinates centered on the specific joint at the base of the body; and (3) the alteration of muscle synergies (for example, due to spasticity or rigidity following neurological injury) results in significant distortion of endpoint stiffness and concomitant virtual trajectories. These results indicate that muscle synergies (i.e., the balance of muscle mechanical impedance) are essential for motor control. PMID:26636079

On the Origin of Muscle Synergies: Invariant Balance in the Co-activation of Agonist and Antagonist Muscle Pairs.

PubMed

Hirai, Hiroaki; Miyazaki, Fumio; Naritomi, Hiroaki; Koba, Keitaro; Oku, Takanori; Uno, Kanna; Uemura, Mitsunori; Nishi, Tomoki; Kageyama, Masayuki; Krebs, Hermano Igo

2015-01-01

Investigation of neural representation of movement planning has attracted the attention of neuroscientists, as it may reveal the sensorimotor transformation essential to motor control. The analysis of muscle synergies based on the activity of agonist-antagonist (AA) muscle pairs may provide insight into such transformations, especially for a reference frame in the muscle space. In this study, we examined the AA concept using the following explanatory variables: the AA ratio, which is related to the equilibrium-joint angle, and the AA sum, which is associated with joint stiffness. We formulated muscle synergies as a function of AA sums, positing that muscle synergies are composite units of mechanical impedance. The AA concept can be regarded as another form of the equilibrium-point (EP) hypothesis, and it can be extended to the concept of EP-based synergies. We introduce, here, a novel tool for analyzing the neurological and motor functions underlying human movements and review some initial insights from our results about the relationships between muscle synergies, endpoint stiffness, and virtual trajectories (time series of EP). Our results suggest that (1) muscle synergies reflect an invariant balance in the co-activation of AA muscle pairs; (2) each synergy represents the basis for the radial, tangential, and null movements of the virtual trajectory in the polar coordinates centered on the specific joint at the base of the body; and (3) the alteration of muscle synergies (for example, due to spasticity or rigidity following neurological injury) results in significant distortion of endpoint stiffness and concomitant virtual trajectories. These results indicate that muscle synergies (i.e., the balance of muscle mechanical impedance) are essential for motor control.

Occupational Survey Report. AFSC 4A2X1 Biomedical Equipment

DTIC Science & Technology

2004-05-01

Electrocardiograms 70 Hospital Beds, Electric 67 Surgical Lamps 67 Hospital Beds, Manual 66 Audiometers 64 Dental Curing Units 63 Dental Handpieces 63...Pumps 78 Pulse Oximeters 78 Dental Chairs 76 Blood Pressure Monitors, Automatic 74 Examination Lamps 72 Examination Tables 72 Blood Pressure Cuffs 71...Exercise Bicycles 63 Dental Amalgamators 62 Scales or Balances, other than Pediatric 62 Scales or Balances, Pediatric 61 First-Enlistment Personnel

Automatic patient-adaptive bleeding detection in a capsule endoscopy

NASA Astrophysics Data System (ADS)

Jung, Yun Sub; Kim, Yong Ho; Lee, Dong Ha; Lee, Sang Ho; Song, Jeong Joo; Kim, Jong Hyo

2009-02-01

We present a method for patient-adaptive detection of bleeding region for a Capsule Endoscopy (CE) images. The CE system has 320x320 resolution and transmits 3 images per second to receiver during around 10-hour. We have developed a technique to detect the bleeding automatically utilizing color spectrum transformation (CST) method. However, because of irregular conditions like organ difference, patient difference and illumination condition, detection performance is not uniform. To solve this problem, the detection method in this paper include parameter compensation step which compensate irregular image condition using color balance index (CBI). We have investigated color balance through sequential 2 millions images. Based on this pre-experimental result, we defined ΔCBI to represent deviate of color balance compared with standard small bowel color balance. The ΔCBI feature value is extracted from each image and used in CST method as parameter compensation constant. After candidate pixels were detected using CST method, they were labeled and examined with a bleeding character. We tested our method with 4,800 images in 12 patient data set (9 abnormal, 3 normal). Our experimental results show the proposed method achieves (before patient adaptive method : 80.87% and 74.25%, after patient adaptive method : 94.87% and 96.12%) of sensitivity and specificity.

Automatic Dependent Surveillance Broadcast (ADS-B) System for Ownership and Traffic Situational Awareness

NASA Technical Reports Server (NTRS)

Arteaga, Ricardo A. (Inventor)

2016-01-01

The present invention proposes an automatic dependent surveillance broadcast (ADS-B) architecture and process, in which priority aircraft and ADS-B IN traffic information are included in the transmission of data through the telemetry communications to a remote ground control station. The present invention further proposes methods for displaying general aviation traffic information in three and/or four dimension trajectories using an industry standard Earth browser for increased situation awareness and enhanced visual acquisition of traffic for conflict detection. The present invention enable the applications of enhanced visual acquisition of traffic, traffic alerts, and en-route and terminal surveillance used to augment pilot situational awareness through ADS-B IN display and information in three or four dimensions for self-separation awareness.

The importance of accurate glacier albedo for estimates of surface mass balance on Vatnajökull: Evaluating the surface energy budget in a Regional Climate Model with automatic weather station observations

NASA Astrophysics Data System (ADS)

Steffensen Schmidt, Louise; Aðalgeirsdóttir, Guðfinna; Guðmundsson, Sverrir; Langen, Peter L.; Pálsson, Finnur; Mottram, Ruth; Gascoin, Simon; Björnsson, Helgi

2017-04-01

The evolution of the surface mass balance of Vatnajökull ice cap, Iceland, from 1981 to the present day is estimated by using the Regional Climate Model HIRHAM5 to simulate the surface climate. A new albedo parametrization is used for the simulation, which describes the albedo with an exponential decay with time. In addition, it utilizes a new background map of the ice albedo created from MODIS data. The simulation is validated against observed daily values of weather parameters from five Automatic Weather Stations (AWSs) from 2001-2014, as well as mass balance measurements from 1995-2014. The modelled albedo is overestimated at the AWS sites in the ablation zone, which we attribute to an overestimation of the thickness of the snow layer and the model not accounting for dust and ash deposition during dust storms and volcanic eruptions. A comparison with the specific summer, winter, and annual mass balance for all Vatnajökull from 1995-2014 shows a good overall fit during the summer, with the model underestimating the balance by only 0.04 m w. eq. on average. The winter balance, on the other hand, is overestimated by 0.5 m w. eq. on average, mostly due to an overestimation of the precipitation at the highest areas of the ice cap. A simple correction of the accumulation at these points reduced the error to 0.15 m w. eq. The model captures the evolution of the specific mass balance well, for example it captures an observed shift in the balance in the mid-1990s, which gives us confidence in the results for the entire model run. Our results show the importance of bare ice albedo for modelled mass balance and that processes not currently accounted for in RCMs, such as dust storms, are an important source of uncertainty in estimates of the snow melt rate.

Spacecraft rendezvous operational considerations affecting vehicle systems design and configuration

NASA Astrophysics Data System (ADS)

Prust, Ellen E.

One lesson learned from Orbiting Maneuvering Vehicle (OMV) program experience is that Design Reference Missions must include an appropriate balance of operations and performance inputs to effectively drive vehicle systems design and configuration. Rendezvous trajectory design is based on vehicle characteristics (e.g., mass, propellant tank size, and mission duration capability) and operational requirements, which have evolved through the Gemini, Apollo, and STS programs. Operational constraints affecting the rendezvous final approach are summarized. The two major objectives of operational rendezvous design are vehicle/crew safety and mission success. Operational requirements on the final approach which support these objectives include: tracking/targeting/communications; trajectory dispersion and navigation uncertainty handling; contingency protection; favorable sunlight conditions; acceptable relative state for proximity operations handover; and compliance with target vehicle constraints. A discussion of the ways each of these requirements may constrain the rendezvous trajectory follows. Although the constraints discussed apply to all rendezvous, the trajectory presented in 'Cargo Transfer Vehicle Preliminary Reference Definition' (MSFC, May 1991) was used as the basis for the comments below.

Longitudinal trajectories of the representation and access to phonological information in bilingual children with specific language impairment.

PubMed

Buil-Legaz, Lucia; Aguilar-Mediavilla, Eva; Adrover-Roig, Daniel

2016-10-01

Language development in children with Specific Language Impairment (SLI) is still poorly understood, especially if children with SLI are bilingual. This study describes the longitudinal trajectory of several linguistic abilities in bilingual children with SLI relative to bilingual control children matched by their age and socioeconomic status. A set of measures of non-word repetition, sentence repetition, phonological awareness, rapid automatic naming and verbal fluency were collected at three time points, from 6-12 years of age using a prospective longitudinal design. Results revealed that, at all ages, children with SLI obtained lower values in measures of sentence repetition, non-word repetition, phonological fluency and phonological awareness (without visual cues) when compared to typically-developing children. Other measures, such as rapid automatic naming, improved over time, given that differences at 6 years of age did not persist at further moments of testing. Other linguistic measures, such as phonological awareness (with visual cues) and semantic fluency were equivalent between both groups across time. Children with SLI manifest persistent difficulties in tasks involved in manipulating segments of words and in maintaining verbal units active in phonological working memory, while other abilities, such as the access to underlying phonological representations are unaffected.

Automatic segmentation of the facial nerve and chorda tympani using image registration and statistical priors

NASA Astrophysics Data System (ADS)

Noble, Jack H.; Warren, Frank M.; Labadie, Robert F.; Dawant, Benoit M.

2008-03-01

In cochlear implant surgery, an electrode array is permanently implanted in the cochlea to stimulate the auditory nerve and allow deaf people to hear. A minimally invasive surgical technique has recently been proposed--percutaneous cochlear access--in which a single hole is drilled from the skull surface to the cochlea. For the method to be feasible, a safe and effective drilling trajectory must be determined using a pre-operative CT. Segmentation of the structures of the ear would improve trajectory planning safety and efficiency and enable the possibility of automated planning. Two important structures of the ear, the facial nerve and chorda tympani, present difficulties in intensity based segmentation due to their diameter (as small as 1.0 and 0.4 mm) and adjacent inter-patient variable structures of similar intensity in CT imagery. A multipart, model-based segmentation algorithm is presented in this paper that accomplishes automatic segmentation of the facial nerve and chorda tympani. Segmentation results are presented for 14 test ears and are compared to manually segmented surfaces. The results show that mean error in structure wall localization is 0.2 and 0.3 mm for the facial nerve and chorda, proving the method we propose is robust and accurate.

In vitro motility evaluation of aggregated cancer cells by means of automatic image processing.

PubMed

De Hauwer, C; Darro, F; Camby, I; Kiss, R; Van Ham, P; Decaesteker, C

1999-05-01

Set up of an automatic image processing based method that enables the motility of in vitro aggregated cells to be evaluated for a number of hours. Our biological model included the PC-3 human prostate cancer cell line growing as a monolayer on the bottom of Falcon plastic dishes containing conventional culture media. Our equipment consisted of an incubator, an inverted phase contrast microscope, a Charge Coupled Device (CCD) video camera, and a computer equipped with an image processing software developed in our laboratory. This computer-assisted microscope analysis of aggregated cells enables global cluster motility to be evaluated. This analysis also enables the trajectory of each cell to be isolated and parametrized within a given cluster or, indeed, the trajectories of individual cells outside a cluster. The results show that motility inside a PC-3 cluster is not restricted to slight motion due to cluster expansion, but rather consists of a marked cell movement within the cluster. The proposed equipment enables in vitro aggregated cell motility to be studied. This method can, therefore, be used in pharmacological studies in order to select anti-motility related compounds. The compounds selected by the equipment described could then be tested in vivo as potential anti-metastatic.

The determination of high-resolution spatio-temporal glacier motion fields from time-lapse sequences

NASA Astrophysics Data System (ADS)

Schwalbe, Ellen; Maas, Hans-Gerd

2017-12-01

This paper presents a comprehensive method for the determination of glacier surface motion vector fields at high spatial and temporal resolution. These vector fields can be derived from monocular terrestrial camera image sequences and are a valuable data source for glaciological analysis of the motion behaviour of glaciers. The measurement concepts for the acquisition of image sequences are presented, and an automated monoscopic image sequence processing chain is developed. Motion vector fields can be derived with high precision by applying automatic subpixel-accuracy image matching techniques on grey value patterns in the image sequences. Well-established matching techniques have been adapted to the special characteristics of the glacier data in order to achieve high reliability in automatic image sequence processing, including the handling of moving shadows as well as motion effects induced by small instabilities in the camera set-up. Suitable geo-referencing techniques were developed to transform image measurements into a reference coordinate system.The result of monoscopic image sequence analysis is a dense raster of glacier surface point trajectories for each image sequence. Each translation vector component in these trajectories can be determined with an accuracy of a few centimetres for points at a distance of several kilometres from the camera. Extensive practical validation experiments have shown that motion vector and trajectory fields derived from monocular image sequences can be used for the determination of high-resolution velocity fields of glaciers, including the analysis of tidal effects on glacier movement, the investigation of a glacier's motion behaviour during calving events, the determination of the position and migration of the grounding line and the detection of subglacial channels during glacier lake outburst floods.

Effect of anthropogenic aerosol emissions on precipitation in warm conveyor belts in the western North Pacific in winter - a model study with ECHAM6-HAM

NASA Astrophysics Data System (ADS)

Joos, Hanna; Madonna, Erica; Witlox, Kasja; Ferrachat, Sylvaine; Wernli, Heini; Lohmann, Ulrike

2017-05-01

While there is a clear impact of aerosol particles on the radiation balance, whether and how aerosol particles influence precipitation is controversial. Here we use the ECHAM6-HAM global climate model coupled to an aerosol module to analyse whether an impact of anthropogenic aerosol particles on the timing and amount of precipitation can be detected in North Pacific warm conveyor belts. Warm conveyor belts are the strongest precipitation-producing airstreams in extratropical cyclones and are identified here with a Lagrangian technique, i.e. by objectively identifying the most strongly ascending trajectories in North Pacific cyclones. These conveyor belts have been identified separately in 10-year ECHAM6-HAM simulations with present-day and pre-industrial aerosol conditions. Then, the evolution of aerosols and cloud properties has been analysed in detail along the identified warm conveyor belt trajectories. The results show that, under present-day conditions, some warm conveyor belt trajectories are strongly polluted (i.e. high concentrations of black carbon and sulfur dioxide) due to horizontal transport from eastern Asia to the oceanic region where warm conveyor belts start their ascent. In these polluted trajectories a weak delay and reduction of precipitation formation occurs compared to clean warm conveyor belt trajectories. However, all warm conveyor belts consist of both polluted and clean trajectories at the time they start their ascent, and the typically more abundant clean trajectories strongly reduce the aerosol impact from the polluted trajectories. The main conclusion then is that the overall amount of precipitation is comparable in pre-industrial conditions, when all warm conveyor belt trajectories are clean, and in present-day conditions, when warm conveyor belts consist of a mixture of clean and polluted trajectories.

CFD Analysis of Swing of Cricket Ball and Trajectory Prediction

NASA Astrophysics Data System (ADS)

G, Jithin; Tom, Josin; Ruishikesh, Kamat; Jose, Jyothish; Kumar, Sanjay

2013-11-01

This work aims to understand the aerodynamics associated with the flight and swing of a cricket ball and predict its flight trajectory over the course of the game: at start (smooth ball) and as the game progresses (rough ball). Asymmetric airflow over the ball due to seam orientation and surface roughness can cause flight deviation (swing). The values of Drag, Lift and Side forces which are crucial for determining the trajectory of the ball were found with the help of FLUENT using the standard K- ɛ model. Analysis was done to study how the ball velocity, spin imparted to be ball and the tilt of the seam affects the movement of the ball through air. The governing force balance equations in 3 dimensions in combination a MATLAB code which used Heun's method was used for obtaining the trajectory of the ball. The conditions for the conventional swing and reverse swing to occur were deduced from the analysis and found to be in alignment with the real life situation. Critical seam angle for maximum swing and transition speed for normal to reverse swing were found out. The obtained trajectories were compared to real life hawk eye trajectories for validation. The analysis results were in good agreement with the real life situation.

Analysis of self-overlap reveals trade-offs in plankton swimming trajectories

PubMed Central

Bianco, Giuseppe; Mariani, Patrizio; Visser, Andre W.; Mazzocchi, Maria Grazia; Pigolotti, Simone

2014-01-01

Movement is a fundamental behaviour of organisms that not only brings about beneficial encounters with resources and mates, but also at the same time exposes the organism to dangerous encounters with predators. The movement patterns adopted by organisms should reflect a balance between these contrasting processes. This trade-off can be hypothesized as being evident in the behaviour of plankton, which inhabit a dilute three-dimensional environment with few refuges or orienting landmarks. We present an analysis of the swimming path geometries based on a volumetric Monte Carlo sampling approach, which is particularly adept at revealing such trade-offs by measuring the self-overlap of the trajectories. Application of this method to experimentally measured trajectories reveals that swimming patterns in copepods are shaped to efficiently explore volumes at small scales, while achieving a large overlap at larger scales. Regularities in the observed trajectories make the transition between these two regimes always sharper than in randomized trajectories or as predicted by random walk theory. Thus, real trajectories present a stronger separation between exploration for food and exposure to predators. The specific scale and features of this transition depend on species, gender and local environmental conditions, pointing at adaptation to state and stage-dependent evolutionary trade-offs. PMID:24789560

SU-E-T-436: Fluence-Based Trajectory Optimization for Non-Coplanar VMAT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Smyth, G; Bamber, JC; Bedford, JL

2015-06-15

Purpose: To investigate a fluence-based trajectory optimization technique for non-coplanar VMAT for brain cancer. Methods: Single-arc non-coplanar VMAT trajectories were determined using a heuristic technique for five patients. Organ at risk (OAR) volume intersected during raytracing was minimized for two cases: absolute volume and the sum of relative volumes weighted by OAR importance. These trajectories and coplanar VMAT formed starting points for the fluence-based optimization method. Iterative least squares optimization was performed on control points 24° apart in gantry rotation. Optimization minimized the root-mean-square (RMS) deviation of PTV dose from the prescription (relative importance 100), maximum dose to the brainstemmore » (10), optic chiasm (5), globes (5) and optic nerves (5), plus mean dose to the lenses (5), hippocampi (3), temporal lobes (2), cochleae (1) and brain excluding other regions of interest (1). Control point couch rotations were varied in steps of up to 10° and accepted if the cost function improved. Final treatment plans were optimized with the same objectives in an in-house planning system and evaluated using a composite metric - the sum of optimization metrics weighted by importance. Results: The composite metric decreased with fluence-based optimization in 14 of the 15 plans. In the remaining case its overall value, and the PTV and OAR components, were unchanged but the balance of OAR sparing differed. PTV RMS deviation was improved in 13 cases and unchanged in two. The OAR component was reduced in 13 plans. In one case the OAR component increased but the composite metric decreased - a 4 Gy increase in OAR metrics was balanced by a reduction in PTV RMS deviation from 2.8% to 2.6%. Conclusion: Fluence-based trajectory optimization improved plan quality as defined by the composite metric. While dose differences were case specific, fluence-based optimization improved both PTV and OAR dosimetry in 80% of cases.« less

Application of digital control to a magnetic model suspension and balance model

NASA Technical Reports Server (NTRS)

Luh, P. B.; Covert, E. E.; Whitaker, H. P.; Haldeman, C. W.

1978-01-01

The feasibility of using a digital computer for performing the automatic control functions for a magnetic suspension and balance system (MSBS) for use with wind tunnel models was investigated. Modeling was done using both a prototype MSBS and a one dimensional magnetic balance. A microcomputer using the Intel 8080 microprocessor is described and results are given using this microprocessor to control the one dimensional balance. Hybrid simulations for one degree of freedom of the MSBS were also performed and are reported. It is concluded that use of a digital computer to control the MSBS is eminently feasible and should extend both the accuracy and utility of the system.

Effects of partitioning and scheduling sparse matrix factorization on communication and load balance

NASA Technical Reports Server (NTRS)

Venugopal, Sesh; Naik, Vijay K.

1991-01-01

A block based, automatic partitioning and scheduling methodology is presented for sparse matrix factorization on distributed memory systems. Using experimental results, this technique is analyzed for communication and load imbalance overhead. To study the performance effects, these overheads were compared with those obtained from a straightforward 'wrap mapped' column assignment scheme. All experimental results were obtained using test sparse matrices from the Harwell-Boeing data set. The results show that there is a communication and load balance tradeoff. The block based method results in lower communication cost whereas the wrap mapped scheme gives better load balance.

Differential reliance of chimpanzees and humans on automatic and deliberate control of motor actions.

PubMed

Kaneko, Takaaki; Tomonaga, Masaki

2014-06-01

Humans are often unaware of how they control their limb motor movements. People pay attention to their own motor movements only when their usual motor routines encounter errors. Yet little is known about the extent to which voluntary actions rely on automatic control and when automatic control shifts to deliberate control in nonhuman primates. In this study, we demonstrate that chimpanzees and humans showed similar limb motor adjustment in response to feedback error during reaching actions, whereas attentional allocation inferred from gaze behavior differed. We found that humans shifted attention to their own motor kinematics as errors were induced in motor trajectory feedback regardless of whether the errors actually disrupted their reaching their action goals. In contrast, chimpanzees shifted attention to motor execution only when errors actually interfered with their achieving a planned action goal. These results indicate that the species differed in their criteria for shifting from automatic to deliberate control of motor actions. It is widely accepted that sophisticated motor repertoires have evolved in humans. Our results suggest that the deliberate monitoring of one's own motor kinematics may have evolved in the human lineage. Copyright © 2014 Elsevier B.V. All rights reserved.

Automatic control of human thermal comfort with a liquid-cooled garment

NASA Technical Reports Server (NTRS)

Kuznetz, L. H.

1977-01-01

Water cooling in a liquid-cooled garment is used to maintain the thermal comfort of crewmembers during extravehicular activity. The feasibility of a simple control that will operate automatically to maintain the thermal comfort is established. Data on three test subjects are included to support the conclusion that heat balance can be maintained well within allowable medical limits. The controller concept was also successfully demonstrated for ground-based applications and shows potential for any tasks involving the use of liquid-cooled garments.

Land cover trajectory in the Caatinga biome: analysing trends, drivers and consequences with high resolution satellite time series in Paraiba, Brazil

NASA Astrophysics Data System (ADS)

Rufino, Iana; Cunha, John; Carlos, Galvão; Nailson, Silva

2017-04-01

The Caatinga Biome is a unique Earth ecosystem with only 1% of conserved and protected areas (Oliveira et al, 2012). Human activities pressures high threaten Caatinga Biodiversity. Along the last decades, native green areas are changed by crops, livestock or those areas are reached by urban areas (Oliveira et al 2012; Fiaschi e Pianni, 2009; Sivakumar, 2007; Castelleti et al, 2004; Pereira et al, 2013; le Polain de Waroux & Lambin, 2012; Apgaua et al, 2013). Precipitation rates have high variability in space and time. High temperatures with small inter annual variability drives evapotranspiration up and turns the water scarcity the main challenge for sustainable life in rural areas. Sánchez-Azofeifa et al., (2005) try establishing research priorities for tropical dry forests and they recommend Scientific Community to focus on ecology and social aspects and possibilities of remote sensing techniques in those studies. Specific algorithms to produce estimates of energy balance and evapotranspiration of water to the atmosphere can process satellite images derived from several sensors. These estimates, combined with the analysis of historical time-series, allow the detection of changes in the terrestrial plant systems and can be used to discriminate the influences from human occupation and those from climate variability and/or change on energy fluxes and land cover. The algorithms have to be calibrated and validated using ground-based data. Thus, a large multiple source set of satellite and ground data has to be processed and comparatively analyzed. However, the high computational cost for image processing introduce further processing challenges. In order to face those challenges, this research explores the possibilities of using these medium resolution remote sensing products (30 meters), presenting a multitemporal long term analysis (24 months) to identify the land trajectory of one Semi-arid area (pilot) in the Caatinga biome. All processing steps use the statistical R package and GIS based tools in a automatic approach for the SEBAL (Bastiaanssen, 2000) and Fmask algorithms (Zhu e Woodcock, 2012). The main goal is to develop and provide an efficient remote sensing approach for a better understanding of "land cover trajectory" on an extremely vulnerable ecosystem driven by shifts on precipitation seasonality and extreme weather conditions.

Neck Proprioception Shapes Body Orientation and Perception of Motion

PubMed Central

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject’s mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes. PMID:25414660

Neck proprioception shapes body orientation and perception of motion.

PubMed

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject's mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes.

Newly Enacted Intent Changes to ADS-B MASPS: Emphasis on Operations, Compatibility, and Integrity

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Warren, Anthony W.

2002-01-01

Significant changes to the intent reporting structure in the Minimum Aviation System Performance Standards (MASPS) for Automatic Dependent Surveillance Broadcast (ADS-B) have recently been approved by RTCA Special Committee 186. The re-structured intent formats incorporate two major changes to the current MASPS (DO-242): addition of a Target State (TS) report that provides information on the horizontal and vertical targets for the current flight segment and replacement of the current Trajectory Change Point (TCP) and TCP+1 reports with Trajectory Change (TC) reports. TC reports include expanded information about TCPs and their connecting flight segments, in addition to making provisions for trajectory conformance elements. New intent elements are designed to accommodate a greater range of intent information, better reflect operational use and capabilities of existing and future aircraft avionics, and aid trajectory synthesis and conformance monitoring systems. These elements are expected to benefit near-term and future Air Traffic Management (ATM) applications, including separation assurance, local traffic flow management, and conformance monitoring. The current MASPS revision (DO-242A) implements those intent elements that are supported by current avionics standards and data buses. Additional elements are provisioned for inclusion in future MASPS revisions (beyond DO-242A) as avionics systems are evolved.

A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories.

PubMed

Yang, Wei; Ai, Tinghua; Lu, Wei

2018-04-19

Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality.

A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories

PubMed Central

Yang, Wei

2018-01-01

Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality. PMID:29671792

Automatic mesh refinement and parallel load balancing for Fokker-Planck-DSMC algorithm

NASA Astrophysics Data System (ADS)

Küchlin, Stephan; Jenny, Patrick

2018-06-01

Recently, a parallel Fokker-Planck-DSMC algorithm for rarefied gas flow simulation in complex domains at all Knudsen numbers was developed by the authors. Fokker-Planck-DSMC (FP-DSMC) is an augmentation of the classical DSMC algorithm, which mitigates the near-continuum deficiencies in terms of computational cost of pure DSMC. At each time step, based on a local Knudsen number criterion, the discrete DSMC collision operator is dynamically switched to the Fokker-Planck operator, which is based on the integration of continuous stochastic processes in time, and has fixed computational cost per particle, rather than per collision. In this contribution, we present an extension of the previous implementation with automatic local mesh refinement and parallel load-balancing. In particular, we show how the properties of discrete approximations to space-filling curves enable an efficient implementation. Exemplary numerical studies highlight the capabilities of the new code.

Convolutional neural networks with balanced batches for facial expressions recognition

NASA Astrophysics Data System (ADS)

Battini Sönmez, Elena; Cangelosi, Angelo

2017-03-01

This paper considers the issue of fully automatic emotion classification on 2D faces. In spite of the great effort done in recent years, traditional machine learning approaches based on hand-crafted feature extraction followed by the classification stage failed to develop a real-time automatic facial expression recognition system. The proposed architecture uses Convolutional Neural Networks (CNN), which are built as a collection of interconnected processing elements to simulate the brain of human beings. The basic idea of CNNs is to learn a hierarchical representation of the input data, which results in a better classification performance. In this work we present a block-based CNN algorithm, which uses noise, as data augmentation technique, and builds batches with a balanced number of samples per class. The proposed architecture is a very simple yet powerful CNN, which can yield state-of-the-art accuracy on the very competitive benchmark algorithm of the Extended Cohn Kanade database.

Improvement in automatic postural coordination following alexander technique lessons in a person with low back pain.

PubMed

Cacciatore, Timothy W; Horak, Fay B; Henry, Sharon M

2005-06-01

The relationship between abnormal postural coordination and back pain is unclear. The Alexander Technique (AT) aims to improve postural coordination by using conscious processes to alter automatic postural coordination and ongoing muscular activity, and it has been reported to reduce low back pain. This case report describes the use of the AT with a client with low back pain and the observed changes in automatic postural responses and back pain. The client was a 49-year-old woman with a 25-year history of left-sided, idiopathic, lumbrosacral back pain. Automatic postural coordination was measured using a force plate during horizontal platform translations and one-legged standing. The client was tested monthly for 4 months before AT lessons and for 3 months after lessons. Before lessons, she consistently had laterally asymmetric automatic postural responses to translations. After AT lessons, the magnitude and asymmetry of her responses and balance improved and her low back pain decreased. Further research is warranted to study whether AT lessons improve low back pain-associated abnormalities in automatic postural coordination and whether improving automatic postural coordination helps to reduce low back pain.

Breakdown of dynamic balance of a particle in a quadrupole cell by laser-induced aerosol heating.

PubMed

Itoh, M; Lwamoto, T; Takahashi, K; Kuno, S

1992-08-20

The retention stability of an aerosol particle in a quadrupole cell exposed to horizontal irradiation with a CO(2) laser is investigated for several sizes of single spherical carbon particles. The stability of dynamic balance for the particle levitation is affected significantly by the irradiation and breaks down at a power higher than 10(5) W/m(2). The particle is pushed away along the beam line, and its trajectory is slightly upward owing to the laser-induced aerosol heating.

SU-D-207A-06: Pediatric Abdominal Organ Motion Quantified Via a Novel 4D MRI Method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Uh, J; Krasin, MJ; Lucas, JT

Purpose: To develop a 4D MRI method for assessing respiration-induced abdominal organ motion in children receiving radiation therapy. Methods: A 4D MRI using internal image-based respiratory surrogate has been developed and implemented on a clinical scanner (1.5T Siemens Avanto). Ten patients (younger group: N=6, 2–5 years, anesthetized; older group: N=4, 11–15 years) with neuroblastoma, Wilm’s tumor rhabdomyosarcoma, or desmoplastic small round cell tumor received free breathing 4D MRI scans for treatment planning. Coronal image slices of the entire abdomen were retrospectively constructed in 10 respiratory phases. A B-spline deformable registration (Metz et al. 2011) was performed on 4D datasets tomore » automatically derive motion trajectories of selected anatomical landmarks, including the dome and the center of the liver, and the superior edges of kidneys and spleen. The extents of the motion in three dimensions (anteroposterior, AP; mediolateral, ML; superoinferior, SI) and the correlations between organ motion trajectories were quantified. Results: The 4D MRI scans were successfully performed in <20 minutes for all patients without the use of any external device. Organ motion extents were larger in adolescents (kidneys: 3–13 mm SI, liver and spleen: 6–18 mm SI) than in younger children (kidneys:<3mm in all directions; liver and spleen: 1–8 mm SI, 1–5 mm ML and AP). The magnitude of respiratory motion in some adolescents may warrant special motion management. Motion trajectories were not synchronized across selected anatomical landmarks, particularly in the ML and AP directions, indicating inter- and intra-organ variations of the respiratory-induced motion. Conclusion: The developed 4D MRI acquisition and motion analysis methods provide a non-ionizing, non-invasive approach to automatically measure the organ motion trajectory in the pediatric abdomen. It is useful for defining ITV and PRV, monitoring changes in target motion patterns during the treatment course, and studying interplay effects in proton scanning.« less

Modeling of Underwater Bomb Trajectory for Mine Clearance

DTIC Science & Technology

2010-01-01

suitable for a shallow water operation. The mine counter- measure airplane (AMCM) can tow the very capable sled (with the MK-103 through MK- 106 ...explosive in the live weapon is PBXN -109, whereas the inert weapons have filling to maintain appropriate weight and balance. Figure 6. Artificial

Analysis of Postdoctoral Training Outcomes That Broaden Participation in Science Careers

ERIC Educational Resources Information Center

Rybarczyk, Brian J.; Lerea, Leslie; Whittington, Dawayne; Dykstra, Linda

2016-01-01

Postdoctoral training is an optimal time to expand research skills, develop independence, and shape career trajectories, making this training period important to study in the context of career development. Seeding Postdoctoral Innovators in Research and Education (SPIRE) is a training program that balances research, teaching, and professional…

Automatic design of fiber-reinforced soft actuators for trajectory matching

NASA Astrophysics Data System (ADS)

Connolly, Fionnuala; Walsh, Conor J.; Bertoldi, Katia

2017-01-01

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.

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NASA Astrophysics Data System (ADS)

Liu, Yuan; Zhu, Qing

2017-07-01

In order to achieve the simulation of elaborate stroke trajectories in Chinese calligraphy, this paper puts forward the innovative researching on writing momentum in the field of non-photorealistic rendering in the first time. Through the analysis of using pen in Chinese calligraphy, the writing momentum is divided into three parts: the center, the side and the back of writing brush by the judgment of the angle of brush holder. We design an algorithm for dynamic outputting writing rendering based on brush model. According to monitoring parameters such as the direction, position and normalized pressure of using pen, we calculate parameters like the footprint direction, the shape, size and nib bending after writing. The algorithm can also judge the dynamic writing trend of stroke trajectories, even automatic generate stroke trajectories by the algorithm forecasted. We achieve a more delicate rendering of Chinese calligraphy to enhance the user's operating results. And we finish the unique writing effect separated the Chinese calligraphy form other general writing results, which greatly enhances the Chinese calligraphy simulation. So that people who lack of writing skills can easily draw a beautiful charm font.

Automatic design of fiber-reinforced soft actuators for trajectory matching

PubMed Central

Connolly, Fionnuala; Walsh, Conor J.; Bertoldi, Katia

2017-01-01

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb. PMID:27994133

Automatic design of fiber-reinforced soft actuators for trajectory matching.

PubMed

Connolly, Fionnuala; Walsh, Conor J; Bertoldi, Katia

2017-01-03

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.

Characteristic Analysis and Experiment of a Dynamic Flow Balance Valve

NASA Astrophysics Data System (ADS)

Bin, Li; Song, Guo; Xuyao, Mao; Chao, Wu; Deman, Zhang; Jin, Shang; Yinshui, Liu

2017-12-01

Comprehensive characteristics of a dynamic flow balance valve of water system were analysed. The flow balance valve can change the drag efficient automatically according to the condition of system, and the effective control flowrate is constant in the range of job pressure. The structure of the flow balance valve was introduced, and the theoretical calculation formula for the variable opening of the valve core was derived. A rated pressure of 20kPa to 200kPa and a rated flowrate of 10m3/h were offered in the numerical work. Static and fluent CFX analyses show good behaviours: through the valve core structure optimization and improve design of the compressive spring, the dynamic flow balance valve can stabilize the flowrate of system evidently. And experiments show that the flow control accuracy is within 5%.

EEG measures reveal dual-task interference in postural performance in young adults

PubMed Central

Woollacott, Marjorie

2014-01-01

The study used a dual-task (DT) postural paradigm (two tasks performed at once) that included electroencephalography (EEG) to examine cortical interference when a visual working memory (VWM) task was paired with a postural task. The change detection task was used, as it requires storage of information without updating or manipulation and predicts VWM capacity. Ground reaction forces (GRFs) (horizontal and vertical), EMG, and EEG elements, time locked to support surface perturbations, were used to infer the active neural processes underlying the automatic control of balance in 14 young adults. A significant reduction was seen between single task (ST) and DT conditions in VWM capacity (F(1,13) = 6.175, p < 0.05, r = 0.6) and event-related potential (ERP) N1 component amplitude over the L motor (p < 0.001) and R sensory (p < 0.05) cortical areas. In addition, a significant increase in the COP trajectory peak (pkcopx) was seen in the DT versus ST condition. Modulation of VWM capacity as well as ERP amplitude and pkcopx in DT conditions provided evidence of an interference pattern, suggesting that the two modalities shared a similar set of attentional resources. The results provide direct evidence of the competition for central processing attentional resources between the two modalities, through the reduction in amplitude of the ERP evoked by the postural perturbation. PMID:25273924

The role of ecosystem memory in predicting inter-annual variations of the tropical carbon balance.

NASA Astrophysics Data System (ADS)

Bloom, A. A.; Liu, J.; Bowman, K. W.; Konings, A. G.; Saatchi, S.; Worden, J. R.; Worden, H. M.; Jiang, Z.; Parazoo, N.; Williams, M. D.; Schimel, D.

2017-12-01

Understanding the trajectory of the tropical carbon balance remains challenging, in part due to large uncertainties in the integrated response of carbon cycle processes to climate variability. Satellite observations atmospheric CO2 from GOSAT and OCO-2, together with ancillary satellite measurements, provide crucial constraints on continental-scale terrestrial carbon fluxes. However, an integrated understanding of both climate forcings and legacy effects (or "ecosystem memory") on the terrestrial carbon balance is ultimately needed to reduce uncertainty on its future trajectory. Here we use the CARbon DAta-MOdel fraMework (CARDAMOM) diagnostic model-data fusion approach - constrained by an array of C cycle satellite surface observations, including MODIS leaf area, biomass, GOSAT solar-induced fluorescence, as well as "top-down" atmospheric inversion estimates of CO2 and CO surface fluxes from the NASA Carbon Monitoring System Flux (CMS-Flux) - to constrain and predict spatially-explicit tropical carbon state variables during 2010-2015. We find that the combined assimilation of land surface and atmospheric datasets places key constraints on the temperature sensitivity and first order carbon-water feedbacks throughout the tropics and combustion factors within biomass burning regions. By varying the duration of the assimilation period, we find that the prediction skill on inter-annual net biospheric exchange is primarily limited by record length rather than model structure and process representation. We show that across all tropical biomes, quantitative knowledge of memory effects - which account for 30-50% of interannual variations across the tropics - is critical for understanding and ultimately predicting the inter-annual tropical carbon balance.

Racial differences in parenting style typologies and heavy episodic drinking trajectories.

PubMed

Clark, Trenette T; Yang, Chongming; McClernon, F Joseph; Fuemmeler, Bernard F

2015-07-01

This study examines racial differences between Whites and Blacks in the association of parenting style typologies with changes in heavy episodic drinking from adolescence to young adulthood. The analytic sample consists of 9,942 adolescents drawn from the National Longitudinal Study of Adolescent Health, which followed respondents from ages 12 to 31 years. Confirmatory factor analysis and factor mixture modeling are used to classify parenting style typologies based on measures of parental acceptance and control. Heavy Episodic Drinking (HED) trajectories are evaluated using a zero-inflated Poisson multigroup latent growth curve modeling approach. The mixture model identified 4 heterogeneous groups that differed based on the 2 latent variables (parental acceptance and control): balanced (65.8% of the sample), authoritarian (12.2%), permissive (19.4%), and uninvolved or neglectful (2.7%). Regardless of race, we found that at age 12 years, children of authoritarian parents have a higher probability of not engaging in HED than children of parents with balanced, permissive, or neglectful parenting styles. However, among Black youth who reported HED at age 12, authoritarian parenting was associated with greater level of HED at age 12 but a less steep increase in level of HED as age increased yearly as compared with balanced parenting. For White adolescents, uninvolved, permissive, and authoritarian parenting were not associated with a greater level of HED as age increased yearly as compared with adolescents exposed to balanced parenting. The influence of parenting styles on HED during adolescence persists into young adulthood and differs by race for youth engaging in HED. (c) 2015 APA, all rights reserved.

Impacts of Human Induced Nitrogen Deposition on Ecosystem Carbon Sequestration and Water Balance in China

NASA Astrophysics Data System (ADS)

Sheng, M.; Yang, D.; Tang, J.; Lei, H.

2017-12-01

Enhanced plant biomass accumulation in response to elevated atmospheric CO2 concentration could dampen the future rate of increase in CO2 levels and associated climate warming. However, many experiments around the world reported that nitrogen availability could limit the sustainability of the ecosystems' response to elevated CO2. In the recent 20 years, atmospheric nitrogen deposition, primarily from fossil fuel combustion, has increased sharply about 25% in China and meanwhile, China has the highest carbon emission in the world, implying a large opportunity to increase vegetation greenness and ecosystem carbon sequestration. Moreover, the water balance of the ecosystem will also change. However, in the future, the trajectory of increasing nitrogen deposition from fossil fuel use is to be controlled by the government policy that shapes the energy and industrial structure. Therefore, the historical and future trajectories of nitrogen deposition are likely very different, and it is imperative to understand how changes in nitrogen deposition will impact the ecosystem carbon sequestration and water balance in China. We here use the Community Land Model (CLM 4.5) to analyze how the change of nitrogen deposition has influenced and will influence the ecosystem carbon and water cycle in China at a high spatial resolution (0.1 degree). We address the following questions: 1) what is the contribution of the nitrogen deposition on historical vegetation greenness? 2) How does the change of nitrogen deposition affect the carbon sequestration? 3) What is its influence to water balance? And 4) how different will be the influence of the nitrogen deposition on ecosystem carbon and water cycling in the future?

Racial Differences in Parenting Style Typologies and Heavy Episodic Drinking Trajectories

PubMed Central

Clark, Trenette T.; Yang, Chongming; McClernon, F. Joseph; Fuemmeler, Bernard

2014-01-01

Objective This study examines racial differences between Caucasians and African Americans in the association of parenting style typologies with changes in heavy episodic drinking from adolescence to young adulthood. Methods The analytic sample consists of 9,942 adolescents drawn from the National Longitudinal Study of Adolescent Health, which followed respondents from ages 12 to 31 years. Confirmatory factor analysis and factor mixture modeling are used to classify parenting style typologies based on measures of parental acceptance and control. HED trajectories are evaluated using a zero-inflated Poisson multigroup latent growth curve modeling approach. Results The mixture model identified four heterogeneous groups that differed based on the two latent variables (parental acceptance and control): balanced (65.8% of the sample), authoritarian (12.2%), permissive (19.4%), and uninvolved/neglectful (2.7%). Regardless of race, we found that at age 12 years, children of authoritarian parents have a higher probability of not engaging in HED than children of parents with balanced, permissive, or neglectful parenting styles. However, among African American youth who reported HED at age 12, authoritarian parenting was associated with greater level of HED at age 12 but a less steep increase in level of HED as age increased yearly as compared with balanced parenting. For Caucasian adolescents, uninvolved, permissive, and authoritarian parenting were not associated with a greater level of HED as age increased yearly as compared with adolescents exposed to balanced parenting. Conclusion The influence of parenting styles on HED during adolescence persists into young adulthood and differs by race for youth engaging in HED. PMID:25222086

Modeling and Classifying Six-Dimensional Trajectories for Teleoperation Under a Time Delay

NASA Technical Reports Server (NTRS)

SunSpiral, Vytas; Wheeler, Kevin R.; Allan, Mark B.; Martin, Rodney

2006-01-01

Within the context of teleoperating the JSC Robonaut humanoid robot under 2-10 second time delays, this paper explores the technical problem of modeling and classifying human motions represented as six-dimensional (position and orientation) trajectories. A dual path research agenda is reviewed which explored both deterministic approaches and stochastic approaches using Hidden Markov Models. Finally, recent results are shown from a new model which represents the fusion of these two research paths. Questions are also raised about the possibility of automatically generating autonomous actions by reusing the same predictive models of human behavior to be the source of autonomous control. This approach changes the role of teleoperation from being a stand-in for autonomy into the first data collection step for developing generative models capable of autonomous control of the robot.

Retrieving Tract Variables From Acoustics: A Comparison of Different Machine Learning Strategies.

PubMed

Mitra, Vikramjit; Nam, Hosung; Espy-Wilson, Carol Y; Saltzman, Elliot; Goldstein, Louis

2010-09-13

Many different studies have claimed that articulatory information can be used to improve the performance of automatic speech recognition systems. Unfortunately, such articulatory information is not readily available in typical speaker-listener situations. Consequently, such information has to be estimated from the acoustic signal in a process which is usually termed "speech-inversion." This study aims to propose and compare various machine learning strategies for speech inversion: Trajectory mixture density networks (TMDNs), feedforward artificial neural networks (FF-ANN), support vector regression (SVR), autoregressive artificial neural network (AR-ANN), and distal supervised learning (DSL). Further, using a database generated by the Haskins Laboratories speech production model, we test the claim that information regarding constrictions produced by the distinct organs of the vocal tract (vocal tract variables) is superior to flesh-point information (articulatory pellet trajectories) for the inversion process.

Performance capabilities of a JPL dual-arm advanced teleoperation system

NASA Technical Reports Server (NTRS)

Szakaly, Z. F.; Bejczy, A. K.

1991-01-01

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Statistical modelling of subdiffusive dynamics in the cytoplasm of living cells: A FARIMA approach

NASA Astrophysics Data System (ADS)

Burnecki, K.; Muszkieta, M.; Sikora, G.; Weron, A.

2012-04-01

Golding and Cox (Phys. Rev. Lett., 96 (2006) 098102) tracked the motion of individual fluorescently labelled mRNA molecules inside live E. coli cells. They found that in the set of 23 trajectories from 3 different experiments, the automatically recognized motion is subdiffusive and published an intriguing microscopy video. Here, we extract the corresponding time series from this video by image segmentation method and present its detailed statistical analysis. We find that this trajectory was not included in the data set already studied and has different statistical properties. It is best fitted by a fractional autoregressive integrated moving average (FARIMA) process with the normal-inverse Gaussian (NIG) noise and the negative memory. In contrast to earlier studies, this shows that the fractional Brownian motion is not the best model for the dynamics documented in this video.

Balance quality assessment as an early indicator of physical frailty in older people.

PubMed

Chkeir, Aly; Safieddine, Doha; Bera, D; Collart, M; Novella, J L; Drame, M; Hewson, David J; Duchene, Jacques

2016-08-01

Frailty is an increasingly common geriatric condition that results in an increased risk of adverse health outcomes such as falls. The most widely-used means of detecting frailty is the Fried phenotype, which includes several objective measures such as grip strength and gait velocity. One method of screening for falls is to measure balance, which can be done by a range of techniques including the assessment of the Centre of Pressure (CoP) during a balance assessment. The Balance Quality Tester (BQT) is a device based on a commercial bathroom scale that can evaluate balance quality. The BQT provides instantaneously the position of the CoP (stabilogram) in both anteroposterior (AP) and mediolateral (ML) directions and can estimate the vertical ground reaction force. The purpose of this study was to examine the relationship between balance quality assessment and physical frailty. Balance quality was compared to physical frailty in 186 older subjects. Rising rate (RR) was slower and trajectory velocity (TV) was higher in subjects classified as frail for both grip strength and gait velocity (p<;0.05). Balance assessment could be used in conjunction with functional tests of grip strength and gait velocity as a means of screening for frailty.

Hazardous Environment Robotics

NASA Technical Reports Server (NTRS)

1996-01-01

Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

Two-Dimensional Stochastic Projections for Tight Integration of Optical and Inertial Sensors for Navigation

DTIC Science & Technology

2007-01-01

Intelligent Robots and Systems, vol- ume 1, pp. 123–128, September 2002. [2] R. G. Brown and P. Y. Hwang . Introduction to Ran- dom Signals and Applied... Kalman Filter-based) method for calculat- ing a trajectory by tracking features at an unknown location on the Earth’s surface, provided the topography...Extended Kalman Filter (EKF) and an automatic target tracking algorithm. In the following section, the integration architecture is presented, which in

Detecting and Analyzing Multiple Moving Objects in Crowded Environments with Coherent Motion Regions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheriyadat, Anil M.

Understanding the world around us from large-scale video data requires vision systems that can perform automatic interpretation. While human eyes can unconsciously perceive independent objects in crowded scenes and other challenging operating environments, automated systems have difficulty detecting, counting, and understanding their behavior in similar scenes. Computer scientists at ORNL have a developed a technology termed as "Coherent Motion Region Detection" that invloves identifying multiple indepedent moving objects in crowded scenes by aggregating low-level motion cues extracted from moving objects. Humans and other species exploit such low-level motion cues seamlessely to perform perceptual grouping for visual understanding. The algorithm detectsmore » and tracks feature points on moving objects resulting in partial trajectories that span coherent 3D region in the space-time volume defined by the video. In the case of multi-object motion, many possible coherent motion regions can be constructed around the set of trajectories. The unique approach in the algorithm is to identify all possible coherent motion regions, then extract a subset of motion regions based on an innovative measure to automatically locate moving objects in crowded environments.The software reports snapshot of the object, count, and derived statistics ( count over time) from input video streams. The software can directly process videos streamed over the internet or directly from a hardware device (camera).« less

Inhibition in movement plan competition: reach trajectories curve away from remembered and task-irrelevant present but not from task-irrelevant past visual stimuli.

PubMed

Moehler, Tobias; Fiehler, Katja

2017-11-01

The current study investigated the role of automatic encoding and maintenance of remembered, past, and present visual distractors for reach movement planning. The previous research on eye movements showed that saccades curve away from locations actively kept in working memory and also from task-irrelevant perceptually present visual distractors, but not from task-irrelevant past distractors. Curvature away has been associated with an inhibitory mechanism resolving the competition between multiple active movement plans. Here, we examined whether reach movements underlie a similar inhibitory mechanism and thus show systematic modulation of reach trajectories when the location of a previously presented distractor has to be (a) maintained in working memory or (b) ignored, or (c) when the distractor is perceptually present. Participants performed vertical reach movements on a computer monitor from a home to a target location. Distractors appeared laterally and near or far from the target (equidistant from central fixation). We found that reaches curved away from the distractors located close to the target when the distractor location had to be memorized and when it was perceptually present, but not when the past distractor had to be ignored. Our findings suggest that automatically encoding present distractors and actively maintaining the location of past distractors in working memory evoke a similar response competition resolved by inhibition, as has been previously shown for saccadic eye movements.

Sex Differences in Genetic and Environmental Influences on Longitudinal Change in Functional Ability in Late Adulthood.

PubMed

Finkel, Deborah; Ernsth-Bravell, Marie; Pedersen, Nancy L

2015-09-01

To determine the extent to which genetic and environmental factors contribute to individual and gender differences in aging of functional ability. Twenty assessments of functional ability are collected as part of the longitudinal Swedish Adoption/Twin Study of Aging from 859 twins aged 50-88 at the first wave. Participants completed up to 6 assessments covering a 19-year period. Factor analysis was used to create 3 factors: flexibility, fine motor skills, and balance. Latent growth curve analysis demonstrated increasing disability and variability after age 70. For flexibility, results indicated significant sex differences in mean change trajectories but no sex differences in components of variance. No sex differences were found for fine motor movement. For balance, there were no sex differences in mean change trajectories; however, there was significant genetic variance for changes in balance in women after age 70 but not for men. Although idiosyncratic environmental influences account for a large part of increasing variance, correlated and shared rearing environmental effects were also evident. Thus, both microenvironmental (individual) and macroenvironmental (family and cultural) effects, as well as genetic factors, affect maintenance of functional ability in late adulthood. © The Author 2014. Published by Oxford University Press on behalf of The Gerontological Society of America. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Trajectory formation principles are the same after mild or moderate stroke

PubMed Central

van Dokkum, Liesjet Elisabeth Henriette; Froger, Jérôme; Gouaïch, Abdelkader; Laffont, Isabelle

2017-01-01

When we make rapid reaching movements, we have to trade speed for accuracy. To do so, the trajectory of our hand is the result of an optimal balance between feed-forward and feed-back control in the face of signal-dependant noise in the sensorimotor system. How far do these principles of trajectory formation still apply after a stroke, for persons with mild to moderate sensorimotor deficits who recovered some reaching ability? Here, we examine the accuracy of fast hand reaching movements with a focus on the information capacity of the sensorimotor system and its relation to trajectory formation in young adults, in persons who had a stroke and in age-matched control participants. We find that persons with stroke follow the same trajectory formation principles, albeit parameterized differently in the face of higher sensorimotor uncertainty. Higher directional errors after a stroke result in less feed-forward control, hence more feed-back loops responsible for segmented movements. As a consequence, movements are globally slower to reach the imposed accuracy, and the information throughput of the sensorimotor system is lower after a stroke. The fact that the most abstract principles of motor control remain after a stroke suggests that clinicians can capitalize on existing theories of motor control and learning to derive principled rehabilitation strategies. PMID:28329000

A computationally efficient method for incorporating spike waveform information into decoding algorithms.

PubMed

Ventura, Valérie; Todorova, Sonia

2015-05-01

Spike-based brain-computer interfaces (BCIs) have the potential to restore motor ability to people with paralysis and amputation, and have shown impressive performance in the lab. To transition BCI devices from the lab to the clinic, decoding must proceed automatically and in real time, which prohibits the use of algorithms that are computationally intensive or require manual tweaking. A common choice is to avoid spike sorting and treat the signal on each electrode as if it came from a single neuron, which is fast, easy, and therefore desirable for clinical use. But this approach ignores the kinematic information provided by individual neurons recorded on the same electrode. The contribution of this letter is a linear decoding model that extracts kinematic information from individual neurons without spike-sorting the electrode signals. The method relies on modeling sample averages of waveform features as functions of kinematics, which is automatic and requires minimal data storage and computation. In offline reconstruction of arm trajectories of a nonhuman primate performing reaching tasks, the proposed method performs as well as decoders based on expertly manually and automatically sorted spikes.

Robotic excavator trajectory control using an improved GA based PID controller

NASA Astrophysics Data System (ADS)

Feng, Hao; Yin, Chen-Bo; Weng, Wen-wen; Ma, Wei; Zhou, Jun-jing; Jia, Wen-hua; Zhang, Zi-li

2018-05-01

In order to achieve excellent trajectory tracking performances, an improved genetic algorithm (IGA) is presented to search for the optimal proportional-integral-derivative (PID) controller parameters for the robotic excavator. Firstly, the mathematical model of kinematic and electro-hydraulic proportional control system of the excavator are analyzed based on the mechanism modeling method. On this basis, the actual model of the electro-hydraulic proportional system are established by the identification experiment. Furthermore, the population, the fitness function, the crossover probability and mutation probability of the SGA are improved: the initial PID parameters are calculated by the Ziegler-Nichols (Z-N) tuning method and the initial population is generated near it; the fitness function is transformed to maintain the diversity of the population; the probability of crossover and mutation are adjusted automatically to avoid premature convergence. Moreover, a simulation study is carried out to evaluate the time response performance of the proposed controller, i.e., IGA based PID against the SGA and Z-N based PID controllers with a step signal. It was shown from the simulation study that the proposed controller provides the least rise time and settling time of 1.23 s and 1.81 s, respectively against the other tested controllers. Finally, two types of trajectories are designed to validate the performances of the control algorithms, and experiments are performed on the excavator trajectory control experimental platform. It was demonstrated from the experimental work that the proposed IGA based PID controller improves the trajectory accuracy of the horizontal line and slope line trajectories by 23.98% and 23.64%, respectively in comparison to the SGA tuned PID controller. The results further indicate that the proposed IGA tuning based PID controller is effective for improving the tracking accuracy, which may be employed in the trajectory control of an actual excavator.

Novel algorithm and MATLAB-based program for automated power law analysis of single particle, time-dependent mean-square displacement

NASA Astrophysics Data System (ADS)

Umansky, Moti; Weihs, Daphne

2012-08-01

In many physical and biophysical studies, single-particle tracking is utilized to reveal interactions, diffusion coefficients, active modes of driving motion, dynamic local structure, micromechanics, and microrheology. The basic analysis applied to those data is to determine the time-dependent mean-square displacement (MSD) of particle trajectories and perform time- and ensemble-averaging of similar motions. The motion of particles typically exhibits time-dependent power-law scaling, and only trajectories with qualitatively and quantitatively comparable MSD should be ensembled. Ensemble averaging trajectories that arise from different mechanisms, e.g., actively driven and diffusive, is incorrect and can result inaccurate correlations between structure, mechanics, and activity. We have developed an algorithm to automatically and accurately determine power-law scaling of experimentally measured single-particle MSD. Trajectories can then categorized and grouped according to user defined cutoffs of time, amplitudes, scaling exponent values, or combinations. Power-law fits are then provided for each trajectory alongside categorized groups of trajectories, histograms of power laws, and the ensemble-averaged MSD of each group. The codes are designed to be easily incorporated into existing user codes. We expect that this algorithm and program will be invaluable to anyone performing single-particle tracking, be it in physical or biophysical systems. Catalogue identifier: AEMD_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEMD_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 25 892 No. of bytes in distributed program, including test data, etc.: 5 572 780 Distribution format: tar.gz Programming language: MATLAB (MathWorks Inc.) version 7.11 (2010b) or higher, program should also be backwards compatible. Symbolic Math Toolboxes (5.5) is required. The Curve Fitting Toolbox (3.0) is recommended. Computer: Tested on Windows only, yet should work on any computer running MATLAB. In Windows 7, should be used as administrator, if the user is not the administrator the program may not be able to save outputs and temporary outputs to all locations. Operating system: Any supporting MATLAB (MathWorks Inc.) v7.11 / 2010b or higher. Supplementary material: Sample output files (approx. 30 MBytes) are available. Classification: 12 External routines: Several MATLAB subfunctions (m-files), freely available on the web, were used as part of and included in, this code: count, NaN suite, parseArgs, roundsd, subaxis, wcov, wmean, and the executable pdfTK.exe. Nature of problem: In many physical and biophysical areas employing single-particle tracking, having the time-dependent power-laws governing the time-averaged meansquare displacement (MSD) of a single particle is crucial. Those power laws determine the mode-of-motion and hint at the underlying mechanisms driving motion. Accurate determination of the power laws that describe each trajectory will allow categorization into groups for further analysis of single trajectories or ensemble analysis, e.g. ensemble and time-averaged MSD. Solution method: The algorithm in the provided program automatically analyzes and fits time-dependent power laws to single particle trajectories, then group particles according to user defined cutoffs. It accepts time-dependent trajectories of several particles, each trajectory is run through the program, its time-averaged MSD is calculated, and power laws are determined in regions where the MSD is linear on a log-log scale. Our algorithm searches for high-curvature points in experimental data, here time-dependent MSD. Those serve as anchor points for determining the ranges of the power-law fits. Power-law scaling is then accurately determined and error estimations of the parameters and quality of fit are provided. After all single trajectory time-averaged MSDs are fit, we obtain cutoffs from the user to categorize and segment the power laws into groups; cutoff are either in exponents of the power laws, time of appearance of the fits, or both together. The trajectories are sorted according to the cutoffs and the time- and ensemble-averaged MSD of each group is provided, with histograms of the distributions of the exponents in each group. The program then allows the user to generate new trajectory files with trajectories segmented according to the determined groups, for any further required analysis. Additional comments: README file giving the names and a brief description of all the files that make-up the package and clear instructions on the installation and execution of the program is included in the distribution package. Running time: On an i5 Windows 7 machine with 4 GB RAM the automated parts of the run (excluding data loading and user input) take less than 45 minutes to analyze and save all stages for an 844 trajectory file, including optional PDF save. Trajectory length did not affect run time (tested up to 3600 frames/trajectory), which was on average 3.2±0.4 seconds per trajectory.

Women's economic activity trajectories over the life course: implications for the self-rated health of women aged 64+ in England.

PubMed

Stone, Juliet; Evandrou, Maria; Falkingham, Jane; Vlachantoni, Athina

2015-09-01

Previous research has highlighted the importance of accumulated life-course labour market status and the balancing of multiple roles for understanding inequalities in health in later life. This may be particularly important for women, who are increasingly required to balance work and family life in liberal welfare contexts, such as in Britain. This study analyses retrospective life history data for 2160 women aged 64+ years (born 1909-1943) from the English Longitudinal Study of Ageing, collected in 2006-2007 as part of an ongoing panel study. Optimal matching and cluster analyses are used to produce a taxonomy of women's life-course economic activity trajectories based on their experiences between ages 16 and 64 years. This classification is then used in logistic regression analysis to investigate associations with self-rated health in later life. A set of five trajectories emerge as the dominant patterns of women's economic activity over the life course for those cohorts of English women born prior to 1943: (1) full-time workers; (2) family carers; (3) full-time returners; (4) part-time returners; (5) atypical/inactive. Regression analyses show that women who experience defined periods of full-time work both before and after focusing on family life appear to have the most favourable later life health outcomes. The findings are discussed with reference to the accumulation of social and economic resources over the life course and the balancing of multiple roles in work and family domains. In conclusion, the development of policies that facilitate women, if they wish, to successfully combine paid employment with family life could have a positive impact on their health in later life. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Equipment and New Products

ERIC Educational Resources Information Center

Poitras, Adrian W., Ed.

1973-01-01

The following items are discussed: Digital Counters and Readout Devices, Automatic Burette Outfits, Noise Exposure System, Helium-Cadmium Laser, New pH Buffers and Flip-Top Dispenser, Voltage Calibrator Transfer Standard, Photomicrographic Stereo Zoom Microscope, Portable pH Meter, Micromanipulators, The Snuffer, Electronic Top-Loading Balances,…

Constructing an Indoor Floor Plan Using Crowdsourcing Based on Magnetic Fingerprinting

PubMed Central

Zhao, Fang; Jiang, Mengling; Ma, Hao; Zhang, Yuexia

2017-01-01

A large number of indoor positioning systems have recently been developed to cater for various location-based services. Indoor maps are a prerequisite of such indoor positioning systems; however, indoor maps are currently non-existent for most indoor environments. Construction of an indoor map by external experts excludes quick deployment and prevents widespread utilization of indoor localization systems. Here, we propose an algorithm for the automatic construction of an indoor floor plan, together with a magnetic fingerprint map of unmapped buildings using crowdsourced smartphone data. For floor plan construction, our system combines the use of dead reckoning technology, an observation model with geomagnetic signals, and trajectory fusion based on an affinity propagation algorithm. To obtain the indoor paths, the magnetic trajectory data obtained through crowdsourcing were first clustered using dynamic time warping similarity criteria. The trajectories were inferred from odometry tracing, and those belonging to the same cluster in the magnetic trajectory domain were then fused. Fusing these data effectively eliminates the inherent tracking errors originating from noisy sensors; as a result, we obtained highly accurate indoor paths. One advantage of our system is that no additional hardware such as a laser rangefinder or wheel encoder is required. Experimental results demonstrate that our proposed algorithm successfully constructs indoor floor plans with 0.48 m accuracy, which could benefit location-based services which lack indoor maps. PMID:29156639

The degree of postural automaticity influences the prime movement and the anticipatory postural adjustments during standing in healthy young individuals.

PubMed

Sakamoto, Sadanori; Iguchi, Masaki

2018-06-08

Less attention to a balance task reduces the center of foot pressure (COP) variability by automating the task. However, it is not fully understood how the degree of postural automaticity influences the voluntary movement and anticipatory postural adjustments. Eleven healthy young adults performed a bipedal, eyes closed standing task under the three conditions: Control (C, standing task), Single (S, standing + reaction tasks), and Dual (D, standing  +  reaction + mental tasks). The reaction task was flexing the right shoulder to an auditory stimulus, which causes counter-clockwise rotational torque, and the mental task was arithmetic task. The COP variance before the reaction task was reduced in the D condition compared to that in the C and S conditions. On average the onsets of the arm movement and the vertical torque (Tz, anticipatory clockwise rotational torque) were both delayed, and the maximal Tz slope (the rate at which the torque develops) became less steep in the D condition compared to those in the S condition. When these data in the D condition were expressed as a percentage of those in the S condition, the arm movement onset and the Tz slope were positively and negatively, respectively, correlated with the COP variance. By using the mental-task induced COP variance reduction as the indicator of postural automaticity, our data suggest that the balance task for those with more COP variance reduction is less cognitively demanding, leading to the shorter reaction time probably due to the attention shift from the automated balance task to the reaction task. Copyright © 2018 Elsevier B.V. All rights reserved.

New weight-handling device for commercial oil pressure balances

NASA Astrophysics Data System (ADS)

Woo, S. Y.; Choi, I. M.; Kim, B. S.

2005-12-01

This paper presents a new device to automatically handle a large number of weights for the calibration of a pressure gauge. This newly invented weight-handling device is made for use in conjunction with a commercial oil pressure balance. Although the pressure balance is essential as a calibration tool, its use has been generally tedious and labour intensive for a long time. In particular, the process of loading a different combination of weights on the top of a piston requires repetitious manual handling for every new measurement. This inevitably leaves the operator fatigued, and sometimes causes damage to the weights due to careless handling. The newly invented automatic weight-handling device can eliminate such tedious, error-prone and wear-inducing manual weight manipulation. The device consists of a stepping motor, a drive belt, a solenoid valve, three weight-lifting assemblies and three linear-motion guide assemblies. The weight-lifting assembly is composed of a pneumatic actuator, a solid-state switch and a metal finger. It has many advantages compared with the commercial automatic weight-handling device. Firstly, it is not necessary to lift all the weights off the piston in the weight selection process, as it is in the case of the commercial device. Thus it can prevent a permanent deformation of the weight carrier. Secondly, this new device can handle a larger number of weights than the commercial one. This is because the new device adopts a different method in retaining the remaining weights in place. Another advantage of this new device is that there is no possibility of the fingers touching the surface of the weights due to the oscillation of weights. Moreover it uses the general technology of a stepping motor, and is also made up of components that are easily obtainable in the market, thereby being very economical.

Imbalance in Multiple Sclerosis: A Result of Slowed Spinal Somatosensory Conduction

PubMed Central

Cameron, Michelle H.; Horak, Fay B.; Herndon, Robert R.; Bourdette, Dennis

2009-01-01

Balance problems and falls are common in people with multiple sclerosis (MS) but their cause and nature are not well understood. It is known that MS affects many areas of the central nervous system that can impact postural responses to maintain balance, including the cerebellum and the spinal cord. Cerebellar balance disorders are associated with normal latencies but reduced scaling of postural responses. We therefore examined the latency and scaling of automatic postural responses, and their relationship to somatosensory evoked potentials (SSEPs), in 10 people with MS and imbalance and 10 age-, sex-matched, healthy controls. The latency and scaling of postural responses to backward surface translations of 5 different velocities and amplitudes, and the latency of spinal and supraspinal somatosensory conduction, were examined. Subjects with MS had large, but very delayed automatic postural response latencies compared to controls (161ms ± 31 vs 102 ± 21, p < 0.01) and these postural response latencies correlated with the latencies of their spinal SSEPs (r=0.73, p< 0.01). Subjects with MS also had normal or excessive scaling of postural response amplitude to perturbation velocity and amplitude. Longer latency postural responses were associated with less velocity scaling and more amplitude scaling. Balance deficits in people with MS appear to be caused by slowed spinal somatosensory conduction and not by cerebellar involvement. People with MS appear to compensate for their slowed spinal somatosensory conduction by increasing the amplitude scaling and the magnitude of their postural responses. PMID:18570015

Adaptive Equilibrium Regulation: A Balancing Act in Two Timescales

PubMed Central

Boker, Steven M.

2015-01-01

An equilibrium involves a balancing of forces. Just as one maintains upright posture in standing or walking, many self-regulatory and interpersonal behaviors can be framed as a balancing act between an ever changing environment and within-person processes. The emerging balance between person and environment, the equilibria, are dynamic and adaptive in response to development and learning. A distinction is made between equilibrium achieved solely due to a short timescale balancing of forces and a longer timescale preferred equilibrium which we define as a state towards which the system slowly adapts. Together, these are developed into a framework that this article calls Adaptive Equilibrium Regulation (ÆR), which separates a regulatory process into two timescales: a faster regulation that automatically balances forces and a slower timescale adaptation process that reconfigures the fast regulation so as to move the system towards its preferred equilibrium when an environmental force persists over the longer timescale. This way of thinking leads to novel models for the interplay between multiple timescales of behavior, learning, and development. PMID:27066197

Advances in Highly Constrained Multi-Phase Trajectory Generation using the General Pseudospectral Optimization Software (GPOPS)

DTIC Science & Technology

2013-08-01

release; distribution unlimited. PA Number 412-TW-PA-13395 f generic function g acceleration due to gravity h altitude L aerodynamic lift force L Lagrange...cost m vehicle mass M Mach number n number of coefficients in polynomial regression p highest order of polynomial regression Q dynamic pressure R...Method (RPM); the collocation points are defined by the roots of Legendre -Gauss- Radau (LGR) functions.9 GPOPS also automatically refines the “mesh” by

Motion estimation of subcellular structures from fluorescence microscopy images.

PubMed

Vallmitjana, A; Civera-Tregon, A; Hoenicka, J; Palau, F; Benitez, R

2017-07-01

We present an automatic image processing framework to study moving intracellular structures from live cell fluorescence microscopy. The system includes the identification of static and dynamic structures from time-lapse images using data clustering as well as the identification of the trajectory of moving objects with a probabilistic tracking algorithm. The method has been successfully applied to study mitochondrial movement in neurons. The approach provides excellent performance under different experimental conditions and is robust to common sources of noise including experimental, molecular and biological fluctuations.

Centre of pressure correlates with pyramid performance in acrobatic gymnastics.

PubMed

Floría, Pablo; Gómez-Landero, Luis Arturo; Harrison, Andrew J

2015-01-01

Acrobatic gymnasts need excellent balance control to execute pyramids where one gymnast is supported by another. The objectives of this study were: (1) to describe balance performance by assessing the centre of pressure displacement in a group of acrobatic gymnasts executing pyramids; (2) to determine the relationship between the parameters describing the centre of pressure oscillations and pyramid score; and (3) to examine the role of each foot in providing a solid base of support to maintain the balance of the pyramid. Sixteen acrobatic gymnasts grouped in pairs performed a Half pyramid and a Straddle pyramid held for 7 s on two force platforms. Path length, variance, range trajectory, and surface area of the centre of pressure of each foot were examined to analyse the balance of the pyramid. The path length was correlated with the pyramid score (Straddle: p = 0.692 [large]; Half: p = 0.407 [moderate]). There were differences in the functions of each leg to maintain balance, with the non-preferred leg supporting a higher weight of the pyramid while the preferred leg performed control movements to maintain balance. The results suggested that quantitative analysis of balance can provide important information on pyramid performance.

Rocket ascent G-limited moment-balanced optimization program (RAGMOP)

NASA Technical Reports Server (NTRS)

Lyons, J. T.; Woltosz, W. S.; Abercrombie, G. E.; Gottlieb, R. G.

1972-01-01

This document describes the RAGMOP (Rocket Ascent G-limited Momentbalanced Optimization Program) computer program for parametric ascent trajectory optimization. RAGMOP computes optimum polynomial-form attitude control histories, launch azimuth, engine burn-time, and gross liftoff weight for space shuttle type vehicles using a search-accelerated, gradient projection parameter optimization technique. The trajectory model available in RAGMOP includes a rotating oblate earth model, the option of input wind tables, discrete and/or continuous throttling for the purposes of limiting the thrust acceleration and/or the maximum dynamic pressure, limitation of the structural load indicators (the product of dynamic pressure with angle-of-attack and sideslip angle), and a wide selection of intermediate and terminal equality constraints.

Automatic stress-relieving music recommendation system based on photoplethysmography-derived heart rate variability analysis.

PubMed

Shin, Il-Hyung; Cha, Jaepyeong; Cheon, Gyeong Woo; Lee, Choonghee; Lee, Seung Yup; Yoon, Hyung-Jin; Kim, Hee Chan

2014-01-01

This paper presents an automatic stress-relieving music recommendation system (ASMRS) for individual music listeners. The ASMRS uses a portable, wireless photoplethysmography module with a finger-type sensor, and a program that translates heartbeat signals from the sensor to the stress index. The sympathovagal balance index (SVI) was calculated from heart rate variability to assess the user's stress levels while listening to music. Twenty-two healthy volunteers participated in the experiment. The results have shown that the participants' SVI values are highly correlated with their prespecified music preferences. The sensitivity and specificity of the favorable music classification also improved as the number of music repetitions increased to 20 times. Based on the SVI values, the system automatically recommends favorable music lists to relieve stress for individuals.

Factors influencing the occupational trajectory of patients with systemic sclerosis: a qualitative study.

PubMed

Decuman, Saskia; Smith, Vanessa; Grypdonck, Maria; De Keyser, Filip; Verhaeghe, Sofie

2015-01-01

To describe, from the patient's point of view, the factors influencing the occupational trajectory of patients with systemic sclerosis (SSc). This was a qualitative study designed using grounded theory with constant comparison. Data were collected through semi-structured interviews with 14 patients who fulfilled the American College of Rheumatology or Leroy-Medsger criteria for SSc. Based on our interviews, we found that the occupational trajectory of patients with SSc is influenced by the continuous interplay between four groups of factors. The first group concerns the values patients attribute to work, including identity, normality, financial value, social contact, and structure. The meaning of these values and how they relate to each other underlies the desire to work. A second group of factors is those influencing the balance between daily life, work participation, and medical condition (e.g. job content, flexibility in organising work, and the willingness to ask for accommodations at work). The occupational trajectory is also influenced by external factors, including availability of support, know-ledge of the disease, pressure to work, contact with medical professionals, and existing regulations and the patient's knowledge about them. Finally, the occupational trajectory is influenced by personal factors, including socio-demographics, psychological assets, and disease- and work-related personal factors. The decisions patients with SSc take concerning work depend on an interplay between many factors and, especially, on the patients' personal interpretation of these factors. These need to be taken into account when helping patients with SSc determine their occupational trajectory.

Global optimization method based on ray tracing to achieve optimum figure error compensation

NASA Astrophysics Data System (ADS)

Liu, Xiaolin; Guo, Xuejia; Tang, Tianjin

2017-02-01

Figure error would degrade the performance of optical system. When predicting the performance and performing system assembly, compensation by clocking of optical components around the optical axis is a conventional but user-dependent method. Commercial optical software cannot optimize this clocking. Meanwhile existing automatic figure-error balancing methods can introduce approximate calculation error and the build process of optimization model is complex and time-consuming. To overcome these limitations, an accurate and automatic global optimization method of figure error balancing is proposed. This method is based on precise ray tracing to calculate the wavefront error, not approximate calculation, under a given elements' rotation angles combination. The composite wavefront error root-mean-square (RMS) acts as the cost function. Simulated annealing algorithm is used to seek the optimal combination of rotation angles of each optical element. This method can be applied to all rotational symmetric optics. Optimization results show that this method is 49% better than previous approximate analytical method.

Transport aircraft loading and balancing system: Using a CLIPS expert system for military aircraft load planning

NASA Technical Reports Server (NTRS)

Richardson, J.; Labbe, M.; Belala, Y.; Leduc, Vincent

1994-01-01

The requirement for improving aircraft utilization and responsiveness in airlift operations has been recognized for quite some time by the Canadian Forces. To date, the utilization of scarce airlift resources has been planned mainly through the employment of manpower-intensive manual methods in combination with the expertise of highly qualified personnel. In this paper, we address the problem of facilitating the load planning process for military aircraft cargo planes through the development of a computer-based system. We introduce TALBAS (Transport Aircraft Loading and BAlancing System), a knowledge-based system designed to assist personnel involved in preparing valid load plans for the C130 Hercules aircraft. The main features of this system which are accessible through a convivial graphical user interface, consists of the automatic generation of valid cargo arrangements given a list of items to be transported, the user-definition of load plans and the automatic validation of such load plans.

SPS Beam Steering for LHC Extraction

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gianfelice-Wendt, Eliana; Bartosik, Hannes; Cornelis, Karel

2014-07-01

The CERN Super Proton Synchrotron accelerates beams for the Large Hadron Collider to 450 GeV. In addition it produces beams for fixed target facilities which adds complexity to the SPS operation. During the run 2012-2013 drifts of the extracted beam trajectories have been observed and lengthy optimizations in the transfer lines were performed to reduce particle losses in the LHC. The observed trajectory drifts are consistent with the measured SPS orbit drifts at extraction. While extensive studies are going on to understand, and possibly suppress, the source of such SPS orbit drifts the feasibility of an automatic beam steering towardsmore » a “golden” orbit at the extraction septa, by means of the interlocked correctors, is also being investigated. The challenges and constraints related to the implementation of such a correction in the SPS are described. Simulation results are presented and a possible operational steering strategy is proposed.« less

SAND: an automated VLBI imaging and analysing pipeline - I. Stripping component trajectories

NASA Astrophysics Data System (ADS)

Zhang, M.; Collioud, A.; Charlot, P.

2018-02-01

We present our implementation of an automated very long baseline interferometry (VLBI) data-reduction pipeline that is dedicated to interferometric data imaging and analysis. The pipeline can handle massive VLBI data efficiently, which makes it an appropriate tool to investigate multi-epoch multiband VLBI data. Compared to traditional manual data reduction, our pipeline provides more objective results as less human interference is involved. The source extraction is carried out in the image plane, while deconvolution and model fitting are performed in both the image plane and the uv plane for parallel comparison. The output from the pipeline includes catalogues of CLEANed images and reconstructed models, polarization maps, proper motion estimates, core light curves and multiband spectra. We have developed a regression STRIP algorithm to automatically detect linear or non-linear patterns in the jet component trajectories. This algorithm offers an objective method to match jet components at different epochs and to determine their proper motions.

The Challenges of Entering "Mid-Career": Charting a Balanced Future

ERIC Educational Resources Information Center

McAlpine, Lynn; Amundsen, Cheryl

2016-01-01

What are the motivations, needs and interests of academics entering mid-career? To answer this question, we drew on data from our longitudinal research program to examine the career trajectories of thirteen social scientists and scientists, five or more years post-PhD, in research-teaching positions. We used an identity framework to understand how…

Mentoring 101: Advancing African-American Women Faculty and Doctoral Student Success in Predominantly White Institutions

ERIC Educational Resources Information Center

Grant, Cosette M.; Ghee, Sarah

2015-01-01

This article is purposed with operationalizing the concept of mentoring as a nuanced approach and attempt to thwart the upward trajectories of African-American women in predominantly White institutions (PWIs). We struggled as African-American women to balance and decipher the various facets inherent in our respective roles--professor and doctoral…

Maryanne Wolf: Balance Technology and Deep Reading to Create Biliterate Children

ERIC Educational Resources Information Center

Richardson, Joan

2014-01-01

Reading scholar Maryanne Wolf believes that every child needs an array of digital skills in their learning repertoire. Her research focuses on how best to introduce technology in terms of reading acquisition so children can develop deep reading skills over time. Educators must focus on a carefully considered trajectory in order to develop a truly…

Exploring the Williams Syndrome Face-Processing Debate: The Importance of Building Developmental Trajectories

ERIC Educational Resources Information Center

Karmiloff-Smith, Annette; Thomas, Michael; Annaz, Dagmara; Humphreys, Kate; Ewing, Sandra; Brace, Nicola; Van Duuren, Mike; Pike, Graham; Grice, Sarah; Campbell, Ruth

2004-01-01

Background: Face processing in Williams syndrome (WS) has been a topic of heated debate over the past decade. Initial claims about a normally developing ("intact") face-processing module were challenged by data suggesting that individuals with WS used a different balance of cognitive processes from controls, even when their behavioural scores fell…

Convolution neural networks for real-time needle detection and localization in 2D ultrasound.

PubMed

Mwikirize, Cosmas; Nosher, John L; Hacihaliloglu, Ilker

2018-05-01

We propose a framework for automatic and accurate detection of steeply inserted needles in 2D ultrasound data using convolution neural networks. We demonstrate its application in needle trajectory estimation and tip localization. Our approach consists of a unified network, comprising a fully convolutional network (FCN) and a fast region-based convolutional neural network (R-CNN). The FCN proposes candidate regions, which are then fed to a fast R-CNN for finer needle detection. We leverage a transfer learning paradigm, where the network weights are initialized by training with non-medical images, and fine-tuned with ex vivo ultrasound scans collected during insertion of a 17G epidural needle into freshly excised porcine and bovine tissue at depth settings up to 9 cm and [Formula: see text]-[Formula: see text] insertion angles. Needle detection results are used to accurately estimate needle trajectory from intensity invariant needle features and perform needle tip localization from an intensity search along the needle trajectory. Our needle detection model was trained and validated on 2500 ex vivo ultrasound scans. The detection system has a frame rate of 25 fps on a GPU and achieves 99.6% precision, 99.78% recall rate and an [Formula: see text] score of 0.99. Validation for needle localization was performed on 400 scans collected using a different imaging platform, over a bovine/porcine lumbosacral spine phantom. Shaft localization error of [Formula: see text], tip localization error of [Formula: see text] mm, and a total processing time of 0.58 s were achieved. The proposed method is fully automatic and provides robust needle localization results in challenging scanning conditions. The accurate and robust results coupled with real-time detection and sub-second total processing make the proposed method promising in applications for needle detection and localization during challenging minimally invasive ultrasound-guided procedures.

First International Symposium on Strain Gauge Balances. Pt. 1

NASA Technical Reports Server (NTRS)

Tripp, John S. (Editor); Tcheng, Ping (Editor)

1999-01-01

The first International Symposium on Strain Gauge Balances was sponsored and held at NASA Langley Research Center during October 22-25, 1996. The symposium provided an open international forum for presentation, discussion, and exchange of technical information among wind tunnel test technique specialists and strain gauge balance designers. The Symposium also served to initiate organized professional activities among the participating and relevant international technical communities. Over 130 delegates from 15 countries were in attendance. The program opened with a panel discussion, followed by technical paper sessions, and guided tours of the National Transonic Facility (NTF) wind tunnel, a local commercial balance fabrication facility, and the LaRC balance calibration laboratory. The opening panel discussion addressed "Future Trends in Balance Development and Applications." Forty-six technical papers were presented in 11 technical sessions covering the following areas: calibration, automatic calibration, data reduction, facility reports, design, accuracy and uncertainty analysis, strain gauges, instrumentation, balance design, thermal effects, finite element analysis, applications, and special balances. At the conclusion of the Symposium, a steering committee representing most of the nations and several U.S. organizations attending the Symposium was established to initiate planning for a second international balance symposium, to be held in 1999 in the UK.

Balance Training Reduces Brain Activity during Motor Simulation of a Challenging Balance Task in Older Adults: An fMRI Study

PubMed Central

Ruffieux, Jan; Mouthon, Audrey; Keller, Martin; Mouthon, Michaël; Annoni, Jean-Marie; Taube, Wolfgang

2018-01-01

Aging is associated with a shift from an automatic to a more cortical postural control strategy, which goes along with deteriorations in postural stability. Although balance training has been shown to effectively counteract these behavioral deteriorations, little is known about the effect of balance training on brain activity during postural tasks in older adults. We, therefore, assessed postural stability and brain activity using fMRI during motor imagery alone (MI) and in combination with action observation (AO; i.e., AO+MI) of a challenging balance task in older adults before and after 5 weeks of balance training. Results showed a nonsignificant trend toward improvements in postural stability after balance training, accompanied by reductions in brain activity during AO+MI of the balance task in areas relevant for postural control, which have been shown to be over-activated in older adults during (simulation of) motor performance, including motor, premotor, and multisensory vestibular areas. This suggests that balance training may reverse the age-related cortical over-activations and lead to changes in the control of upright posture toward the one observed in young adults. PMID:29472847

Balance Training Reduces Brain Activity during Motor Simulation of a Challenging Balance Task in Older Adults: An fMRI Study.

PubMed

Ruffieux, Jan; Mouthon, Audrey; Keller, Martin; Mouthon, Michaël; Annoni, Jean-Marie; Taube, Wolfgang

2018-01-01

Aging is associated with a shift from an automatic to a more cortical postural control strategy, which goes along with deteriorations in postural stability. Although balance training has been shown to effectively counteract these behavioral deteriorations, little is known about the effect of balance training on brain activity during postural tasks in older adults. We, therefore, assessed postural stability and brain activity using fMRI during motor imagery alone (MI) and in combination with action observation (AO; i.e., AO+MI) of a challenging balance task in older adults before and after 5 weeks of balance training. Results showed a nonsignificant trend toward improvements in postural stability after balance training, accompanied by reductions in brain activity during AO+MI of the balance task in areas relevant for postural control, which have been shown to be over-activated in older adults during (simulation of) motor performance, including motor, premotor, and multisensory vestibular areas. This suggests that balance training may reverse the age-related cortical over-activations and lead to changes in the control of upright posture toward the one observed in young adults.

First International Symposium on Strain Gauge Balances. Part 2

NASA Technical Reports Server (NTRS)

Tripp, John S (Editor); Tcheng, Ping (Editor)

1999-01-01

The first International Symposium on Strain Gauge Balances was sponsored and held at NASA Langley Research Center during October 22-25, 1996. The symposium provided an open international forum for presentation, discussion, and exchange of technical information among wind tunnel test technique specialists and strain gauge balance designers. The Symposium also served to initiate organized professional activities among the participating and relevant international technical communities. Over 130 delegates from 15 countries were in attendance. The program opened with a panel discussion, followed by technical paper sessions, and guided tours of the National Transonic Facility (NTF) wind tunnel, a local commercial balance fabrication facility, and the LaRC balance calibration laboratory. The opening panel discussion addressed "Future Trends in Balance Development and Applications." Forty-six technical papers were presented in 11 technical sessions covering the following areas: calibration, automatic calibration, data reduction, facility reports, design, accuracy and uncertainty analysis, strain gauges, instrumentation, balance design, thermal effects, finite element analysis, applications, and special balances. At the conclusion of the Symposium, a steering committee representing most of the nations and several U.S. organizations attending the Symposium was established to initiate planning for a second international balance symposium, to be held in 1999 in the UK.

Lunar Landing Trajectory Design for Onboard Hazard Detection and Avoidance

NASA Technical Reports Server (NTRS)

Paschall, Steve; Brady, Tye; Sostaric, Ron

2009-01-01

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing the software and hardware technology needed to support a safe and precise landing for the next generation of lunar missions. ALHAT provides this capability through terrain-relative navigation measurements to enhance global-scale precision, an onboard hazard detection system to select safe landing locations, and an Autonomous Guidance, Navigation, and Control (AGNC) capability to process these measurements and safely direct the vehicle to a landing location. This paper focuses on the key trajectory design issues relevant to providing an onboard Hazard Detection and Avoidance (HDA) capability for the lander. Hazard detection can be accomplished by the crew visually scanning the terrain through a window, a sensor system imaging the terrain, or some combination of both. For ALHAT, this hazard detection activity is provided by a sensor system, which either augments the crew s perception or entirely replaces the crew in the case of a robotic landing. Detecting hazards influences the trajectory design by requiring the proper perspective, range to the landing site, and sufficient time to view the terrain. Following this, the trajectory design must provide additional time to process this information and make a decision about where to safely land. During the final part of the HDA process, the trajectory design must provide sufficient margin to enable a hazard avoidance maneuver. In order to demonstrate the effects of these constraints on the landing trajectory, a tradespace of trajectory designs was created for the initial ALHAT Design Analysis Cycle (ALDAC-1) and each case evaluated with these HDA constraints active. The ALHAT analysis process, described in this paper, narrows down this tradespace and subsequently better defines the trajectory design needed to support onboard HDA. Future ALDACs will enhance this trajectory design by balancing these issues and others in an overall system design process.

Discrete crack growth analysis methodology for through cracks in pressurized fuselage structures

NASA Technical Reports Server (NTRS)

Potyondy, David O.; Wawrzynek, Paul A.; Ingraffea, Anthony R.

1994-01-01

A methodology for simulating the growth of long through cracks in the skin of pressurized aircraft fuselage structures is described. Crack trajectories are allowed to be arbitrary and are computed as part of the simulation. The interaction between the mechanical loads acting on the superstructure and the local structural response near the crack tips is accounted for by employing a hierarchical modeling strategy. The structural response for each cracked configuration is obtained using a geometrically nonlinear shell finite element analysis procedure. Four stress intensity factors, two for membrane behavior and two for bending using Kirchhoff plate theory, are computed using an extension of the modified crack closure integral method. Crack trajectories are determined by applying the maximum tangential stress criterion. Crack growth results in localized mesh deletion, and the deletion regions are remeshed automatically using a newly developed all-quadrilateral meshing algorithm. The effectiveness of the methodology and its applicability to performing practical analyses of realistic structures is demonstrated by simulating curvilinear crack growth in a fuselage panel that is representative of a typical narrow-body aircraft. The predicted crack trajectory and fatigue life compare well with measurements of these same quantities from a full-scale pressurized panel test.

Point Clouds to Indoor/outdoor Accessibility Diagnosis

NASA Astrophysics Data System (ADS)

Balado, J.; Díaz-Vilariño, L.; Arias, P.; Garrido, I.

2017-09-01

This work presents an approach to automatically detect structural floor elements such as steps or ramps in the immediate environment of buildings, elements that may affect the accessibility to buildings. The methodology is based on Mobile Laser Scanner (MLS) point cloud and trajectory information. First, the street is segmented in stretches along the trajectory of the MLS to work in regular spaces. Next, the lower region of each stretch (the ground zone) is selected as the ROI and normal, curvature and tilt are calculated for each point. With this information, points in the ROI are classified in horizontal, inclined or vertical. Points are refined and grouped in structural elements using raster process and connected components in different phases for each type of previously classified points. At last, the trajectory data is used to distinguish between road and sidewalks. Adjacency information is used to classify structural elements in steps, ramps, curbs and curb-ramps. The methodology is tested in a real case study, consisting of 100 m of an urban street. Ground elements are correctly classified in an acceptable computation time. Steps and ramps also are exported to GIS software to enrich building models from Open Street Map with information about accessible/inaccessible entrances and their locations.

Event-synchronized data acquisition system for the SPring-8 linac beam position monitors

NASA Astrophysics Data System (ADS)

Masuda, T.; Fukui, T.; Tanaka, R.; Taniuchi, T.; Yamashita, A.; Yanagida, K.

2005-05-01

By the summer of 2003, we had completed the installation of a new non-destructive beam position monitor (BPM) system to facilitate beam trajectory and energy correction for the SPring-8 linac. In all, 47 BPM sets were installed on the 1-GeV linac and three beam-transport lines. All of the BPM data acquisition system was required to operate synchronously with the electron beam acceleration cycle. We have developed an event-synchronized data acquisition system for the BPM data readout. We have succeeded in continuously taking all the BPMs data from six VME computers synchronized with the 10 pps operation of the linac to continuously acquire data. For each beam shot, the data points are indexed by event number and stored in a database. Using the real-time features of the Solaris operating system and distributed database technology, we currently have achieved about 99.9% efficiency in capturing and archiving all of the 10 Hz data. The linac BPM data is available for off-line analysis of the beam trajectory, but also for real-time control and automatic correction of the beam trajectory and energy.

Automatic provisioning, deployment and orchestration for load-balancing THREDDS instances

NASA Astrophysics Data System (ADS)

Cofino, A. S.; Fernández-Tejería, S.; Kershaw, P.; Cimadevilla, E.; Petri, R.; Pryor, M.; Stephens, A.; Herrera, S.

2017-12-01

THREDDS is a widely used web server to provide to different scientific communities with data access and discovery. Due to THREDDS's lack of horizontal scalability and automatic configuration management and deployment, this service usually deals with service downtimes and time consuming configuration tasks, mainly when an intensive use is done as is usual within the scientific community (e.g. climate). Instead of the typical installation and configuration of a single or multiple independent THREDDS servers, manually configured, this work presents an automatic provisioning, deployment and orchestration cluster of THREDDS servers. This solution it's based on Ansible playbooks, used to control automatically the deployment and configuration setup on a infrastructure and to manage the datasets available in THREDDS instances. The playbooks are based on modules (or roles) of different backends and frontends load-balancing setups and solutions. The frontend load-balancing system enables horizontal scalability by delegating requests to backend workers, consisting in a variable number of instances for the THREDDS server. This implementation allows to configure different infrastructure and deployment scenario setups, as more workers are easily added to the cluster by simply declaring them as Ansible variables and executing the playbooks, and also provides fault-tolerance and better reliability since if any of the workers fail another instance of the cluster can take over it. In order to test the solution proposed, two real scenarios are analyzed in this contribution: The JASMIN Group Workspaces at CEDA and the User Data Gateway (UDG) at the Data Climate Service from the University of Cantabria. On the one hand, the proposed configuration has provided CEDA with a higher level and more scalable Group Workspaces (GWS) service than the previous one based on Unix permissions, improving also the data discovery and data access experience. On the other hand, the UDG has improved its scalability by allowing requests to be distributed to the backend workers instead of being served by a unique THREDDS worker. As a conclusion the proposed configuration supposes a significant improvement with respect to configurations based on non-collaborative THREDDS' instances.

White balance tester with color sensor for industrial applications

NASA Astrophysics Data System (ADS)

Chen, Jiasheng; Zhu, XiaoSong

1996-12-01

The white balance tester is an instrument that adjusts the white balance for color TVs, monitors, and PC displays. We have designed a new white balance tester for use directly at the production line. It picks up the R (Red), G (Green), and B (Blue) signals for the screen using color sensors, compares the signals with the data previously stored in the internal memory, displays their differences with LED bars in the compare mode or displays x y Y, u v Y, JND (just noticeable difference) as well as correlated color temperature in the numerical mode. A built-in TV signal generator sets the luminance of the adjusting screen to the brightness of the reference white screen automatically. A 16-bit single chip microcomputer processes the measured values and controls the output levels of the TV signal generator.

Scale invariant SURF detector and automatic clustering segmentation for infrared small targets detection

NASA Astrophysics Data System (ADS)

Zhang, Haiying; Bai, Jiaojiao; Li, Zhengjie; Liu, Yan; Liu, Kunhong

2017-06-01

The detection and discrimination of infrared small dim targets is a challenge in automatic target recognition (ATR), because there is no salient information of size, shape and texture. Many researchers focus on mining more discriminative information of targets in temporal-spatial. However, such information may not be available with the change of imaging environments, and the targets size and intensity keep changing in different imaging distance. So in this paper, we propose a novel research scheme using density-based clustering and backtracking strategy. In this scheme, the speeded up robust feature (SURF) detector is applied to capture candidate targets in single frame at first. And then, these points are mapped into one frame, so that target traces form a local aggregation pattern. In order to isolate the targets from noises, a newly proposed density-based clustering algorithm, fast search and find of density peak (FSFDP for short), is employed to cluster targets by the spatial intensive distribution. Two important factors of the algorithm, percent and γ , are exploited fully to determine the clustering scale automatically, so as to extract the trace with highest clutter suppression ratio. And at the final step, a backtracking algorithm is designed to detect and discriminate target trace as well as to eliminate clutter. The consistence and continuity of the short-time target trajectory in temporal-spatial is incorporated into the bounding function to speed up the pruning. Compared with several state-of-arts methods, our algorithm is more effective for the dim targets with lower signal-to clutter ratio (SCR). Furthermore, it avoids constructing the candidate target trajectory searching space, so its time complexity is limited to a polynomial level. The extensive experimental results show that it has superior performance in probability of detection (Pd) and false alarm suppressing rate aiming at variety of complex backgrounds.

Effects of kinesthetic haptic feedback on standing stability of young healthy subjects and stroke patients.

PubMed

Afzal, Muhammad Raheel; Byun, Ha-Young; Oh, Min-Kyun; Yoon, Jungwon

2015-03-13

Haptic control is a useful therapeutic option in rehabilitation featuring virtual reality interaction. As with visual and vibrotactile biofeedback, kinesthetic haptic feedback may assist in postural control, and can achieve balance control. Kinesthetic haptic feedback in terms of body sway can be delivered via a commercially available haptic device and can enhance the balance stability of both young healthy subjects and stroke patients. Our system features a waist-attached smartphone, software running on a computer (PC), and a dedicated Phantom Omni® device. Young healthy participants performed balance tasks after assumption of each of four distinct postures for 30 s (one foot on the ground; the Tandem Romberg stance; one foot on foam; and the Tandem Romberg stance on foam) with eyes closed. Patient eyes were not closed and assumption of the Romberg stance (only) was tested during a balance task 25 s in duration. An Android application running continuously on the smartphone sent mediolateral (ML) and anteroposterior (AP) tilt angles to a PC, which generated kinesthetic haptic feedback via Phantom Omni®. A total of 16 subjects, 8 of whom were young healthy and 8 of whom had suffered stroke, participated in the study. Post-experiment data analysis was performed using MATLAB®. Mean Velocity Displacement (MVD), Planar Deviation (PD), Mediolateral Trajectory (MLT) and Anteroposterior Trajectory (APT) parameters were analyzed to measure reduction in body sway. Our kinesthetic haptic feedback system was effective to reduce postural sway in young healthy subjects regardless of posture and the condition of the substrate (the ground) and to improve MVD and PD in stroke patients who assumed the Romberg stance. Analysis of Variance (ANOVA) revealed that kinesthetic haptic feedback significantly reduced body sway in both categories of subjects. Kinesthetic haptic feedback can be implemented using a commercial haptic device and a smartphone. Intuitive balance cues were created using the handle of a haptic device, rendering the approach very simple yet efficient in practice. This novel form of biofeedback will be a useful rehabilitation tool improving the balance of stroke patients.

Cognitive loading affects motor awareness and movement kinematics but not locomotor trajectories during goal-directed walking in a virtual reality environment.

PubMed

Kannape, Oliver Alan; Barré, Arnaud; Aminian, Kamiar; Blanke, Olaf

2014-01-01

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participants corrected their trajectories for perturbed feedback and how participants' awareness of such perturbations changed under cognitive loading. We asked 14 healthy young adults to walk towards four different target locations in a VR environment while their movements were tracked and played back in real-time on a large projection screen. In 75% of all trials we introduced angular deviations of ±5° to ±30° between the veridical walking trajectory and the visual feedback. Participants performed a second experimental block under cognitive load (serial-7 subtraction, counter-balanced across participants). We measured walking kinematics (joint-angles, velocity profiles) and motor performance (end-point-compensation, trajectory-deviations). Motor awareness was determined by asking participants to rate the veracity of the feedback after every trial. In-line with previous findings in natural settings, participants displayed stereotypical walking trajectories in a VR environment. Our results extend these findings as they demonstrate that taxing cognitive resources did not affect trajectory formation and deviations although it interfered with the participants' movement kinematics, in particular walking velocity. Additionally, we report that motor awareness was selectively impaired by the secondary task in trials with high perceptual uncertainty. Compared with data on eye and arm movements our findings lend support to the hypothesis that the central nervous system (CNS) uses common mechanisms to govern goal-directed movements, including locomotion. We discuss our results with respect to the use of VR methods in gait control and rehabilitation.

Automatic network coupling analysis for dynamical systems based on detailed kinetic models.

PubMed

Lebiedz, Dirk; Kammerer, Julia; Brandt-Pollmann, Ulrich

2005-10-01

We introduce a numerical complexity reduction method for the automatic identification and analysis of dynamic network decompositions in (bio)chemical kinetics based on error-controlled computation of a minimal model dimension represented by the number of (locally) active dynamical modes. Our algorithm exploits a generalized sensitivity analysis along state trajectories and subsequent singular value decomposition of sensitivity matrices for the identification of these dominant dynamical modes. It allows for a dynamic coupling analysis of (bio)chemical species in kinetic models that can be exploited for the piecewise computation of a minimal model on small time intervals and offers valuable functional insight into highly nonlinear reaction mechanisms and network dynamics. We present results for the identification of network decompositions in a simple oscillatory chemical reaction, time scale separation based model reduction in a Michaelis-Menten enzyme system and network decomposition of a detailed model for the oscillatory peroxidase-oxidase enzyme system.

Trajectory Control for Vehicles Entering the Earth's Atmosphere at Small Flight Path Angles

NASA Technical Reports Server (NTRS)

Eggleston, John M.

1959-01-01

Methods of controlling the trajectories of high-drag-low-lift vehicles entering the earth's atmosphere at angles of attack near 90 deg and at initial entry angles up to 3 deg are studied. The trajectories are calculated for vehicles whose angle of attack can be held constant at some specified value or can be perfectly controlled as a function of some measured quantity along the trajectory. The results might be applied in the design of automatic control systems or in the design of instruments which will give the human pilot sufficient information to control his trajectory properly during an atmospheric entry. Trajectory data are compared on the basis of the deceleration, range, angle of attack, and, in some cases, the rate of descent. The aerodynamic heat-transfer rate and skin temperature of a vehicle with a simple heat-sink type of structure are calculated for trajectories made with several types of control functions. For the range of entry angles considered, it is found that the angle of attack can be controlled to restrict the deceleration down to an arbitrarily chosen level of 3g. All the control functions tried are successful in reducing the maximum deceleration to the desired level. However, in order to avoid a tendency for the deceleration to reach an initial peak decrease, and then reach a second peak, some anticipation is required in the control function so that the change in angle of attack will lead the change in deceleration. When the angle of attack is controlled in the aforementioned manner, the maximum rate of aerodynamic heat transfer to the skin is reduced, the maximum skin temperature of the vehicle is virtually unaffected, and the total heat absorbed is slightly increased. The increase in total heat can be minimized, however, by maintaining the maximum desired deceleration for as much of the trajectory as possible. From an initial angle of attack of 90 deg, the angle-of-attack requirements necessary to maintain constant values of deceleration (1g to 4g) and constant values of rate of descent (450 to 1,130 ft/sec) as long as it is aerodynamically practical are calculated and are found to be moderate in both magnitude and rate. Entry trajectories made with these types of control are presented and discussed.

Automatic Road Sign Inventory Using Mobile Mapping Systems

NASA Astrophysics Data System (ADS)

Soilán, M.; Riveiro, B.; Martínez-Sánchez, J.; Arias, P.

2016-06-01

The periodic inspection of certain infrastructure features plays a key role for road network safety and preservation, and for developing optimal maintenance planning that minimize the life-cycle cost of the inspected features. Mobile Mapping Systems (MMS) use laser scanner technology in order to collect dense and precise three-dimensional point clouds that gather both geometric and radiometric information of the road network. Furthermore, time-stamped RGB imagery that is synchronized with the MMS trajectory is also available. In this paper a methodology for the automatic detection and classification of road signs from point cloud and imagery data provided by a LYNX Mobile Mapper System is presented. First, road signs are detected in the point cloud. Subsequently, the inventory is enriched with geometrical and contextual data such as orientation or distance to the trajectory. Finally, semantic content is given to the detected road signs. As point cloud resolution is insufficient, RGB imagery is used projecting the 3D points in the corresponding images and analysing the RGB data within the bounding box defined by the projected points. The methodology was tested in urban and road environments in Spain, obtaining global recall results greater than 95%, and F-score greater than 90%. In this way, inventory data is obtained in a fast, reliable manner, and it can be applied to improve the maintenance planning of the road network, or to feed a Spatial Information System (SIS), thus, road sign information can be available to be used in a Smart City context.

Aircraft automatic-flight-control system with inversion of the model in the feed-forward path using a Newton-Raphson technique for the inversion

NASA Technical Reports Server (NTRS)

Smith, G. A.; Meyer, G.; Nordstrom, M.

1986-01-01

A new automatic flight control system concept suitable for aircraft with highly nonlinear aerodynamic and propulsion characteristics and which must operate over a wide flight envelope was investigated. This exact model follower inverts a complete nonlinear model of the aircraft as part of the feed-forward path. The inversion is accomplished by a Newton-Raphson trim of the model at each digital computer cycle time of 0.05 seconds. The combination of the inverse model and the actual aircraft in the feed-forward path alloys the translational and rotational regulators in the feedback path to be easily designed by linear methods. An explanation of the model inversion procedure is presented. An extensive set of simulation data for essentially the full flight envelope for a vertical attitude takeoff and landing aircraft (VATOL) is presented. These data demonstrate the successful, smooth, and precise control that can be achieved with this concept. The trajectory includes conventional flight from 200 to 900 ft/sec with path accelerations and decelerations, altitude changes of over 6000 ft and 2g and 3g turns. Vertical attitude maneuvering as a tail sitter along all axes is demonstrated. A transition trajectory from 200 ft/sec in conventional flight to stationary hover in the vertical attitude includes satisfactory operation through lift-cure slope reversal as attitude goes from horizontal to vertical at constant altitude. A vertical attitude takeoff from stationary hover to conventional flight is also demonstrated.

Mapping the landscape of metabolic goals of a cell

DOE PAGES

Zhao, Qi; Stettner, Arion I.; Reznik, Ed; ...

2016-05-23

Here, genome-scale flux balance models of metabolism provide testable predictions of all metabolic rates in an organism, by assuming that the cell is optimizing a metabolic goal known as the objective function. We introduce an efficient inverse flux balance analysis (invFBA) approach, based on linear programming duality, to characterize the space of possible objective functions compatible with measured fluxes. After testing our algorithm on simulated E. coli data and time-dependent S. oneidensis fluxes inferred from gene expression, we apply our inverse approach to flux measurements in long-term evolved E. coli strains, revealing objective functions that provide insight into metabolic adaptationmore » trajectories.« less

Model based manipulator control

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.; Oppenheim, Irving J.

1989-01-01

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

A beat-to-beat calculator for the diastolic pressure time index and the tension time index.

PubMed

Nose, Y; Tajimi, T; Watanabe, Y; Yokota, M; Akazawa, K; Nakamura, M

1987-01-01

We have developed a beat-to-beat calculator which can calculate in real-time the ratio of the diastolic pressure time index (DPTI), and the tension time index (TTI) as an index of the myocardial oxygen supply/demand balance. Physicians set up presumed value for the left ventricular endodiastolic pressure, a search area for the dicrotic notch, a threshold for the onset of the up-slope and the corresponding value of the calibration signal on the digital switches of the calculator. Next, the arterial pressure analog signal is input into the calculator. The calculator searches automatically for both the onset of the up-slope and the dicrotic notch. The arterial pressure curve is displayed beat-to-beat with the recognized onset and the dicrotic notch on the CRT to be confirmed by physicians. When physicians do not agree with the automatic recognition they can fit the automatic recognition to the observation. If the recognition of the onset is inadequate, the threshold can be re-adjusted to trigger the onset. If recognition of the dicrotic notch is inadequate, the physician can adjust the search-area. Therefore, physicians who operate the calculator can rely on the calculated DPTI/TTI. This calculator can continuously monitor the myocardial oxygen supply/demand balance in patients with acute myocardial infarction or just after open-heart surgery.

Stability of airplanes

NASA Technical Reports Server (NTRS)

Warner, Edward P

1922-01-01

The author attempts to correct the misconception that piloting an airplane requires extraordinary skill and balance. He also tries to show that airplanes are extremely stable in flight. Some of the major points covered in this article include: automatic pilots, airplanes designed to be stable, and the reliance on mathematics to help in designing stable aircraft.

Path Searching Based Fault Automated Recovery Scheme for Distribution Grid with DG

NASA Astrophysics Data System (ADS)

Xia, Lin; Qun, Wang; Hui, Xue; Simeng, Zhu

2016-12-01

Applying the method of path searching based on distribution network topology in setting software has a good effect, and the path searching method containing DG power source is also applicable to the automatic generation and division of planned islands after the fault. This paper applies path searching algorithm in the automatic division of planned islands after faults: starting from the switch of fault isolation, ending in each power source, and according to the line load that the searching path traverses and the load integrated by important optimized searching path, forming optimized division scheme of planned islands that uses each DG as power source and is balanced to local important load. Finally, COBASE software and distribution network automation software applied are used to illustrate the effectiveness of the realization of such automatic restoration program.

Research on large spatial coordinate automatic measuring system based on multilateral method

NASA Astrophysics Data System (ADS)

Miao, Dongjing; Li, Jianshuan; Li, Lianfu; Jiang, Yuanlin; Kang, Yao; He, Mingzhao; Deng, Xiangrui

2015-10-01

To measure the spatial coordinate accurately and efficiently in large size range, a manipulator automatic measurement system which based on multilateral method is developed. This system is divided into two parts: The coordinate measurement subsystem is consists of four laser tracers, and the trajectory generation subsystem is composed by a manipulator and a rail. To ensure that there is no laser beam break during the measurement process, an optimization function is constructed by using the vectors between the laser tracers measuring center and the cat's eye reflector measuring center, then an orientation automatically adjust algorithm for the reflector is proposed, with this algorithm, the laser tracers are always been able to track the reflector during the entire measurement process. Finally, the proposed algorithm is validated by taking the calibration of laser tracker for instance: the actual experiment is conducted in 5m × 3m × 3.2m range, the algorithm is used to plan the orientations of the reflector corresponding to the given 24 points automatically. After improving orientations of some minority points with adverse angles, the final results are used to control the manipulator's motion. During the actual movement, there are no beam break occurs. The result shows that the proposed algorithm help the developed system to measure the spatial coordinates over a large range with efficiency.

Neuropathological aspects of conservative treatment of scoliosis. A theoretical view point.

PubMed

Czupryna, Krzysztof; Nowotny-Czupryna, Olga; Nowotny, Janusz

2012-01-01

An upright body posture cannot be maintained passively for reasons including a high location of the centre of gravity (COG) and a small support area. Proper alignment of body parts is maintained automatically, tending towards a pattern encoded in the CNS. A particularly important role in posture regulation is played by the short muscles of the back, which respond to being stretched with a contraction. During the early phase of scoliosis, the CNS automatically corrects abnormalities, but over time habituation occurs and the CNS treats them as something normal. Any attempt to restore proper body alignment is treated as an error and CNS automatically restores this abnormal pattern. With a prolonged deviation in body part alignment, CNS treats it as a defect and runs compensatory mechanisms to restore the balance of the body as a whole. Balance is ensured by postural compensation, but this does not restore proper body part alignment. In the treatment of scoliosis, it is important both to slow down progression and to prevent the development of abnormal postural habits, which are part of a vicious circle even without progression. Secondary prevention is therefore needed in all patients. Passive observation limits the possibilities for prevention and contradicts the principle of early implementation of rehabilitation. Depending on the size of the angle of curvature, recommended treatments of scoliosis comprise observation, corset bracing, and surgery. Physiotherapy is often treated as an unconventional and ineffective treatment. Often, the biggest problem is transferring the resulting correction to automatic maintenance of a correct posture in the vertical position. The aim of this paper was to discuss the conservative treatment of scoliosis with regard to difficulties maintaining the correct alignment of the body parts in the vertical position that accompany scoliosis.

BALANCE: Towards a Usable Pervasive Wellness Application with Accurate Activity Inference

PubMed Central

Denning, Tamara; Andrew, Adrienne; Chaudhri, Rohit; Hartung, Carl; Lester, Jonathan; Borriello, Gaetano; Duncan, Glen

2010-01-01

Technology offers the potential to objectively monitor people’s eating and activity behaviors and encourage healthier lifestyles. BALANCE is a mobile phone-based system for long term wellness management. The BALANCE system automatically detects the user’s caloric expenditure via sensor data from a Mobile Sensing Platform unit worn on the hip. Users manually enter information on foods eaten via an interface on an N95 mobile phone. Initial validation experiments measuring oxygen consumption during treadmill walking and jogging show that the system’s estimate of caloric output is within 87% of the actual value. Future work will refine and continue to evaluate the system’s efficacy and develop more robust data input and activity inference methods. PMID:20445819

Simultaneous 3D localization of multiple MR-visible markers in fully reconstructed MR images: proof-of-concept for subsecond position tracking.

PubMed

Thörmer, Gregor; Garnov, Nikita; Moche, Michael; Haase, Jürgen; Kahn, Thomas; Busse, Harald

2012-04-01

To determine whether a greatly reduced spatial resolution of fully reconstructed projection MR images can be used for the simultaneous 3D localization of multiple MR-visible markers and to assess the feasibility of a subsecond position tracking for clinical purposes. Miniature, inductively coupled RF coils were imaged in three orthogonal planes with a balanced steady-state free precession (SSFP) sequence and automatically localized using a two-dimensional template fitting and a subsequent three-dimensional (3D) matching of the coordinates. Precision, accuracy, speed and robustness of 3D localization were assessed for decreasing in-plane resolutions (0.6-4.7 mm). The feasibility of marker tracking was evaluated at the lowest resolution by following a robotically driven needle on a complex 3D trajectory. Average 3D precision and accuracy, sensitivity and specificity of localization ranged between 0.1 and 0.4 mm, 0.5 and 1.0 mm, 100% and 95%, and 100% and 96%, respectively. At the lowest resolution, imaging and localization took ≈350 ms and provided an accuracy of ≈1.0 mm. In the tracking experiment, the needle was clearly depicted on the oblique scan planes defined by the markers. Image-based marker localization at a greatly reduced spatial resolution is considered a feasible approach to monitor reference points or rigid instruments at subsecond update rates. Copyright © 2012 Elsevier Inc. All rights reserved.

Optimal guidance for the space shuttle transition

NASA Technical Reports Server (NTRS)

Stengel, R. F.

1972-01-01

A guidance method for the space shuttle's transition from hypersonic entry to subsonic cruising flight is presented. The method evolves from a numerical trajectory optimization technique in which kinetic energy and total energy (per unit weight) replace velocity and time in the dynamic equations. This allows the open end-time problem to be transformed to one of fixed terminal energy. In its ultimate form, E-Guidance obtains energy balance (including dynamic-pressure-rate damping) and path length control by angle-of-attack modulation and cross-range control by roll angle modulation. The guidance functions also form the basis for a pilot display of instantaneous maneuver limits and destination. Numerical results illustrate the E-Guidance concept and the optimal trajectories on which it is based.

The construction of general basis functions in reweighting ensemble dynamics simulations: Reproduce equilibrium distribution in complex systems from multiple short simulation trajectories

NASA Astrophysics Data System (ADS)

Zhang, Chuan-Biao; Ming, Li; Xin, Zhou

2015-12-01

Ensemble simulations, which use multiple short independent trajectories from dispersive initial conformations, rather than a single long trajectory as used in traditional simulations, are expected to sample complex systems such as biomolecules much more efficiently. The re-weighted ensemble dynamics (RED) is designed to combine these short trajectories to reconstruct the global equilibrium distribution. In the RED, a number of conformational functions, named as basis functions, are applied to relate these trajectories to each other, then a detailed-balance-based linear equation is built, whose solution provides the weights of these trajectories in equilibrium distribution. Thus, the sufficient and efficient selection of basis functions is critical to the practical application of RED. Here, we review and present a few possible ways to generally construct basis functions for applying the RED in complex molecular systems. Especially, for systems with less priori knowledge, we could generally use the root mean squared deviation (RMSD) among conformations to split the whole conformational space into a set of cells, then use the RMSD-based-cell functions as basis functions. We demonstrate the application of the RED in typical systems, including a two-dimensional toy model, the lattice Potts model, and a short peptide system. The results indicate that the RED with the constructions of basis functions not only more efficiently sample the complex systems, but also provide a general way to understand the metastable structure of conformational space. Project supported by the National Natural Science Foundation of China (Grant No. 11175250).

Automated 3D trajectory measuring of large numbers of moving particles.

PubMed

Wu, Hai Shan; Zhao, Qi; Zou, Danping; Chen, Yan Qiu

2011-04-11

Complex dynamics of natural particle systems, such as insect swarms, bird flocks, fish schools, has attracted great attention of scientists for years. Measuring 3D trajectory of each individual in a group is vital for quantitative study of their dynamic properties, yet such empirical data is rare mainly due to the challenges of maintaining the identities of large numbers of individuals with similar visual features and frequent occlusions. We here present an automatic and efficient algorithm to track 3D motion trajectories of large numbers of moving particles using two video cameras. Our method solves this problem by formulating it as three linear assignment problems (LAP). For each video sequence, the first LAP obtains 2D tracks of moving targets and is able to maintain target identities in the presence of occlusions; the second one matches the visually similar targets across two views via a novel technique named maximum epipolar co-motion length (MECL), which is not only able to effectively reduce matching ambiguity but also further diminish the influence of frequent occlusions; the last one links 3D track segments into complete trajectories via computing a globally optimal assignment based on temporal and kinematic cues. Experiment results on simulated particle swarms with various particle densities validated the accuracy and robustness of the proposed method. As real-world case, our method successfully acquired 3D flight paths of fruit fly (Drosophila melanogaster) group comprising hundreds of freely flying individuals. © 2011 Optical Society of America

Bayesian approach to MSD-based analysis of particle motion in live cells.

PubMed

Monnier, Nilah; Guo, Syuan-Ming; Mori, Masashi; He, Jun; Lénárt, Péter; Bathe, Mark

2012-08-08

Quantitative tracking of particle motion using live-cell imaging is a powerful approach to understanding the mechanism of transport of biological molecules, organelles, and cells. However, inferring complex stochastic motion models from single-particle trajectories in an objective manner is nontrivial due to noise from sampling limitations and biological heterogeneity. Here, we present a systematic Bayesian approach to multiple-hypothesis testing of a general set of competing motion models based on particle mean-square displacements that automatically classifies particle motion, properly accounting for sampling limitations and correlated noise while appropriately penalizing model complexity according to Occam's Razor to avoid over-fitting. We test the procedure rigorously using simulated trajectories for which the underlying physical process is known, demonstrating that it chooses the simplest physical model that explains the observed data. Further, we show that computed model probabilities provide a reliability test for the downstream biological interpretation of associated parameter values. We subsequently illustrate the broad utility of the approach by applying it to disparate biological systems including experimental particle trajectories from chromosomes, kinetochores, and membrane receptors undergoing a variety of complex motions. This automated and objective Bayesian framework easily scales to large numbers of particle trajectories, making it ideal for classifying the complex motion of large numbers of single molecules and cells from high-throughput screens, as well as single-cell-, tissue-, and organism-level studies. Copyright © 2012 Biophysical Society. Published by Elsevier Inc. All rights reserved.

A startling acoustic stimulus facilitates voluntary lower extremity movements and automatic postural responses in people with chronic stroke.

PubMed

Coppens, Milou J M; Roelofs, Jolanda M B; Donkers, Nicole A J; Nonnekes, Jorik; Geurts, Alexander C H; Weerdesteyn, Vivian

2018-05-14

A startling acoustic stimulus (SAS) involuntary releases prepared movements at accelerated latencies, known as the StartReact effect. Previous work has demonstrated intact StartReact in paretic upper extremity movements in people after stroke, suggesting preserved motor preparation. The question remains whether motor preparation of lower extremity movements is also unaffected after stroke. Here, we investigated StartReact effects on ballistic lower extremity movements and on automatic postural responses (APRs) following perturbations to standing balance. These APRs are particularly interesting as they are critical to prevent a fall following balance perturbations, but show substantial delays and poor muscle coordination after stroke. Twelve chronic stroke patients and 12 healthy controls performed voluntary ankle dorsiflexion movements in response to a visual stimulus, and responded to backward balance perturbations evoking APRs. Twenty-five percent of all trials contained a SAS (120 dB) simultaneously with the visual stimulus or balance perturbation. As expected, in the absence of a SAS muscle and movement onset latencies at the paretic side were delayed compared to the non-paretic leg and to controls. The SAS accelerated ankle dorsiflexion onsets in both the legs of the stroke subjects and in controls. Following perturbations, the SAS accelerated bilateral APR onsets not only in controls, but for the first time, we also demonstrated this effect in people after stroke. Moreover, APR inter- and intra-limb muscle coordination was rather weak in our stroke subjects, but substantially improved when the SAS was applied. These findings show preserved movement preparation, suggesting that there is residual (subcortical) capacity for motor recovery.

Block ground interaction of rockfalls

NASA Astrophysics Data System (ADS)

Volkwein, Axel; Gerber, Werner; Kummer, Peter

2016-04-01

During a rockfall the interaction of the falling block with the ground is one of the most important factors that define the evolution of a rockfall trajectory. It steers the rebound, the rotational movement, possibly brake effects, friction losses and damping effects. Therefore, if most reliable rockfall /trajectory simulation software is sought a good understanding of the block ground interaction is necessary. Today's rockfall codes enable the simulation of a fully 3D modelled block within a full 3D surface . However, the details during the contact, i.e. the contact duration, the penetration depth or the dimension of the marks in the ground are usually not part of the simulation. Recent field tests with rocks between 20 and 80 kg have been conducted on a grassy slope in 2014 [1]. A special rockfall sensor [2] within the blocks measured the rotational velocity and the acting accelerations during the tests. External video records and a so-called LocalPositioningSystem deliver information on the travel velocity. With these data not only the flight phases of the trajectories but also the contacts with the ground can be analysed. During the single jumps of a block the flight time, jump length, the velocity, and the rotation are known. During the single impacts their duration and the acting accelerations are visible. Further, the changes of rotational and translational velocity influence the next jump of the block. The change of the rotational velocity over the whole trajectory nicely visualizes the different phases of a rockfall regarding general acceleration and deceleration in respect to the inclination and the topography of the field. References: [1] Volkwein A, Krummenacher B, Gerber W, Lardon J, Gees F, Brügger L, Ott T (2015) Repeated controlled rockfall trajectory testing. [Abstract] Geophys. Res. Abstr. 17: EGU2015-9779. [2] Volkwein A, Klette J (2014) Semi-Automatic Determination of Rockfall Trajectories. Sensors 14: 18187-18210.

MGA trajectory planning with an ACO-inspired algorithm

NASA Astrophysics Data System (ADS)

Ceriotti, Matteo; Vasile, Massimiliano

2010-11-01

Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows exponentially with the number of celestial bodies. Therefore, the design of an optimal multiple gravity assist (MGA) trajectory is a NP-hard mixed combinatorial-continuous problem. Its automated solution would greatly improve the design of future space missions, allowing the assessment of a large number of alternative mission options in a short time. This work proposes to formulate the complete automated design of a multiple gravity assist trajectory as an autonomous planning and scheduling problem. The resulting scheduled plan will provide the optimal planetary sequence and a good estimation of the set of associated optimal trajectories. The trajectory model consists of a sequence of celestial bodies connected by two-dimensional transfer arcs containing one DSM. For each transfer arc, the position of the planet and the spacecraft, at the time of arrival, are matched by varying the pericentre of the preceding swing-by, or the magnitude of the launch excess velocity, for the first arc. For each departure date, this model generates a full tree of possible transfers from the departure to the destination planet. Each leaf of the tree represents a planetary encounter and a possible way to reach that planet. An algorithm inspired by ant colony optimization (ACO) is devised to explore the space of possible plans. The ants explore the tree from departure to destination adding one node at the time: every time an ant is at a node, a probability function is used to select a feasible direction. This approach to automatic trajectory planning is applied to the design of optimal transfers to Saturn and among the Galilean moons of Jupiter. Solutions are compared to those found through more traditional genetic-algorithm techniques.

An efficient algorithm using matrix methods to solve wind tunnel force-balance equations

NASA Technical Reports Server (NTRS)

Smith, D. L.

1972-01-01

An iterative procedure applying matrix methods to accomplish an efficient algorithm for automatic computer reduction of wind-tunnel force-balance data has been developed. Balance equations are expressed in a matrix form that is convenient for storing balance sensitivities and interaction coefficient values for online or offline batch data reduction. The convergence of the iterative values to a unique solution of this system of equations is investigated, and it is shown that for balances which satisfy the criteria discussed, this type of solution does occur. Methods for making sensitivity adjustments and initial load effect considerations in wind-tunnel applications are also discussed, and the logic for determining the convergence accuracy limits for the iterative solution is given. This more efficient data reduction program is compared with the technique presently in use at the NASA Langley Research Center, and computational times on the order of one-third or less are demonstrated by use of this new program.

Optimal shifting control strategy in inertia phase of an automatic transmission for automotive applications

NASA Astrophysics Data System (ADS)

Meng, Fei; Tao, Gang; Zhang, Tao; Hu, Yihuai; Geng, Peng

2015-08-01

Shifting quality is a crucial factor in all parts of the automobile industry. To ensure an optimal gear shifting strategy with best fuel economy for a stepped automatic transmission, the controller should be designed to meet the challenge of lacking of a feedback sensor to measure the relevant variables. This paper focuses on a new kind of automatic transmission using proportional solenoid valve to control the clutch pressure, a speed difference of the clutch based control strategy is designed for the shift control during the inertia phase. First, the mechanical system is shown and the system dynamic model is built. Second, the control strategy is designed based on the characterization analysis of models which are derived from dynamics of the drive line and electro-hydraulic actuator. Then, the controller uses conventional Proportional-Integral-Derivative control theory, and a robust two-degree-of-freedom controller is also carried out to determine the optimal control parameters to further improve the system performance. Finally, the designed control strategy with different controller is implemented on a simulation model. The compared results show that the speed difference of clutch can track the desired trajectory well and improve the shift quality effectively.

Improved determination of dynamic balance using the centre of mass and centre of pressure inclination variables in a complete golf swing cycle.

PubMed

Choi, Ahnryul; Sim, Taeyong; Mun, Joung Hwan

2016-01-01

Golf requires proper dynamic balance to accurately control the club head through a harmonious coordination of each human segment and joint. In this study, we evaluated the ability for dynamic balance during a golf swing by using the centre of mass (COM)-centre of pressure (COP) inclination variables. Twelve professional, 13 amateur and 10 novice golfers participated in this study. Six infrared cameras, two force platforms and SB-Clinic software were used to measure the net COM and COP trajectories. In order to evaluate dynamic balance ability, the COM-COP inclination angle, COM-COP inclination angular velocity and normalised COM-COP inclination angular jerk were used. Professional golfer group revealed a smaller COM-COP inclination angle and angular velocity than novice golfer group in the lead/trail direction (P < 0.01). In the normalised COM-COP inclination angular jerk, the professional golfer group showed a lower value than the other two groups in all directions. Professional golfers tend to exhibit improved dynamic balance, and this can be attributed to the neuromusculoskeletal system that maintains balance with proper postural control. This study has the potential to allow for an evaluation of the dynamic balance mechanism and will provide useful basic information for swing training and prevention of golf injuries.

The capacity to adapt to changing balance threats: a comparison of children with cerebral palsy and typically developing children.

PubMed

Burtner, P A; Woollacott, M H; Craft, G L; Roncesvalles, M N

2007-01-01

This study investigated differences in reactive balance abilities of typically developing children and those with spastic diplegia. Recovery from balance threats was compared by: (i) Platform velocity and amplitude thresholds: Speed and size of platform movement at which children required assistance to remain upright, (ii) percentage of trials with feet-in-place vs. loss of balance, and (iii) center of pressure measures. Participants included 8 children with spastic diplegic cerebral palsy, 15 developmentally matched children (similar walking stages) and 21 age-matched control children. Backward platform movements graded as easy, moderate and difficult were unexpectedly imposed on children standing on a moveable platform. Children with cerebral palsy (CP) had lower platform velocity thresholds, greater percentages of loss of balance trials, increased distances and increased frequency of directional changes in center-of-pressure (COP) trajectories than control children. Older children with CP fell more often than those under 5 years. Greatest differences between children with and without CP were found in comparisons based on age rather than developmental levels. Using balance perturbations that challenged children with CP to the limits of their balance abilities effectively identified age performance differences and differences compared to typically developing children. Implications for rehabilitation programs are presented.

Effect of armor and carrying load on body balance and leg muscle function.

PubMed

Park, Huiju; Branson, Donna; Kim, Seonyoung; Warren, Aric; Jacobson, Bert; Petrova, Adriana; Peksoz, Semra; Kamenidis, Panagiotis

2014-01-01

This study investigated the impact of weight and weight distribution of body armor and load carriage on static body balance and leg muscle function. A series of human performance tests were conducted with seven male, healthy, right-handed military students in seven garment conditions with varying weight and weight distributions. Static body balance was assessed by analyzing the trajectory of center of plantar pressure and symmetry of weight bearing in the feet. Leg muscle functions were assessed by analyzing the peak electromyography amplitude of four selected leg muscles during walking. Results of this study showed that uneven weight distribution of garment and load beyond an additional 9 kg impaired static body balance as evidenced by increased sway of center of plantar pressure and asymmetry of weight bearing in the feet. Added weight on non-dominant side of the body created greater impediment to static balance. Increased garment weight also elevated peak EMG amplitude in the rectus femoris to maintain body balance and in the medial gastrocnemius to increase propulsive force. Negative impacts on balance and leg muscle function with increased carrying loads, particularly with an uneven weight distribution, should be stressed to soldiers, designers, and sports enthusiasts. Copyright © 2013 Elsevier B.V. All rights reserved.

Evaluation of surface energy and radiation balance systems on the Konza Prairie

NASA Technical Reports Server (NTRS)

Fritschen, Leo J.

1987-01-01

Four Surface Energy and Radiation Balance Systems (SERBS) were installed and operated for two weeks in Kansas during July of 1986. Surface energy and radiation balances were investigated on six sites on the Konza Prairie about 3 km south of Manhattan, Kansas. Measurements were made to allow the computation of these radiation components: total solar and diffuse radiation, reflected solar radiation, net radiation, and longwave radiation upward and downward. Measurements were made to allow the computation of the sensible and latent heat fluxes by the Bowen ratio method using differential psychrometers on automatic exchange mechanisms. The report includes a description of the experimental sites, data acquisition systems and sensors, data acquisitions system operating instructions, and software used for data acquisition and analysis. In addition, data listings and plots of the energy balance components for all days and systems are given.

Validation of balance-quality assessment using a modified bathroom scale.

PubMed

Hewson, D J; Duchêne, J; Hogrel, J-Y

2015-02-01

The balance quality tester (BQT), based on a standard electronic bathroom scale has been developed in order to assess balance quality. The BQT includes automatic detection of the person to be tested by means of an infrared detector and bluetooth communication capability for remote assessment when linked to a long-distance communication device such as a mobile phone. The BQT was compared to a standard force plate for validity and agreement. The two most widely reported parameters in balance literature, the area of the centre of pressure (COP) displacement and the velocity of the COP displacement, were compared for 12 subjects, each of whom was tested on ten occasions on each of the 2 days. No significant differences were observed between the BQT and the force plate for either of the two parameters. In addition a high level of agreement was observed between both devices. The BQT is a valid device for remote assessment of balance quality, and could provide a useful tool for long-term monitoring of people with balance problems, particularly during home monitoring.

Balanced excitation and inhibition are required for high-capacity, noise-robust neuronal selectivity

PubMed Central

Abbott, L. F.; Sompolinsky, Haim

2017-01-01

Neurons and networks in the cerebral cortex must operate reliably despite multiple sources of noise. To evaluate the impact of both input and output noise, we determine the robustness of single-neuron stimulus selective responses, as well as the robustness of attractor states of networks of neurons performing memory tasks. We find that robustness to output noise requires synaptic connections to be in a balanced regime in which excitation and inhibition are strong and largely cancel each other. We evaluate the conditions required for this regime to exist and determine the properties of networks operating within it. A plausible synaptic plasticity rule for learning that balances weight configurations is presented. Our theory predicts an optimal ratio of the number of excitatory and inhibitory synapses for maximizing the encoding capacity of balanced networks for given statistics of afferent activations. Previous work has shown that balanced networks amplify spatiotemporal variability and account for observed asynchronous irregular states. Here we present a distinct type of balanced network that amplifies small changes in the impinging signals and emerges automatically from learning to perform neuronal and network functions robustly. PMID:29042519

Time-Varying Expression of the Formation Flying along Circular Trajectories

NASA Technical Reports Server (NTRS)

Kawaguchi, Jun'ichiro

2007-01-01

Usually, the formation flying associated with circular orbits is discussed through the well-known Hill s or C-W equations of motion. This paper dares to present and discuss the coordinates that may contain time-varying coefficients. The discussion presents how the controller s performance is affected by the selection of coordinates, and also looks at the special coordinate suitable for designating a target bin to which each spacecraft in the formation has only to be guided. It is revealed that the latter strategy may incorporate the J2 disturbance automatically.

Singularity-robustness and task-prioritization in configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

The authors present a singularity-robust task-prioritized reformulation of the configuration control for redundant robot manipulators. This reformation suppresses large joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion when both cannot be achieved exactly.

Users’ Manual and Validation of the Automated Grading System (AGS): Improving the Quality of Intelligence Summaries Using Feedback from an Unsupervised Model of Semantics

DTIC Science & Technology

2012-12-01

trajectories in space, and are therefore very highly similar, and a cosine of 0 indicates that the two vectors are unrelated. The vector of a good summary...topic. The effectiveness of the AGS’s ability to automatically grade student assignment is completely dependent on a good match between this corpus...students to summarise “User Documents” that focused on fishing, then a good corpus would contain documents about the various types of fishing

The recovery and utilization of space suit range-of-motion data

NASA Technical Reports Server (NTRS)

Reinhardt, AL; Walton, James S.

1988-01-01

A technique for recovering data for the range of motion of a subject wearing a space suit is described along with the validation of this technique on an EVA space suit. Digitized data are automatically acquired from video images of the subject; three-dimensional trajectories are recovered from these data, and can be displayed using three-dimensional computer graphics. Target locations are recovered using a unique video processor and close-range photogrammetry. It is concluded that such data can be used in such applications as the animation of anthropometric computer models.

On the road to somewhere: Brain potentials reflect language effects on motion event perception.

PubMed

Flecken, Monique; Athanasopoulos, Panos; Kuipers, Jan Rouke; Thierry, Guillaume

2015-08-01

Recent studies have identified neural correlates of language effects on perception in static domains of experience such as colour and objects. The generalization of such effects to dynamic domains like motion events remains elusive. Here, we focus on grammatical differences between languages relevant for the description of motion events and their impact on visual scene perception. Two groups of native speakers of German or English were presented with animated videos featuring a dot travelling along a trajectory towards a geometrical shape (endpoint). English is a language with grammatical aspect in which attention is drawn to trajectory and endpoint of motion events equally. German, in contrast, is a non-aspect language which highlights endpoints. We tested the comparative perceptual saliency of trajectory and endpoint of motion events by presenting motion event animations (primes) followed by a picture symbolising the event (target): In 75% of trials, the animation was followed by a mismatching picture (both trajectory and endpoint were different); in 10% of trials, only the trajectory depicted in the picture matched the prime; in 10% of trials, only the endpoint matched the prime; and in 5% of trials both trajectory and endpoint were matching, which was the condition requiring a response from the participant. In Experiment 1 we recorded event-related brain potentials elicited by the picture in native speakers of German and native speakers of English. German participants exhibited a larger P3 wave in the endpoint match than the trajectory match condition, whereas English speakers showed no P3 amplitude difference between conditions. In Experiment 2 participants performed a behavioural motion matching task using the same stimuli as those used in Experiment 1. German and English participants did not differ in response times showing that motion event verbalisation cannot readily account for the difference in P3 amplitude found in the first experiment. We argue that, even in a non-verbal context, the grammatical properties of the native language and associated sentence-level patterns of event encoding influence motion event perception, such that attention is automatically drawn towards aspects highlighted by the grammar. Copyright © 2015 The Authors. Published by Elsevier B.V. All rights reserved.

Spinal pedicle screw planning using deformable atlas registration

NASA Astrophysics Data System (ADS)

Goerres, J.; Uneri, A.; De Silva, T.; Ketcha, M.; Reaungamornrat, S.; Jacobson, M.; Vogt, S.; Kleinszig, G.; Osgood, G.; Wolinsky, J.-P.; Siewerdsen, J. H.

2017-04-01

Spinal screw placement is a challenging task due to small bone corridors and high risk of neurological or vascular complications, benefiting from precision guidance/navigation and quality assurance (QA). Implicit to both guidance and QA is the definition of a surgical plan—i.e. the desired trajectories and device selection for target vertebrae—conventionally requiring time-consuming manual annotations by a skilled surgeon. We propose automation of such planning by deriving the pedicle trajectory and device selection from a patient’s preoperative CT or MRI. An atlas of vertebrae surfaces was created to provide the underlying basis for automatic planning—in this work, comprising 40 exemplary vertebrae at three levels of the spine (T7, T8, and L3). The atlas was enriched with ideal trajectory annotations for 60 pedicles in total. To define trajectories for a given patient, sparse deformation fields from the atlas surfaces to the input (CT or MR image) are applied on the annotated trajectories. Mean value coordinates are used to interpolate dense deformation fields. The pose of a straight trajectory is optimized by image-based registration to an accumulated volume of the deformed annotations. For evaluation, input deformation fields were created using coherent point drift (CPD) to perform a leave-one-out analysis over the atlas surfaces. CPD registration demonstrated surface error of 0.89  ±  0.10 mm (median  ±  interquartile range) for T7/T8 and 1.29  ±  0.15 mm for L3. At the pedicle center, registered trajectories deviated from the expert reference by 0.56  ±  0.63 mm (T7/T8) and 1.12  ±  0.67 mm (L3). The predicted maximum screw diameter differed by 0.45  ±  0.62 mm (T7/T8), and 1.26  ±  1.19 mm (L3). The automated planning method avoided screw collisions in all cases and demonstrated close agreement overall with expert reference plans, offering a potentially valuable tool in support of surgical guidance and QA.

Plume trajectory formation under stack tip self-enveloping

NASA Astrophysics Data System (ADS)

Gribkov, A. M.; Zroichikov, N. A.; Prokhorov, V. B.

2017-10-01

The phenomenon of stack tip self-enveloping and its influence upon the conditions of plume formation and on the trajectory of its motion are considered. Processes are described occurring in the initial part of the plume while the interaction between vertically directed flue gases outflowing from the stack and a horizontally directed moving air flow at high wind velocities that lead to the formation of a flag-like plume. Conditions responsible for the origin and evolution of interaction between these flows are demonstrated. For the first time, a plume formed under these conditions without bifurcation is registered. A photo image thereof is presented. A scheme for the calculation of the motion of a plume trajectory is proposed, the quantitative characteristics of which are obtained based on field observations. The wind velocity and direction, air temperature, and atmospheric turbulence at the level of the initial part of the trajectory have been obtained based on data obtained from an automatic meteorological system (mounted on the outer parts of a 250 m high stack no. 1 at the Naberezhnye Chelny TEPP plant) as well as based on the results of photographing and theodolite sighting of smoke puffs' trajectory taking into account their velocity within its initial part. The calculation scheme is supplemented with a new acting force—the force of self-enveloping. Based on the comparison of the new calculation scheme with the previous one, a significant contribution of this force to the development of the trajectory is revealed. A comparison of the natural full-scale data with the results of the calculation according to the proposed new scheme is made. The proposed calculation scheme has allowed us to extend the application of the existing technique to the range of high wind velocities. This approach would make it possible to simulate and investigate the trajectory and full rising height of the calculated the length above the mouth of flue-pipes, depending on various modal and meteorological parameters under the interrelation between the dynamic and thermal components of the rise as well as to obtain a universal calculation expression for determining the height of the plume rise for different classes of atmospheric stability.

Spinal pedicle screw planning using deformable atlas registration.

PubMed

Goerres, J; Uneri, A; De Silva, T; Ketcha, M; Reaungamornrat, S; Jacobson, M; Vogt, S; Kleinszig, G; Osgood, G; Wolinsky, J-P; Siewerdsen, J H

2017-04-07

Spinal screw placement is a challenging task due to small bone corridors and high risk of neurological or vascular complications, benefiting from precision guidance/navigation and quality assurance (QA). Implicit to both guidance and QA is the definition of a surgical plan-i.e. the desired trajectories and device selection for target vertebrae-conventionally requiring time-consuming manual annotations by a skilled surgeon. We propose automation of such planning by deriving the pedicle trajectory and device selection from a patient's preoperative CT or MRI. An atlas of vertebrae surfaces was created to provide the underlying basis for automatic planning-in this work, comprising 40 exemplary vertebrae at three levels of the spine (T7, T8, and L3). The atlas was enriched with ideal trajectory annotations for 60 pedicles in total. To define trajectories for a given patient, sparse deformation fields from the atlas surfaces to the input (CT or MR image) are applied on the annotated trajectories. Mean value coordinates are used to interpolate dense deformation fields. The pose of a straight trajectory is optimized by image-based registration to an accumulated volume of the deformed annotations. For evaluation, input deformation fields were created using coherent point drift (CPD) to perform a leave-one-out analysis over the atlas surfaces. CPD registration demonstrated surface error of 0.89  ±  0.10 mm (median  ±  interquartile range) for T7/T8 and 1.29  ±  0.15 mm for L3. At the pedicle center, registered trajectories deviated from the expert reference by 0.56  ±  0.63 mm (T7/T8) and 1.12  ±  0.67 mm (L3). The predicted maximum screw diameter differed by 0.45  ±  0.62 mm (T7/T8), and 1.26  ±  1.19 mm (L3). The automated planning method avoided screw collisions in all cases and demonstrated close agreement overall with expert reference plans, offering a potentially valuable tool in support of surgical guidance and QA.

Emotion and sex of facial stimuli modulate conditional automaticity in behavioral and neuronal interference in healthy men.

PubMed

Kohn, Nils; Fernández, Guillén

2017-12-06

Our surrounding provides a host of sensory input, which we cannot fully process without streamlining and automatic processing. Levels of automaticity differ for different cognitive and affective processes. Situational and contextual interactions between cognitive and affective processes in turn influence the level of automaticity. Automaticity can be measured by interference in Stroop tasks. We applied an emotional version of the Stroop task to investigate how stress as a contextual factor influences the affective valence-dependent level of automaticity. 120 young, healthy men were investigated for behavioral and brain interference following a stress induction or control procedure in a counter-balanced cross-over-design. Although Stroop interference was always observed, sex and emotion of the face strongly modulated interference, which was larger for fearful and male faces. These effects suggest higher automaticity when processing happy and also female faces. Supporting behavioral patterns, brain data show lower interference related brain activity in executive control related regions in response to happy and female faces. In the absence of behavioral stress effects, congruent compared to incongruent trials (reverse interference) showed little to no deactivation under stress in response to happy female and fearful male trials. These congruency effects are potentially based on altered context- stress-related facial processing that interact with sex-emotion stereotypes. Results indicate that sex and facial emotion modulate Stroop interference in brain and behavior. These effects can be explained by altered response difficulty as a consequence of the contextual and stereotype related modulation of automaticity. Copyright © 2017 Elsevier Ltd. All rights reserved.

78 FR 45479 - Frequency Response and Frequency Bias Setting Reliability Standard

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-29

... response, and encourages coordinated automatic generation control (AGC) operation.\\6\\ These matters are not... expressed in MW/0.1 Hz, included in a Balancing Authority's Area Control Error equation to account for the... response withdrawal through secondary control systems.'' 4. While we propose to approve BAL-003-1, we also...

Dorsomedial striatum involvement in regulating conflict between current and presumed outcomes.

PubMed

Mestres-Missé, Anna; Bazin, Pierre-Louis; Trampel, Robert; Turner, Robert; Kotz, Sonja A

2014-09-01

The balance between automatic and controlled processing is essential to human flexible but optimal behavior. On the one hand, the automation of habitual behavior and processing is indispensable, and, on the other hand, strategic processing is needed in light of unexpected, conflicting, or new situations. Using ultra-high-field high-resolution functional magnetic resonance imaging (7T-fMRI), the present study examined the role of subcortical structures in mediating this balance. Participants were asked to judge the congruency of sentences containing a semantically ambiguous or unambiguous word. Ambiguous sentences had three possible resolutions: dominant meaning, subordinate meaning, and incongruent. The dominant interpretation represents the most habitual response, whereas both the subordinate and incongruent options clash with this automatic response, and, hence, require cognitive control. Moreover, the subordinate resolution entails a less expected but correct outcome, while the incongruent condition is simply wrong. The current results reveal the involvement of the anterior dorsomedial striatum in modulating and resolving conflict between actual and expected outcomes, and highlight the importance of cortical and subcortical cooperation in this process. Copyright © 2014 Elsevier Inc. All rights reserved.

Women's Work-Life Balance Trajectories in the UK: Reformulating Choice and Constraint in Transitions through Part-Time Work across the Life-Course

ERIC Educational Resources Information Center

Tomlinson, Jennifer

2006-01-01

This paper examines the apparently paradoxical notion that women "choose" part-time work when it is consistently documented as being less preferential in employment terms, conditions and prospects when compared to full-time work. Forming a dialogue with Hakim's (2000) preference theory, it is proposed here that four dimensions--care…

Dynamic trajectory-based couch motion for improvement of radiation therapy trajectories in cranial SRT

DOE Office of Scientific and Technical Information (OSTI.GOV)

MacDonald, R. Lee; Thomas, Christopher G., E-mail: Chris.Thomas@cdha.nshealth.ca; Department of Medical Physics, Nova Scotia Cancer Centre, Queen Elizabeth II Health Sciences Centre, Halifax, Nova Scotia B3H 1V7

2015-05-15

Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space,more » indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion during radiation therapy to minimize the geometrical overlap in the beams-eye-view of target volumes and the organs-at-risk can have an appreciable dose reduction to organs-at-risk.« less

Growth Trajectories of Exercise Self-Efficacy in Older Adults: Influence of Measures and Initial Status

PubMed Central

McAuley, Edward; Mailey, Emily L.; Mullen, Sean P.; Szabo, Amanda N.; Wójcicki, Thomas R.; White, Siobhan M.; Gothe, Neha; Olson, Erin A.; Kramer, Arthur F.

2012-01-01

Objective This study examines differential trajectories of exercise-related self-efficacy beliefs across a 12-month randomized controlled exercise trial. Methods Previously inactive older adults (N = 144; M age = 66.5) were randomly assigned to one of two exercise conditions (walking, flexibility-toning-balance) and completed measures of barriers self-efficacy (BARSE), exercise self-efficacy (EXSE), and self-efficacy for walking (SEW) across a 12-month period. Changes in efficacy were examined according to efficacy type and inter-individual differences. Latent growth curve modeling was employed to (a) examine average levels and change in each type of efficacy for the collapsed sample and by intervention condition, and (b) explore subpopulations (i.e., latent classes) within the sample that differ in their baseline efficacy and trajectory. Results Analyses revealed two negative trends in BARSE and EXSE at predicted transition points, in addition to a positive linear trend in SEW. Two subgroups with unique baseline efficacy and trajectory profiles were also identified. Conclusions These results shed new light on the relationship between exercise and self-efficacy in older adults, and highlight the need for strategies for increasing and maintaining efficacy within interventions, namely targeting participants who start with a disadvantage (lower efficacy) and integrating efficacy-boosting strategies for all participants prior to program end. PMID:21038962

Pilot study on quantitative assessment of muscle imbalance: differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements.

PubMed

Oku, Takanori; Uno, Kanna; Nishi, Tomoki; Kageyama, Masayuki; Phatiwuttipat, Pipatthana; Koba, Keitaro; Yamashita, Yuto; Murakami, Kenta; Uemura, Mitsunori; Hirai, Hiroaki; Miyazaki, Fumio; Naritomi, Hiroaki

2014-01-01

This paper proposes a novel method for assessment of muscle imbalance based on muscle synergy hypothesis and equilibrium point (EP) hypothesis of motor control. We explain in detail the method for extracting muscle synergies under the concept of agonist-antagonist (AA) muscle pairs and for estimating EP trajectories and endpoint stiffness of human upper limbs in a horizontal plane using an electromyogram. The results of applying this method to the reaching movement of one normal subject and one hemiplegic subject suggest that (1) muscle synergies (the balance among coactivation of AA muscle pairs), particularly the synergies that contributes to the angular directional kinematics of EP and the limb stiffness, are quite different between the normal subject and the hemiplegic subject; (2) the concomitant EP trajectory is also different between the normal and hemiplegic subjects, corresponding to the difference of muscle synergies; and (3) the endpoint (hand) stiffness ellipse of the hemiplegic subject becomes more elongated and orientation of the major axis rotates clockwise more than that of the normal subject. The level of motor impairment would be expected to be assessed from a comparison of these differences of muscle synergies, EP trajectories, and endpoint stiffness among normal and pathological subjects using the method.

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

PubMed Central

Chocoteco, Jose Abel

2017-01-01

Recent advances in mobile robotic technologies have enabled significant progress to be made in the development of Stair-Climbing Mobility Systems (SCMSs) for people with mobility impairments and limitations. These devices are mainly characterized by their ability to negotiate those architectural barriers associated with climbing stairs (curbs, ramps, etc.). The development of advanced trajectory generators with which to surpass such architectural barriers is one of the most important aspects of SCMSs that has not yet been appropriately exploited. These advanced trajectory generators have a considerable influence on the time invested in the stair climbing process and on passenger comfort and, consequently, provide people with physical disabilities with greater independence and a higher quality of life. In this paper, we propose a new nonlinear trajectory generator for an SCMS. This generator balances the stair-climbing time and the user’s comfort and includes the most important constraints inherent to the system behavior: the geometry of the architectural barrier, the reconfigurable nature of the SCMS (discontinuous states), SCMS state-transition diagrams, comfort restrictions and physical limitations as regards the actuators, speed and acceleration. The SCMS was tested on a real two-step staircase using different time-comfort combinations and different climbing strategies to verify the effectiveness and the robustness of the proposed approach.

A Robust Crowdsourcing-Based Indoor Localization System.

PubMed

Zhou, Baoding; Li, Qingquan; Mao, Qingzhou; Tu, Wei

2017-04-14

WiFi fingerprinting-based indoor localization has been widely used due to its simplicity and can be implemented on the smartphones. The major drawback of WiFi fingerprinting is that the radio map construction is very labor-intensive and time-consuming. Another drawback of WiFi fingerprinting is the Received Signal Strength (RSS) variance problem, caused by environmental changes and device diversity. RSS variance severely degrades the localization accuracy. In this paper, we propose a robust crowdsourcing-based indoor localization system (RCILS). RCILS can automatically construct the radio map using crowdsourcing data collected by smartphones. RCILS abstracts the indoor map as the semantics graph in which the edges are the possible user paths and the vertexes are the location where users may take special activities. RCILS extracts the activity sequence contained in the trajectories by activity detection and pedestrian dead-reckoning. Based on the semantics graph and activity sequence, crowdsourcing trajectories can be located and a radio map is constructed based on the localization results. For the RSS variance problem, RCILS uses the trajectory fingerprint model for indoor localization. During online localization, RCILS obtains an RSS sequence and realizes localization by matching the RSS sequence with the radio map. To evaluate RCILS, we apply RCILS in an office building. Experiment results demonstrate the efficiency and robustness of RCILS.

A Robust Crowdsourcing-Based Indoor Localization System

PubMed Central

Zhou, Baoding; Li, Qingquan; Mao, Qingzhou; Tu, Wei

2017-01-01

WiFi fingerprinting-based indoor localization has been widely used due to its simplicity and can be implemented on the smartphones. The major drawback of WiFi fingerprinting is that the radio map construction is very labor-intensive and time-consuming. Another drawback of WiFi fingerprinting is the Received Signal Strength (RSS) variance problem, caused by environmental changes and device diversity. RSS variance severely degrades the localization accuracy. In this paper, we propose a robust crowdsourcing-based indoor localization system (RCILS). RCILS can automatically construct the radio map using crowdsourcing data collected by smartphones. RCILS abstracts the indoor map as the semantics graph in which the edges are the possible user paths and the vertexes are the location where users may take special activities. RCILS extracts the activity sequence contained in the trajectories by activity detection and pedestrian dead-reckoning. Based on the semantics graph and activity sequence, crowdsourcing trajectories can be located and a radio map is constructed based on the localization results. For the RSS variance problem, RCILS uses the trajectory fingerprint model for indoor localization. During online localization, RCILS obtains an RSS sequence and realizes localization by matching the RSS sequence with the radio map. To evaluate RCILS, we apply RCILS in an office building. Experiment results demonstrate the efficiency and robustness of RCILS. PMID:28420108

Acoustic window planning for ultrasound acquisition.

PubMed

Göbl, Rüdiger; Virga, Salvatore; Rackerseder, Julia; Frisch, Benjamin; Navab, Nassir; Hennersperger, Christoph

2017-06-01

Autonomous robotic ultrasound has recently gained considerable interest, especially for collaborative applications. Existing methods for acquisition trajectory planning are solely based on geometrical considerations, such as the pose of the transducer with respect to the patient surface. This work aims at establishing acoustic window planning to enable autonomous ultrasound acquisitions of anatomies with restricted acoustic windows, such as the liver or the heart. We propose a fully automatic approach for the planning of acquisition trajectories, which only requires information about the target region as well as existing tomographic imaging data, such as X-ray computed tomography. The framework integrates both geometrical and physics-based constraints to estimate the best ultrasound acquisition trajectories with respect to the available acoustic windows. We evaluate the developed method using virtual planning scenarios based on real patient data as well as for real robotic ultrasound acquisitions on a tissue-mimicking phantom. The proposed method yields superior image quality in comparison with a naive planning approach, while maintaining the necessary coverage of the target. We demonstrate that by taking image formation properties into account acquisition planning methods can outperform naive plannings. Furthermore, we show the need for such planning techniques, since naive approaches are not sufficient as they do not take the expected image quality into account.

From homeostasis to behavior: Balanced activity in an exploration of embodied dynamic environmental-neural interaction.

PubMed

Hellyer, Peter John; Clopath, Claudia; Kehagia, Angie A; Turkheimer, Federico E; Leech, Robert

2017-08-01

In recent years, there have been many computational simulations of spontaneous neural dynamics. Here, we describe a simple model of spontaneous neural dynamics that controls an agent moving in a simple virtual environment. These dynamics generate interesting brain-environment feedback interactions that rapidly destabilize neural and behavioral dynamics demonstrating the need for homeostatic mechanisms. We investigate roles for homeostatic plasticity both locally (local inhibition adjusting to balance excitatory input) as well as more globally (regional "task negative" activity that compensates for "task positive", sensory input in another region) balancing neural activity and leading to more stable behavior (trajectories through the environment). Our results suggest complementary functional roles for both local and macroscale mechanisms in maintaining neural and behavioral dynamics and a novel functional role for macroscopic "task-negative" patterns of activity (e.g., the default mode network).

Real-time physics-based 3D biped character animation using an inverted pendulum model.

PubMed

Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

2010-01-01

We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

Communication: Overcoming the root search problem in complex quantum trajectory calculations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zamstein, Noa; Tannor, David J.

2014-01-28

Three new developments are presented regarding the semiclassical coherent state propagator. First, we present a conceptually different derivation of Huber and Heller's method for identifying complex root trajectories and their equations of motion [D. Huber and E. J. Heller, J. Chem. Phys. 87, 5302 (1987)]. Our method proceeds directly from the time-dependent Schrödinger equation and therefore allows various generalizations of the formalism. Second, we obtain an analytic expression for the semiclassical coherent state propagator. We show that the prefactor can be expressed in a form that requires solving significantly fewer equations of motion than in alternative expressions. Third, the semiclassicalmore » coherent state propagator is used to formulate a final value representation of the time-dependent wavefunction that avoids the root search, eliminates problems with caustics and automatically includes interference. We present numerical results for the 1D Morse oscillator showing that the method may become an attractive alternative to existing semiclassical approaches.« less

Automatic Construction of Wi-Fi Radio Map Using Smartphones

NASA Astrophysics Data System (ADS)

Liu, Tao; Li, Qingquan; Zhang, Xing

2016-06-01

Indoor positioning could provide interesting services and applications. As one of the most popular indoor positioning methods, location fingerprinting determines the location of mobile users by matching the received signal strength (RSS) which is location dependent. However, fingerprinting-based indoor positioning requires calibration and updating of the fingerprints which is labor-intensive and time-consuming. In this paper, we propose a visual-based approach for the construction of radio map for anonymous indoor environments without any prior knowledge. This approach collects multi-sensors data, e.g. video, accelerometer, gyroscope, Wi-Fi signals, etc., when people (with smartphones) walks freely in indoor environments. Then, it uses the multi-sensor data to restore the trajectories of people based on an integrated structure from motion (SFM) and image matching method, and finally estimates location of sampling points on the trajectories and construct Wi-Fi radio map. Experiment results show that the average location error of the fingerprints is about 0.53 m.

Mars Exploration Rovers Launch Performance and TCM-1 Maneuver Design

NASA Technical Reports Server (NTRS)

Kangas, Julie A.; Potts, Christopher L.; Raofi, Behzad

2004-01-01

The Mars Exploration Rover (MER) project successfully landed two identical rovers on Mars in order to remotely conduct geologic investigations, including characterization of rocks and soils that may hold clues to past water activity. Two landing sites, Gusev crater and Meridiani Planum, were selected out of nearly 200 candidate sites after balancing science returns and flight system engineering and safety. Precise trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites within the flight system constraints. This paper discusses the expected and achieved launch vehicle performance and the impacts of that performance on the first Trajectory Correction Maneuver (TCM-1) while maintaining targeting flexibility in accommodating additional project concerns about landing site safety and possible in-flight retargeting to alternate landing sites.

Stochastic first passage time accelerated with CUDA

NASA Astrophysics Data System (ADS)

Pierro, Vincenzo; Troiano, Luigi; Mejuto, Elena; Filatrella, Giovanni

2018-05-01

The numerical integration of stochastic trajectories to estimate the time to pass a threshold is an interesting physical quantity, for instance in Josephson junctions and atomic force microscopy, where the full trajectory is not accessible. We propose an algorithm suitable for efficient implementation on graphical processing unit in CUDA environment. The proposed approach for well balanced loads achieves almost perfect scaling with the number of available threads and processors, and allows an acceleration of about 400× with a GPU GTX980 respect to standard multicore CPU. This method allows with off the shell GPU to challenge problems that are otherwise prohibitive, as thermal activation in slowly tilted potentials. In particular, we demonstrate that it is possible to simulate the switching currents distributions of Josephson junctions in the timescale of actual experiments.

The Zig-zag Instability of Streamlined Bodies

NASA Astrophysics Data System (ADS)

Guillet, Thibault; Coux, Martin; Quere, David; Clanet, Christophe

2017-11-01

When a floating bluff body, like a sphere, impacts water with a vertical velocity, its trajectory is straight and the depth of its dive increases with its initial velocity. Even though we observe the same phenomenon at low impact speed for axisymmetric streamlined bodies, the trajectory is found to deviate from the vertical when the velocity overcomes a critical value. This instability results from a competition between the destabilizing torque of the lift and the stabilizing torque of the Archimede's force. Balancing these torques yields a prediction on the critical velocity above which the instability appears. This theoretical value is found to depend on the position of the gravity center of the projectile and predicts with a full agreement the behaviour observed in our different experiments. Project funded by DGA.

Balancing Automatic-Controlled Behaviors and Emotional-Salience States: A Dynamic Executive Functioning Hypothesis.

PubMed

Kluwe-Schiavon, Bruno; Viola, Thiago W; Sanvicente-Vieira, Breno; Malloy-Diniz, Leandro F; Grassi-Oliveira, Rodrigo

2016-01-01

Recently, there has been growing interest in understanding how executive functions are conceptualized in psychopathology. Since several models have been proposed, the major issue lies within the definition of executive functioning itself. Theoretical discussions have emerged, narrowing the boundaries between "hot" and "cold" executive functions or between self-regulation and cognitive control. Nevertheless, the definition of executive functions is far from a consensual proposition and it has been suggested that these models might be outdated. Current efforts indicate that human behavior and cognition are by-products of many brain systems operating and interacting at different levels, and therefore, it is very simplistic to assume a dualistic perspective of information processing. Based upon an adaptive perspective, we discuss how executive functions could emerge from the ability to solve immediate problems and to generalize successful strategies, as well as from the ability to synthesize and to classify environmental information in order to predict context and future. We present an executive functioning perspective that emerges from the dynamic balance between automatic-controlled behaviors and an emotional-salience state. According to our perspective, the adaptive role of executive functioning is to automatize efficient solutions simultaneously with cognitive demand, enabling individuals to engage such processes with increasingly complex problems. Understanding executive functioning as a mediator of stress and cognitive engagement not only fosters discussions concerning individual differences, but also offers an important paradigm to understand executive functioning as a continuum process rather than a categorical and multicomponent structure.

Balancing Automatic-Controlled Behaviors and Emotional-Salience States: A Dynamic Executive Functioning Hypothesis

PubMed Central

Kluwe-Schiavon, Bruno; Viola, Thiago W.; Sanvicente-Vieira, Breno; Malloy-Diniz, Leandro F.; Grassi-Oliveira, Rodrigo

2017-01-01

Recently, there has been growing interest in understanding how executive functions are conceptualized in psychopathology. Since several models have been proposed, the major issue lies within the definition of executive functioning itself. Theoretical discussions have emerged, narrowing the boundaries between “hot” and “cold” executive functions or between self-regulation and cognitive control. Nevertheless, the definition of executive functions is far from a consensual proposition and it has been suggested that these models might be outdated. Current efforts indicate that human behavior and cognition are by-products of many brain systems operating and interacting at different levels, and therefore, it is very simplistic to assume a dualistic perspective of information processing. Based upon an adaptive perspective, we discuss how executive functions could emerge from the ability to solve immediate problems and to generalize successful strategies, as well as from the ability to synthesize and to classify environmental information in order to predict context and future. We present an executive functioning perspective that emerges from the dynamic balance between automatic-controlled behaviors and an emotional-salience state. According to our perspective, the adaptive role of executive functioning is to automatize efficient solutions simultaneously with cognitive demand, enabling individuals to engage such processes with increasingly complex problems. Understanding executive functioning as a mediator of stress and cognitive engagement not only fosters discussions concerning individual differences, but also offers an important paradigm to understand executive functioning as a continuum process rather than a categorical and multicomponent structure. PMID:28154541

On the reproducibility of expert-operated and robotic ultrasound acquisitions.

PubMed

Kojcev, Risto; Khakzar, Ashkan; Fuerst, Bernhard; Zettinig, Oliver; Fahkry, Carole; DeJong, Robert; Richmon, Jeremy; Taylor, Russell; Sinibaldi, Edoardo; Navab, Nassir

2017-06-01

We present the evaluation of the reproducibility of measurements performed using robotic ultrasound imaging in comparison with expert-operated sonography. Robotic imaging for interventional procedures may be a valuable contribution, but requires reproducibility for its acceptance in clinical routine. We study this by comparing repeated measurements based on robotic and expert-operated ultrasound imaging. Robotic ultrasound acquisition is performed in three steps under user guidance: First, the patient is observed using a 3D camera on the robot end effector, and the user selects the region of interest. This allows for automatic planning of the robot trajectory. Next, the robot executes a sweeping motion following the planned trajectory, during which the ultrasound images and tracking data are recorded. As the robot is compliant, deviations from the path are possible, for instance due to patient motion. Finally, the ultrasound slices are compounded to create a volume. Repeated acquisitions can be performed automatically by comparing the previous and current patient surface. After repeated image acquisitions, the measurements based on acquisitions performed by the robotic system and expert are compared. Within our case series, the expert measured the anterior-posterior, longitudinal, transversal lengths of both of the left and right thyroid lobes on each of the 4 healthy volunteers 3 times, providing 72 measurements. Subsequently, the same procedure was performed using the robotic system resulting in a cumulative total of 144 clinically relevant measurements. Our results clearly indicated that robotic ultrasound enables more repeatable measurements. A robotic ultrasound platform leads to more reproducible data, which is of crucial importance for planning and executing interventions.

Assessing the Three-North Shelter Forest Program in China by a novel framework for characterizing vegetation changes

NASA Astrophysics Data System (ADS)

Qiu, Bingwen; Chen, Gong; Tang, Zhenghong; Lu, Difei; Wang, Zhuangzhuang; Chen, Chongchen

2017-11-01

The Three-North Shelter Forest Program (TNSFP) in China has been intensely invested for approximately 40 years. However, the efficacy of the TNSFP has been debatable due to the spatiotemporal complexity of vegetation changes. A novel framework was proposed for characterizing vegetation changes in the TNSFP region through Combining Trend and Temporal Similarity trajectory (COTTS). This framework could automatically and continuously address the fundamental questions on where, what, how and when vegetation changes have occurred. Vegetation trend was measured by a non-parametric method. The temporal similarity trajectory was tracked by the Jeffries-Matusita (JM) distance of the inter-annual vegetation indices temporal profiles and modeled using the logistic function. The COTTS approach was applied to examine the afforestation efforts of the TNSFP using 500 m 8-day composites MODIS datasets from 2001 to 2015. Accuracy assessment from the 1109 reference sites reveals that the COTTS is capable of automatically determining vegetation dynamic patterns, with an overall accuracy of 90.08% and a kappa coefficient of 0.8688. The efficacy of the TNSFP was evaluated through comprehensive considerations of vegetation, soil and wetness. Around 45.78% areas obtained increasing vegetation trend, 2.96% areas achieved bare soil decline and 4.50% areas exhibited increasing surface wetness. There were 4.49% areas under vegetation degradation & desertification. Spatiotemporal heterogeneity of efficacy of the TNSFP was revealed: great vegetation gain through the abrupt dynamic pattern in the semi-humid and humid regions, bare soil decline & potential efficacy in the semi-arid region and remarkable efficacy in functional region of Eastern Ordos.

Multi-decadal mass balance series of three Kyrgyz glaciers inferred from modelling constrained with repeated snow line observations

NASA Astrophysics Data System (ADS)

Barandun, Martina; Huss, Matthias; Usubaliev, Ryskul; Azisov, Erlan; Berthier, Etienne; Kääb, Andreas; Bolch, Tobias; Hoelzle, Martin

2018-06-01

Glacier surface mass balance observations in the Tien Shan and Pamir are relatively sparse and often discontinuous. Nevertheless, glaciers are one of the most important components of the high-mountain cryosphere in the region as they strongly influence water availability in the arid, continental and intensely populated downstream areas. This study provides reliable and continuous surface mass balance series for selected glaciers located in the Tien Shan and Pamir-Alay. By cross-validating the results of three independent methods, we reconstructed the mass balance of the three benchmark glaciers, Abramov, Golubin and Glacier no. 354 for the past 2 decades. By applying different approaches, it was possible to compensate for the limitations and shortcomings of each individual method. This study proposes the use of transient snow line observations throughout the melt season obtained from satellite optical imagery and terrestrial automatic cameras. By combining modelling with remotely acquired information on summer snow depletion, it was possible to infer glacier mass changes for unmeasured years. The model is initialized with daily temperature and precipitation data collected at automatic weather stations in the vicinity of the glacier or with adjusted data from climate reanalysis products. Multi-annual mass changes based on high-resolution digital elevation models and in situ glaciological surveys were used to validate the results for the investigated glaciers. Substantial surface mass loss was confirmed for the three studied glaciers by all three methods, ranging from -0.30 ± 0.19 to -0.41 ± 0.33 m w.e. yr-1 over the 2004-2016 period. Our results indicate that integration of snow line observations into mass balance modelling significantly narrows the uncertainty ranges of the estimates. Hence, this highlights the potential of the methodology for application to unmonitored glaciers at larger scales for which no direct measurements are available.

Interpreting lateral dynamic weight shifts using a simple inverted pendulum model.

PubMed

Kennedy, Michael W; Bretl, Timothy; Schmiedeler, James P

2014-01-01

Seventy-five young, healthy adults completed a lateral weight-shifting activity in which each shifted his/her center of pressure (CoP) to visually displayed target locations with the aid of visual CoP feedback. Each subject's CoP data were modeled using a single-link inverted pendulum system with a spring-damper at the joint. This extends the simple inverted pendulum model of static balance in the sagittal plane to lateral weight-shifting balance. The model controlled pendulum angle using PD control and a ramp setpoint trajectory, and weight-shifting was characterized by both shift speed and a non-minimum phase (NMP) behavior metric. This NMP behavior metric examines the force magnitude at shift initiation and provides weight-shifting balance performance information that parallels the examination of peak ground reaction forces in gait analysis. Control parameters were optimized on a subject-by-subject basis to match balance metrics for modeled results to metric values calculated from experimental data. Overall, the model matches experimental data well (average percent error of 0.35% for shifting speed and 0.05% for NMP behavior). These results suggest that the single-link inverted pendulum model can be used effectively to capture lateral weight-shifting balance, as it has been shown to model static balance. Copyright © 2014 Elsevier B.V. All rights reserved.

Investigation of Dispersed and Dispersed Annular (rivulet or Thin Film) Flow Phase Separation in Tees.

NASA Astrophysics Data System (ADS)

McCreery, Glenn Ernest

An experimental and analytical investigation of dispersed and dispersed-annular (rivulet or thin film) flow phase separation in tees has been successfully completed. The research was directed at, but is not specific to, determining flow conditions, following a loss of coolant accident, in the large rectangular passageways leading to vacuum buildings in the containment envelope of some CANDU nuclear reactors. The primary objectives of the research were to: (1) obtain experimental data to help formulate and test mechanistic analytical models of phase separation, and (2) develop the analytical models in computer programs which predict phase separation from upstream flow and pressure conditions and downstream and side branch pressure boundary conditions. To meet these objectives an air-water experimental apparatus was constructed, and consists of large air blowers attached to a long rectangular duct leading to a tee in the horizontal plane. A variety of phenomena was investigated including, for comparison with computer predictions, air streamlines and eddy boundary geometry, drop size spectra, macroscopic mass balances, liquid rivulet pathlines, and trajectories of drops of known size and velocity. Four separate computer programs were developed to analyze phase separation. Three of the programs are used sequentially to calculate dispersed mist phase separation in a tee. The fourth is used to calculate rivulet or thin film pathlines. Macroscopic mass balances are calculated from a summation of mass balances for drops with representative sizes (and masses) spaced across the drop size spectrum. The programs are tested against experimental data, and accurately predict gas flow fields, drop trajectories, rivulet pathlines and macroscopic mass balances. In addition to development of the computer programs, analysis was performed to specify the scaling of dispersed mist and rivulet or thin film flow, to investigate pressure losses in tees, and the inter-relationship of loss coefficients, contraction coefficients, and eddy geometry. The important transient effects of liquid storage in eddies were also analyzed.

19 CFR 19.35 - Establishment of duty-free stores (Class 9 warehouses).

Code of Federal Regulations, 2010 CFR

2010-04-01

... merchandise departs the Customs territory; (2) Within 25 statute miles from the exit point through which a... on-hand balance of each inventory item in each storage location, sales room, crib, mobile crib... centralized up to the point where a sale is made so as to automatically reduce the sale quantity by location...

Constant frequency pulsed phase-locked loop measuring device

NASA Technical Reports Server (NTRS)

Yost, William T. (Inventor); Kushnick, Peter W. (Inventor); Cantrell, John H. (Inventor)

1993-01-01

A measuring apparatus is presented that uses a fixed frequency oscillator to measure small changes in the phase velocity ultrasonic sound when a sample is exposed to environmental changes such as changes in pressure, temperature, etc. The invention automatically balances electrical phase shifts against the acoustical phase shifts in order to obtain an accurate measurement of electrical phase shifts.

Global Climate Change - U.S. Economic and National Security Opportunity

DTIC Science & Technology

2009-03-20

The most recent findings of the Intergovernmental Panel on Climate Change (IPCC) state that the current trajectory of greenhouse gas (GHG) emissions...challenges and opportunities for the United States as they balance national security and economic interests. The effects of climate change could act as a...are various opportunities associated with climate change including opening arctic navigational channels and the vast oil and natural gas resources

Glide performance and aerodynamics of non-equilibrium glides in northern flying squirrels (Glaucomys sabrinus)

PubMed Central

Bahlman, Joseph W.; Swartz, Sharon M.; Riskin, Daniel K.; Breuer, Kenneth S.

2013-01-01

Gliding is an efficient form of travel found in every major group of terrestrial vertebrates. Gliding is often modelled in equilibrium, where aerodynamic forces exactly balance body weight resulting in constant velocity. Although the equilibrium model is relevant for long-distance gliding, such as soaring by birds, it may not be realistic for shorter distances between trees. To understand the aerodynamics of inter-tree gliding, we used direct observation and mathematical modelling. We used videography (60–125 fps) to track and reconstruct the three-dimensional trajectories of northern flying squirrels (Glaucomys sabrinus) in nature. From their trajectories, we calculated velocities, aerodynamic forces and force coefficients. We determined that flying squirrels do not glide at equilibrium, and instead demonstrate continuously changing velocities, forces and force coefficients, and generate more lift than needed to balance body weight. We compared observed glide performance with mathematical simulations that use constant force coefficients, a characteristic of equilibrium glides. Simulations with varying force coefficients, such as those of live squirrels, demonstrated better whole-glide performance compared with the theoretical equilibrium state. Using results from both the observed glides and the simulation, we describe the mechanics and execution of inter-tree glides, and then discuss how gliding behaviour may relate to the evolution of flapping flight. PMID:23256188

A Bayesian perspective on Markovian dynamics and the fluctuation theorem

NASA Astrophysics Data System (ADS)

Virgo, Nathaniel

2013-08-01

One of E. T. Jaynes' most important achievements was to derive statistical mechanics from the maximum entropy (MaxEnt) method. I re-examine a relatively new result in statistical mechanics, the Evans-Searles fluctuation theorem, from a MaxEnt perspective. This is done in the belief that interpreting such results in Bayesian terms will lead to new advances in statistical physics. The version of the fluctuation theorem that I will discuss applies to discrete, stochastic systems that begin in a non-equilibrium state and relax toward equilibrium. I will show that for such systems the fluctuation theorem can be seen as a consequence of the fact that the equilibrium distribution must obey the property of detailed balance. Although the principle of detailed balance applies only to equilibrium ensembles, it puts constraints on the form of non-equilibrium trajectories. This will be made clear by taking a novel kind of Bayesian perspective, in which the equilibrium distribution is seen as a prior over the system's set of possible trajectories. Non-equilibrium ensembles are calculated from this prior using Bayes' theorem, with the initial conditions playing the role of the data. I will also comment on the implications of this perspective for the question of how to derive the second law.

Glide performance and aerodynamics of non-equilibrium glides in northern flying squirrels (Glaucomys sabrinus).

PubMed

Bahlman, Joseph W; Swartz, Sharon M; Riskin, Daniel K; Breuer, Kenneth S

2013-03-06

Gliding is an efficient form of travel found in every major group of terrestrial vertebrates. Gliding is often modelled in equilibrium, where aerodynamic forces exactly balance body weight resulting in constant velocity. Although the equilibrium model is relevant for long-distance gliding, such as soaring by birds, it may not be realistic for shorter distances between trees. To understand the aerodynamics of inter-tree gliding, we used direct observation and mathematical modelling. We used videography (60-125 fps) to track and reconstruct the three-dimensional trajectories of northern flying squirrels (Glaucomys sabrinus) in nature. From their trajectories, we calculated velocities, aerodynamic forces and force coefficients. We determined that flying squirrels do not glide at equilibrium, and instead demonstrate continuously changing velocities, forces and force coefficients, and generate more lift than needed to balance body weight. We compared observed glide performance with mathematical simulations that use constant force coefficients, a characteristic of equilibrium glides. Simulations with varying force coefficients, such as those of live squirrels, demonstrated better whole-glide performance compared with the theoretical equilibrium state. Using results from both the observed glides and the simulation, we describe the mechanics and execution of inter-tree glides, and then discuss how gliding behaviour may relate to the evolution of flapping flight.

Late developments in the field of heat recovery

NASA Astrophysics Data System (ADS)

McFarlan, A. I.

Developments to reduce the first cost and operating expense of large building air conditioning systems, with emphasis on heat transfer are described. The 3 pipe wide range coils dissipate part of the summer cooling load directly to the outside of the building without passing thru the water chillers. Tank circuits to automatically cycle water thru storage tanks can reduce the refrigeration load about 35% during the peak day period. Means to produce above 48.9 C hot water economically for winter heating and summer dissipation of internal heat are described. A heat balance is maintained automatically to remove only the excess winter heat beyond that which can be usefully recycled or stored.

An Automatic Networking and Routing Algorithm for Mesh Network in PLC System

NASA Astrophysics Data System (ADS)

Liu, Xiaosheng; Liu, Hao; Liu, Jiasheng; Xu, Dianguo

2017-05-01

Power line communication (PLC) is considered to be one of the best communication technologies in smart grid. However, the topology of low voltage distribution network is complex, meanwhile power line channel has characteristics of time varying and attenuation, which lead to the unreliability of power line communication. In this paper, an automatic networking and routing algorithm is introduced which can be adapted to the "blind state" topology. The results of simulation and test show that the scheme is feasible, the routing overhead is small, and the load balance performance is good, which can achieve the establishment and maintenance of network quickly and effectively. The scheme is of great significance to improve the reliability of PLC.

Detection of compensatory balance responses using wearable electromyography sensors for fall-risk assessment.

PubMed

Nouredanesh, Mina; Kukreja, Sunil L; Tung, James

2016-08-01

Loss of balance is prevalent in older adults and populations with gait and balance impairments. The present paper aims to develop a method to automatically distinguish compensatory balance responses (CBRs) from normal gait, based on activity patterns of muscles involved in maintaining balance. In this study, subjects were perturbed by lateral pushes while walking and surface electromyography (sEMG) signals were recorded from four muscles in their right leg. To extract sEMG time domain features, several filtering characteristics and segmentation approaches are examined. The performance of three classification methods, i.e., k-nearest neighbor, support vector machines, and random forests, were investigated for accurate detection of CBRs. Our results show that features extracted in the 50-200Hz band, segmented using peak sEMG amplitudes, and a random forest classifier detected CBRs with an accuracy of 92.35%. Moreover, our results support the important role of biceps femoris and rectus femoris muscles in stabilization and consequently discerning CBRs. This study contributes towards the development of wearable sensor systems to accurately and reliably monitor gait and balance control behavior in at-home settings (unsupervised conditions), over long periods of time, towards personalized fall risk assessment tools.

Identification of the period of stability in a balance test after stepping up using a simplified cumulative sum.

PubMed

Safieddine, Doha; Chkeir, Aly; Herlem, Cyrille; Bera, Delphine; Collart, Michèle; Novella, Jean-Luc; Dramé, Moustapha; Hewson, David J; Duchêne, Jacques

2017-11-01

Falls are a major cause of death in older people. One method used to predict falls is analysis of Centre of Pressure (CoP) displacement, which provides a measure of balance quality. The Balance Quality Tester (BQT) is a device based on a commercial bathroom scale that calculates instantaneous values of vertical ground reaction force (Fz) as well as the CoP in both anteroposterior (AP) and mediolateral (ML) directions. The entire testing process needs to take no longer than 12 s to ensure subject compliance, making it vital that calculations related to balance are only calculated for the period when the subject is static. In the present study, a method is presented to detect the stabilization period after a subject has stepped onto the BQT. Four different phases of the test are identified (stepping-on, stabilization, balancing, stepping-off), ensuring that subjects are static when parameters from the balancing phase are calculated. The method, based on a simplified cumulative sum (CUSUM) algorithm, could detect the change between unstable and stable stance. The time taken to stabilize significantly affected the static balance variables of surface area and trajectory velocity, and was also related to Timed-up-and-Go performance. Such a finding suggests that the time to stabilize could be a worthwhile parameter to explore as a potential indicator of balance problems and fall risk in older people. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Effect of external disturbances and data rate on the response of an automatic landing system capable of curved trajectories

NASA Technical Reports Server (NTRS)

Sherman, W. L.

1975-01-01

The effects of steady wind, turbulence, data sample rate, and control-actuator natural frequency on the response of a possible automatic landing system were investigated in a nonstatistical study. The results indicate that the system, which interfaces with the microwave landing system, functions well in winds and turbulence as long as the guidance law contains proper compensation for wind. The system response was satisfactory down to five data samples per second, which makes the system compatible with the microwave landing system. No adverse effects were observed when actuator natural frequency was lowered. For limiting cases, those cases where the roll angle goes to zero just as the airplane touches down, the basic method for computing the turn-algorithm gains proved unsatisfactory and unacceptable landings resulted. Revised computation methods gave turn-algorithm gains that resulted in acceptable landings. The gains provided by the new method also improved the touchdown conditions for acceptable landings over those obtained when the gains were determined by the old method.

Relative navigation requirements for automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Kachmar, Peter M.; Polutchko, Robert J.; Chu, William; Montez, Moises

1991-01-01

This paper will discuss in detail the relative navigation system requirements and sensor trade-offs for Automatic Rendezvous and Capture. Rendezvous navigation filter development will be discussed in the context of navigation performance requirements for a 'Phase One' AR&C system capability. Navigation system architectures and the resulting relative navigation performance for both cooperative and uncooperative target vehicles will be assessed. Relative navigation performance using rendezvous radar, star tracker, radiometric, laser and GPS navigation sensors during appropriate phases of the trajectory will be presented. The effect of relative navigation performance on the Integrated AR&C system performance will be addressed. Linear covariance and deterministic simulation results will be used. Evaluation of relative navigation and IGN&C system performance for several representative relative approach profiles will be presented in order to demonstrate the full range of system capabilities. A summary of the sensor requirements and recommendations for AR&C system capabilities for several programs requiring AR&C will be presented.

High-order space charge effects using automatic differentiation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Reusch, Michael F.; Bruhwiler, David L.; Computer Accelerator Physics Conference Williamsburg, Virginia 1996

1997-02-01

The Northrop Grumman Topkark code has been upgraded to Fortran 90, making use of operator overloading, so the same code can be used to either track an array of particles or construct a Taylor map representation of the accelerator lattice. We review beam optics and beam dynamics simulations conducted with TOPKARK in the past and we present a new method for modeling space charge forces to high-order with automatic differentiation. This method generates an accurate, high-order, 6-D Taylor map of the phase space variable trajectories for a bunched, high-current beam. The spatial distribution is modeled as the product of amore » Taylor Series times a Gaussian. The variables in the argument of the Gaussian are normalized to the respective second moments of the distribution. This form allows for accurate representation of a wide range of realistic distributions, including any asymmetries, and allows for rapid calculation of the space charge fields with free space boundary conditions. An example problem is presented to illustrate our approach.« less

Central receiver solar thermal power system, Phase 1. CDRL item 2. Pilot plant preliminary design report. Volume VI. Electrical power generation and master control subsystems and balance of plant

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hallet, Jr., R. W.; Gervais, R. L.

1977-10-01

The requirements, performance, and subsystem configuration for both the Commercial and Pilot Plant electrical power generation subsystems (EPGS) and balance of plants are presented. The EPGS for both the Commercial Plant and Pilot Plant make use of conventional, proven equipment consistent with good power plant design practices in order to minimize risk and maximize reliability. The basic EPGS cycle selected is a regenerative cycle that uses a single automatic admission, condensing, tandem-compound double-flow turbine. Specifications, performance data, drawings, and schematics are included. (WHK)

Energy Balance Bowen Ratio (EBBR) Handbook

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cook, D. R.

2016-01-01

The Energy Balance Bowen Ratio (EBBR) system produces 30-minute estimates of the vertical fluxes of sensible and latent heat at the local surface. Flux estimates are calculated from observations of net radiation, soil surface heat flux, and the vertical gradients of temperature and relative humidity (RH). Meteorological data collected by the EBBR are used to calculate bulk aerodynamic fluxes, which are used in the Bulk Aerodynamic Technique (BA) EBBR value-added product (VAP) to replace sunrise and sunset spikes in the flux data. A unique aspect of the system is the automatic exchange mechanism (AEM), which helps to reduce errors frommore » instrument offset drift.« less

Energy Balance Bowen Ratio Station (EBBR) Handbook

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cook, DR

2011-02-23

The energy balance Bowen ratio (EBBR) system produces 30-minute estimates of the vertical fluxes of sensible and latent heat at the local surface. Flux estimates are calculated from observations of net radiation, soil surface heat flux, and the vertical gradients of temperature and relative humidity (RH). Meteorological data collected by the EBBR are used to calculate bulk aerodynamic fluxes, which are used in the Bulk Aerodynamic Technique (BA) EBBR value-added product (VAP) to replace sunrise and sunset spikes in the flux data. A unique aspect of the system is the automatic exchange mechanism (AEM), which helps to reduce errors frommore » instrument offset drift.« less

Learning visual balance from large-scale datasets of aesthetically highly rated images

NASA Astrophysics Data System (ADS)

Jahanian, Ali; Vishwanathan, S. V. N.; Allebach, Jan P.

2015-03-01

The concept of visual balance is innate for humans, and influences how we perceive visual aesthetics and cognize harmony. Although visual balance is a vital principle of design and taught in schools of designs, it is barely quantified. On the other hand, with emergence of automantic/semi-automatic visual designs for self-publishing, learning visual balance and computationally modeling it, may escalate aesthetics of such designs. In this paper, we present how questing for understanding visual balance inspired us to revisit one of the well-known theories in visual arts, the so called theory of "visual rightness", elucidated by Arnheim. We define Arnheim's hypothesis as a design mining problem with the goal of learning visual balance from work of professionals. We collected a dataset of 120K images that are aesthetically highly rated, from a professional photography website. We then computed factors that contribute to visual balance based on the notion of visual saliency. We fitted a mixture of Gaussians to the saliency maps of the images, and obtained the hotspots of the images. Our inferred Gaussians align with Arnheim's hotspots, and confirm his theory. Moreover, the results support the viability of the center of mass, symmetry, as well as the Rule of Thirds in our dataset.

Design of a fuel-efficient guidance system for a STOL aircraft

NASA Technical Reports Server (NTRS)

Mclean, J. D.; Erzberger, H.

1981-01-01

In the predictive mode, the system synthesizes a horizontal path from an initial aircraft position and heading to a desired final position and heading and then synthesizes a fuel-efficient speed-altitude profile along the path. In the track mode, the synthesized trajectory is reconstructed and tracked automatically. An analytical basis for the design of the system is presented and a description of the airborne computer implementation is given. A detailed discussion of the software, which should be helpful to those who use the actual software developed for these tests, is also provided.

MEASURING PROJECTOR

DOEpatents

Franck, J.V.; Broadhead, P.S.; Skiff, E.W.

1959-07-14

A semiautomatic measuring projector particularly adapted for measurement of the coordinates of photographic images of particle tracks as prcduced in a bubble or cloud chamber is presented. A viewing screen aids the operator in selecting a particle track for measurement. After approximate manual alignment, an image scanning system coupled to a servo control provides automatic exact alignment of a track image with a reference point. The apparatus can follow along a track with a continuous motion while recording coordinate data at various selected points along the track. The coordinate data is recorded on punched cards for subsequent computer calculation of particle trajectory, momentum, etc.

Comparison of ASGARD and UFOCapture

NASA Technical Reports Server (NTRS)

Blaauw, Rhiannon C.; Cruse, Katherine S.

2011-01-01

The Meteoroid Environment Office is undertaking a comparison between UFOCapture/Analyzer and ASGARD (All Sky and Guided Automatic Realtime Detection). To accomplish this, video output from a Watec video camera on a 17 mm Schneider lens (25 degree field of view) was split and input into the two different meteor detection softwares. The purpose of this study is to compare the sensitivity of the two systems, false alarm rates and trajectory information, among other quantities. The important components of each software will be highlighted and comments made about the detection/rejection algorithms and the amount of user-labor required for each system.

DLA based compressed sensing for high resolution MR microscopy of neuronal tissue

NASA Astrophysics Data System (ADS)

Nguyen, Khieu-Van; Li, Jing-Rebecca; Radecki, Guillaume; Ciobanu, Luisa

2015-10-01

In this work we present the implementation of compressed sensing (CS) on a high field preclinical scanner (17.2 T) using an undersampling trajectory based on the diffusion limited aggregation (DLA) random growth model. When applied to a library of images this approach performs better than the traditional undersampling based on the polynomial probability density function. In addition, we show that the method is applicable to imaging live neuronal tissues, allowing significantly shorter acquisition times while maintaining the image quality necessary for identifying the majority of neurons via an automatic cell segmentation algorithm.

How to Compute a Slot Marker - Calculation of Controller Managed Spacing Tools for Efficient Descents with Precision Scheduling

NASA Technical Reports Server (NTRS)

Prevot, Thomas

2012-01-01

This paper describes the underlying principles and algorithms for computing the primary controller managed spacing (CMS) tools developed at NASA for precisely spacing aircraft along efficient descent paths. The trajectory-based CMS tools include slot markers, delay indications and speed advisories. These tools are one of three core NASA technologies integrated in NASAs ATM technology demonstration-1 (ATD-1) that will operationally demonstrate the feasibility of fuel-efficient, high throughput arrival operations using Automatic Dependent Surveillance Broadcast (ADS-B) and ground-based and airborne NASA technologies for precision scheduling and spacing.

Environmental influences on energy balance-related behaviors: A dual-process view

PubMed Central

Kremers, Stef PJ; de Bruijn, Gert-Jan; Visscher, Tommy LS; van Mechelen, Willem; de Vries, Nanne K; Brug, Johannes

2006-01-01

Background Studies on the impact of the 'obesogenic' environment have often used non-theoretical approaches. In this journal's debate and in other papers authors have argued the necessity of formulating conceptual models for differentiating the causal role of environmental influences on behavior. Discussion The present paper aims to contribute to the debate by presenting a dual-process view on the environment – behavior relationship. This view is conceptualized in the EnRG framework (Environmental Research framework for weight Gain prevention). In the framework, behavior is postulated to be the result of a simultaneous influence of conscious and unconscious processes. Environmental influences are hypothesized to influence behavior both indirectly and directly. The indirect causal mechanism reflects the mediating role of behavior-specific cognitions in the influence of the environment on behavior. A direct influence reflects the automatic, unconscious, influence of the environment on behavior. Specific personal and behavioral factors are postulated to moderate the causal path (i.e., inducing either the automatic or the cognitively mediated environment – behavior relation). In addition, the EnRG framework applies an energy balance-approach, stimulating the integrated study of determinants of diet and physical activity. Conclusion The application of a dual-process view may guide research towards causal mechanisms linking specific environmental features with energy balance-related behaviors in distinct populations. The present paper is hoped to contribute to the evolution of a paradigm that may help to disentangle the role of 'obesogenic' environmental factors. PMID:16700907

Large scale nonlinear programming for the optimization of spacecraft trajectories

NASA Astrophysics Data System (ADS)

Arrieta-Camacho, Juan Jose

Despite the availability of high fidelity mathematical models, the computation of accurate optimal spacecraft trajectories has never been an easy task. While simplified models of spacecraft motion can provide useful estimates on energy requirements, sizing, and cost; the actual launch window and maneuver scheduling must rely on more accurate representations. We propose an alternative for the computation of optimal transfers that uses an accurate representation of the spacecraft dynamics. Like other methodologies for trajectory optimization, this alternative is able to consider all major disturbances. In contrast, it can handle explicitly equality and inequality constraints throughout the trajectory; it requires neither the derivation of costate equations nor the identification of the constrained arcs. The alternative consist of two steps: (1) discretizing the dynamic model using high-order collocation at Radau points, which displays numerical advantages, and (2) solution to the resulting Nonlinear Programming (NLP) problem using an interior point method, which does not suffer from the performance bottleneck associated with identifying the active set, as required by sequential quadratic programming methods; in this way the methodology exploits the availability of sound numerical methods, and next generation NLP solvers. In practice the methodology is versatile; it can be applied to a variety of aerospace problems like homing, guidance, and aircraft collision avoidance; the methodology is particularly well suited for low-thrust spacecraft trajectory optimization. Examples are presented which consider the optimization of a low-thrust orbit transfer subject to the main disturbances due to Earth's gravity field together with Lunar and Solar attraction. Other example considers the optimization of a multiple asteroid rendezvous problem. In both cases, the ability of our proposed methodology to consider non-standard objective functions and constraints is illustrated. Future research directions are identified, involving the automatic scheduling and optimization of trajectory correction maneuvers. The sensitivity information provided by the methodology is expected to be invaluable in such research pursuit. The collocation scheme and nonlinear programming algorithm presented in this work, complement other existing methodologies by providing reliable and efficient numerical methods able to handle large scale, nonlinear dynamic models.

Identification of damage in plates using full-field measurement with a continuously scanning laser Doppler vibrometer system

NASA Astrophysics Data System (ADS)

Chen, Da-Ming; Xu, Y. F.; Zhu, W. D.

2018-05-01

An effective and reliable damage identification method for plates with a continuously scanning laser Doppler vibrometer (CSLDV) system is proposed. A new constant-speed scan algorithm is proposed to create a two-dimensional (2D) scan trajectory and automatically scan a whole plate surface. Full-field measurement of the plate can be achieved by applying the algorithm to the CSLDV system. Based on the new scan algorithm, the demodulation method is extended from one dimension for beams to two dimensions for plates to obtain a full-field operating deflection shape (ODS) of the plate from velocity response measured by the CSLDV system. The full-field ODS of an associated undamaged plate is obtained by using polynomials with proper orders to fit the corresponding full-field ODS from the demodulation method. A curvature damage index (CDI) using differences between curvatures of ODSs (CODSs) associated with ODSs that are obtained by the demodulation method and the polynomial fit is proposed to identify damage. An auxiliary CDI obtained by averaging CDIs at different excitation frequencies is defined to further assist damage identification. An experiment of an aluminum plate with damage in the form of 10.5% thickness reduction in a damage area of 0.86% of the whole scan area is conducted to investigate the proposed method. Six frequencies close to natural frequencies of the plate and one randomly selected frequency are used as sinusoidal excitation frequencies. Two 2D scan trajectories, i.e., a horizontally moving 2D scan trajectory and a vertically moving 2D scan trajectory, are used to obtain ODSs, CODSs, and CDIs of the plate. The damage is successfully identified near areas with consistently high values of CDIs at different excitation frequencies along the two 2D scan trajectories; the damage area is also identified by auxiliary CDIs.

The balance and harmony of control power for a combat aircraft in tactical maneuvering

NASA Technical Reports Server (NTRS)

Bocvarov, Spiro; Cliff, Eugene M.; Lutze, Frederick H.

1992-01-01

An analysis is presented for a family of regular extremal attitude-maneuvers for the High Angle-of-Attack Research Vehicle that has thrust-vectoring capability. Different levels of dynamic coupling are identified in the combat aircraft attitude model, and the characteristic extremal-family motion is explained. It is shown why the extremal-family trajectories develop small sideslip-angles, a highly desirable feature from a practical viewpoint.

Simulating soil moisture change in a semiarid rangeland watershed with a process-based water-balance model

Treesearch

Howard Evan Canfield; Vicente L. Lopes

2000-01-01

A process-based, simulation model for evaporation, soil water and streamflow (BROOK903) was used to estimate soil moisture change on a semiarid rangeland watershed in southeastern Arizona. A sensitivity analysis was performed to select parameters affecting ET and soil moisture for calibration. Automatic parameter calibration was performed using a procedure based on a...

Optimising electron microscopy experiment through electron optics simulation.

PubMed

Kubo, Y; Gatel, C; Snoeck, E; Houdellier, F

2017-04-01

We developed a new type of electron trajectories simulation inside a complete model of a modern transmission electron microscope (TEM). Our model incorporates the precise and real design of each element constituting a TEM, i.e. the field emission (FE) cathode, the extraction optic and acceleration stages of a 300kV cold field emission gun, the illumination lenses, the objective lens, the intermediate and projection lenses. Full trajectories can be computed using magnetically saturated or non-saturated round lenses, magnetic deflectors and even non-cylindrical symmetry elements like electrostatic biprism. This multi-scale model gathers nanometer size components (FE tip) with parts of meter length (illumination and projection systems). We demonstrate that non-trivial TEM experiments requiring specific and complex optical configurations can be simulated and optimized prior to any experiment using such model. We show that all the currents set in all optical elements of the simulated column can be implemented in the real column (I2TEM in CEMES) and used as starting alignment for the requested experiment. We argue that the combination of such complete electron trajectory simulations in the whole TEM column with automatic optimization of the microscope parameters for optimal experimental data (images, diffraction, spectra) allows drastically simplifying the implementation of complex experiments in TEM and will facilitate the development of advanced use of the electron microscope in the near future. Copyright © 2017 Elsevier B.V. All rights reserved.

Benefits of Using Pairwise Trajectory Management in the Central East Pacific

NASA Technical Reports Server (NTRS)

Chartrand, Ryan; Ballard, Kathryn

2016-01-01

Pairwise Trajectory Management (PTM) is a concept that utilizes airborne and ground-based capabilities to enable airborne spacing operations in oceanic regions. The goal of PTM is to use enhanced surveillance, along with airborne tools, to manage the spacing between aircraft. Due to the enhanced airborne surveillance of Automatic Dependent Surveillance-Broadcast (ADS-B) information and reduced communication, the PTM minimum spacing distance will be less than distances currently required of an air traffic controller. Reduced minimum distance will increase the capacity of aircraft operations at a given altitude or volume of airspace, thereby increasing time on desired trajectory and overall flight efficiency. PTM is designed to allow a flight crew to resolve a specific traffic conflict (or conflicts), identified by the air traffic controller, while maintaining the flight crew's desired altitude. The air traffic controller issues a PTM clearance to a flight crew authorized to conduct PTM operations in order to resolve a conflict for the pair (or pairs) of aircraft (i.e., the PTM aircraft and a designated target aircraft). This clearance requires the flight crew of the PTM aircraft to use their ADS-B-enabled onboard equipment to manage their spacing relative to the designated target aircraft to ensure spacing distances that are no closer than the PTM minimum distance. When the air traffic controller determines that PTM is no longer required, the controller issues a clearance to cancel the PTM operation.

Postural Stabilization Strategies to Motor Contagion Induced by Action Observation Are Impaired in Parkinson’s Disease

PubMed Central

Pelosin, Elisa; Bisio, Ambra; Pozzo, Thierry; Lagravinese, Giovanna; Crisafulli, Oscar; Marchese, Roberta; Abbruzzese, Giovanni; Avanzino, Laura

2018-01-01

Postural reactions can be influenced by concomitant tasks or different contexts and are modulated by a higher order motor control. Recent studies investigated postural changes determined by motor contagion induced by action observation (chameleon effect) showing that observing a model in postural disequilibrium induces an increase in healthy subjects’ body sway. Parkinson’s disease (PD) is associated with postural instability and impairments in cognitively controlled balance tasks. However, no studies investigated if viewing postural imbalance might influence postural stability in PD and if patients are able to inhibit a visual postural perturbation. In this study, an action observation paradigm for assessing postural reaction to motor contagion in PD subjects and healthy older adults was used. Postural stability changes were measured during the observation of a static stimulus (control condition) and during a point-light display of a gymnast balancing on a rope (biological stimulus). Our results showed that, during the observation of the biological stimulus, sway area and antero-posterior and medio-lateral displacements of center of pressure significantly increased only in PD participants, whereas correct stabilization reactions were present in elderly subjects. These results demonstrate that PD leads to a decreased capacity to control automatic imitative tendencies induced by motor contagion. This behavior could be the consequence either of an inability to inhibit automatic imitative tendencies or of the cognitive load requested by the task. Whatever the case, the issue about the ability to inhibit automatic imitative tendencies could be crucial for PD patients since it might increase falls risk and injuries. PMID:29545771

On the Adaptation of Pelvic Motion by Applying 3-dimensional Guidance Forces Using TPAD.

PubMed

Kang, Jiyeon; Vashista, Vineet; Agrawal, Sunil K

2017-09-01

Pelvic movement is important to human locomotion as the center of mass is located near the center of pelvis. Lateral pelvic motion plays a crucial role to shift the center of mass on the stance leg, while swinging the other leg and keeping the body balanced. In addition, vertical pelvic movement helps to reduce metabolic energy expenditure by exchanging potential and kinetic energy during the gait cycle. However, patient groups with cerebral palsy or stroke have excessive pelvic motion that leads to high energy expenditure. In addition, they have higher chances of falls as the center ofmass could deviate outside the base of support. In this paper, a novel control method is suggested using tethered pelvic assist device (TPAD) to teach subjects to walk with a specified target pelvic trajectory while walking on a treadmill. In this method, a force field is applied to the pelvis to guide it to move on a target trajectory and correctional forces are applied, if the pelvis motion has excessive deviations from the target trajectory. Three different experimentswith healthy subjects were conducted to teach them to walk on a new target pelvic trajectory with the presented control method. For all three experiments, the baseline trajectory of the pelvis was experimentally determined for each participating subject. To design a target pelvic trajectory which is different from the baseline, Experiment I scaled up the lateral component of the baseline pelvic trajectory, while Experiment II scaled down the lateral component of the baseline trajectory. For both Experiments I and II, the controller generated a 2-D force field in the transverse plane to provide the guidance force. In this paper, seven subjects were recruited for each experiment who walked on the treadmill with suggested control methods and visual feedback of their pelvic trajectory. The results show that the subjects were able to learn the target pelvic trajectory in each experiment and also retained the training effects after the completion of the experiment. In Experiment III, both lateral and vertical components of the pelvic trajectory were scaled down from the baseline trajectory. The force field was extended to three dimensions in order to correct the vertical pelvic movement as well. Three subgroups (force feedback alone, visual feedback alone, and both force and visual feedback) were recruited to understand the effects of force feedback and visual feedback alone to distinguish the results from Experiments I and II. The results showthat a trainingmethod that combines visual and force feedback is superior to the training methods with visual or force feedback alone. We believe that the present control strategy holds potential in training and correcting abnormal pelvic movements in different patient populations.

[The dual process model of addiction. Towards an integrated model?].

PubMed

Vandermeeren, R; Hebbrecht, M

2012-01-01

Neurobiology and cognitive psychology have provided us with a dual process model of addiction. According to this model, behavior is considered to be the dynamic result of a combination of automatic and controlling processes. In cases of addiction the balance between these two processes is severely disturbed. Automated processes will continue to produce impulses that ensure the continuance of addictive behavior. Weak, reflective or controlling processes are both the reason for and the result of the inability to forgo addiction. To identify features that are common to current neurocognitive insights into addiction and psychodynamic views on addiction. The picture that emerges from research is not clear. There is some evidence that attentional bias has a causal effect on addiction. There is no evidence that automatic associations have a causal effect, but there is some evidence that automatic action-tendencies do have a causal effect. Current neurocognitive views on the dual process model of addiction can be integrated with an evidence-based approach to addiction and with psychodynamic views on addiction.

Metrics for covariate balance in cohort studies of causal effects.

PubMed

Franklin, Jessica M; Rassen, Jeremy A; Ackermann, Diana; Bartels, Dorothee B; Schneeweiss, Sebastian

2014-05-10

Inferring causation from non-randomized studies of exposure requires that exposure groups can be balanced with respect to prognostic factors for the outcome. Although there is broad agreement in the literature that balance should be checked, there is confusion regarding the appropriate metric. We present a simulation study that compares several balance metrics with respect to the strength of their association with bias in estimation of the effect of a binary exposure on a binary, count, or continuous outcome. The simulations utilize matching on the propensity score with successively decreasing calipers to produce datasets with varying covariate balance. We propose the post-matching C-statistic as a balance metric and found that it had consistently strong associations with estimation bias, even when the propensity score model was misspecified, as long as the propensity score was estimated with sufficient study size. This metric, along with the average standardized difference and the general weighted difference, outperformed all other metrics considered in association with bias, including the unstandardized absolute difference, Kolmogorov-Smirnov and Lévy distances, overlapping coefficient, Mahalanobis balance, and L1 metrics. Of the best-performing metrics, the C-statistic and general weighted difference also have the advantage that they automatically evaluate balance on all covariates simultaneously and can easily incorporate balance on interactions among covariates. Therefore, when combined with the usual practice of comparing individual covariate means and standard deviations across exposure groups, these metrics may provide useful summaries of the observed covariate imbalance. Copyright © 2013 John Wiley & Sons, Ltd.

GMXPBSA 2.0: A GROMACS tool to perform MM/PBSA and computational alanine scanning

NASA Astrophysics Data System (ADS)

Paissoni, C.; Spiliotopoulos, D.; Musco, G.; Spitaleri, A.

2014-11-01

GMXPBSA 2.0 is a user-friendly suite of Bash/Perl scripts for streamlining MM/PBSA calculations on structural ensembles derived from GROMACS trajectories, to automatically calculate binding free energies for protein-protein or ligand-protein complexes. GMXPBSA 2.0 is flexible and can easily be customized to specific needs. Additionally, it performs computational alanine scanning (CAS) to study the effects of ligand and/or receptor alanine mutations on the free energy of binding. Calculations require only for protein-protein or protein-ligand MD simulations. GMXPBSA 2.0 performs different comparative analysis, including a posteriori generation of alanine mutants of the wild-type complex, calculation of the binding free energy values of the mutant complexes and comparison of the results with the wild-type system. Moreover, it compares the binding free energy of different complexes trajectories, allowing the study the effects of non-alanine mutations, post-translational modifications or unnatural amino acids on the binding free energy of the system under investigation. Finally, it can calculate and rank relative affinity to the same receptor utilizing MD simulations of proteins in complex with different ligands. In order to dissect the different MM/PBSA energy contributions, including molecular mechanic (MM), electrostatic contribution to solvation (PB) and nonpolar contribution to solvation (SA), the tool combines two freely available programs: the MD simulations software GROMACS and the Poisson-Boltzmann equation solver APBS. All the calculations can be performed in single or distributed automatic fashion on a cluster facility in order to increase the calculation by dividing frames across the available processors. The program is freely available under the GPL license.

Construction, implementation and testing of an image identification system using computer vision methods for fruit flies with economic importance (Diptera: Tephritidae).

PubMed

Wang, Jiang-Ning; Chen, Xiao-Lin; Hou, Xin-Wen; Zhou, Li-Bing; Zhu, Chao-Dong; Ji, Li-Qiang

2017-07-01

Many species of Tephritidae are damaging to fruit, which might negatively impact international fruit trade. Automatic or semi-automatic identification of fruit flies are greatly needed for diagnosing causes of damage and quarantine protocols for economically relevant insects. A fruit fly image identification system named AFIS1.0 has been developed using 74 species belonging to six genera, which include the majority of pests in the Tephritidae. The system combines automated image identification and manual verification, balancing operability and accuracy. AFIS1.0 integrates image analysis and expert system into a content-based image retrieval framework. In the the automatic identification module, AFIS1.0 gives candidate identification results. Afterwards users can do manual selection based on comparing unidentified images with a subset of images corresponding to the automatic identification result. The system uses Gabor surface features in automated identification and yielded an overall classification success rate of 87% to the species level by Independent Multi-part Image Automatic Identification Test. The system is useful for users with or without specific expertise on Tephritidae in the task of rapid and effective identification of fruit flies. It makes the application of computer vision technology to fruit fly recognition much closer to production level. © 2016 Society of Chemical Industry. © 2016 Society of Chemical Industry.

Developmental changes in automatic rule-learning mechanisms across early childhood.

PubMed

Mueller, Jutta L; Friederici, Angela D; Männel, Claudia

2018-06-27

Infants' ability to learn complex linguistic regularities from early on has been revealed by electrophysiological studies indicating that 3-month-olds, but not adults, can automatically detect non-adjacent dependencies between syllables. While different ERP responses in adults and infants suggest that both linguistic rule learning and its link to basic auditory processing undergo developmental changes, systematic investigations of the developmental trajectories are scarce. In the present study, we assessed 2- and 4-year-olds' ERP indicators of pitch discrimination and linguistic rule learning in a syllable-based oddball design. To test for the relation between auditory discrimination and rule learning, ERP responses to pitch changes were used as predictor for potential linguistic rule-learning effects. Results revealed that 2-year-olds, but not 4-year-olds, showed ERP markers of rule learning. Although, 2-year-olds' rule learning was not dependent on differences in pitch perception, 4-year-old children demonstrated a dependency, such that those children who showed more pronounced responses to pitch changes still showed an effect of rule learning. These results narrow down the developmental decline of the ability for automatic linguistic rule learning to the age between 2 and 4 years, and, moreover, point towards a strong modification of this change by auditory processes. At an age when the ability of automatic linguistic rule learning phases out, rule learning can still be observed in children with enhanced auditory responses. The observed interrelations are plausible causes for age-of-acquisition effects and inter-individual differences in language learning. © 2018 John Wiley & Sons Ltd.

A model-based approach for automated in vitro cell tracking and chemotaxis analyses.

PubMed

Debeir, Olivier; Camby, Isabelle; Kiss, Robert; Van Ham, Philippe; Decaestecker, Christine

2004-07-01

Chemotaxis may be studied in two main ways: 1) counting cells passing through an insert (e.g., using Boyden chambers), and 2) directly observing cell cultures (e.g., using Dunn chambers), both in response to stationary concentration gradients. This article promotes the use of Dunn chambers and in vitro cell-tracking, achieved by video microscopy coupled with automatic image analysis software, in order to extract quantitative and qualitative measurements characterizing the response of cells to a diffusible chemical agent. Previously, we set up a videomicroscopy system coupled with image analysis software that was able to compute cell trajectories from in vitro cell cultures. In the present study, we are introducing a new software increasing the application field of this system to chemotaxis studies. This software is based on an adapted version of the active contour methodology, enabling each cell to be efficiently tracked for hours and resulting in detailed descriptions of individual cell trajectories. The major advantages of this method come from an improved robustness with respect to variability in cell morphologies between different cell lines and dynamical changes in cell shape during cell migration. Moreover, the software includes a very small number of parameters which do not require overly sensitive tuning. Finally, the running time of the software is very short, allowing improved possibilities in acquisition frequency and, consequently, improved descriptions of complex cell trajectories, i.e. trajectories including cell division and cell crossing. We validated this software on several artificial and real cell culture experiments in Dunn chambers also including comparisons with manual (human-controlled) analyses. We developed new software and data analysis tools for automated cell tracking which enable cell chemotaxis to be efficiently analyzed. Copyright 2004 Wiley-Liss, Inc.

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Control Allocation with Load Balancing

NASA Technical Reports Server (NTRS)

Bodson, Marc; Frost, Susan A.

2009-01-01

Next generation aircraft with a large number of actuators will require advanced control allocation methods to compute the actuator commands needed to follow desired trajectories while respecting system constraints. Previously, algorithms were proposed to minimize the l1 or l2 norms of the tracking error and of the actuator deflections. The paper discusses the alternative choice of the l(infinity) norm, or sup norm. Minimization of the control effort translates into the minimization of the maximum actuator deflection (min-max optimization). The paper shows how the problem can be solved effectively by converting it into a linear program and solving it using a simplex algorithm. Properties of the algorithm are also investigated through examples. In particular, the min-max criterion results in a type of load balancing, where the load is th desired command and the algorithm balances this load among various actuators. The solution using the l(infinity) norm also results in better robustness to failures and to lower sensitivity to nonlinearities in illustrative examples.

The financial status of Medicare.

PubMed

Foster, R S

1998-01-01

Medicare is the largest health care program in the country, providing medical care to 38 million aged and disabled Americans. Concerns over rapid cost increases and the imminent insolvency of the Medicare Hospital Insurance trust fund led to enactment of sweeping Medicare legislation as part of the Balanced Budget Act of 1997. Preliminary estimates indicate that this legislation will result in program savings of $150 billion in the first five years and will postpone the depletion of the Hospital Insurance fund from the year 2001 until about 2010. While the Balanced Budget Act significantly reduces Hospital Insurance expenditure in the long range, serious deficits are still expected when the "baby boom" generation reaches retirement. The Medicare Supplementary Medical Insurance trust fund is automatically in financial balance, but policy makers remain concerned about continuing rapid cost increases. A new National Bipartisan Commission on the Future of Medicare will attempt to determine effective solutions to these long-range problems.

The Federal Nursing Services Award. Enlisted women with breast cancer: balancing demands and expectations.

PubMed

Wilmoth, Margaret Chamberlain

2003-07-01

Diagnosis with breast cancer is not an automatic cause for discharge from the military. Therefore, it is important to know how this disease impacts enlisted women in the military. This study describes how enlisted women manage diagnosis and treatment within the context of their military careers. Grounded theory guided the study methodology. Audiotaped semistructured interviews were conducted three times over 9 months to learn how treatment impacted work demands. Data saturation was attained after 46 interviews were conducted. Participants had to balance demands and expectations among the Military Career and Military Medical Subsystems and their Social Support Subsystem. Support from the chain of command was critical in women's ability to balance demands and expectations of career, family, and illness. Military nurses are in a unique position to create strategies that will assist enlisted women in coping with breast cancer.

Portable Parallel Programming for the Dynamic Load Balancing of Unstructured Grid Applications

NASA Technical Reports Server (NTRS)

Biswas, Rupak; Das, Sajal K.; Harvey, Daniel; Oliker, Leonid

1999-01-01

The ability to dynamically adapt an unstructured -rid (or mesh) is a powerful tool for solving computational problems with evolving physical features; however, an efficient parallel implementation is rather difficult, particularly from the view point of portability on various multiprocessor platforms We address this problem by developing PLUM, tin automatic anti architecture-independent framework for adaptive numerical computations in a message-passing environment. Portability is demonstrated by comparing performance on an SP2, an Origin2000, and a T3E, without any code modifications. We also present a general-purpose load balancer that utilizes symmetric broadcast networks (SBN) as the underlying communication pattern, with a goal to providing a global view of system loads across processors. Experiments on, an SP2 and an Origin2000 demonstrate the portability of our approach which achieves superb load balance at the cost of minimal extra overhead.

A study to evaluate STS heads-up ascent trajectory performance employing a minimum-Hamiltonian optimization strategy

NASA Technical Reports Server (NTRS)

Sinha, Sujit

1988-01-01

A study was conducted to evaluate the performance implications of a heads-up ascent flight design for the Space Transportation System, as compared to the current heads-down flight mode. The procedure involved the use of the Minimum Hamiltonian Ascent Shuttle Trajectory Evaluation Program, which is a three-degree-of-freedom moment balance simulation of shuttle ascent. A minimum-Hamiltonian optimization strategy was employed to maximize injection weight as a function of maximum dynamic pressure constraint and Solid Rocket Motor burnrate. Performance Reference Mission Four trajectory groundrules were used for consistency. The major conclusions are that for heads-up ascent and a mission nominal design maximum dynamic pressure value of 680 psf, the optimum solid motor burnrate is 0.394 ips, which produces a performance enhancement of 4293 lbm relative to the baseline heads-down ascent, with 0.368 ips burnrate solid motors and a 680 psf dynamic pressure constraint. However, no performance advantage exists for heads-up flight if the current Solid Rocket Motor target burnrate of 0.368 ips is used. The advantage of heads-up ascent flight employing the current burnrate is that Space Shuttle Main Engine throttling for dynamic pressure control is not necessary.

Knowing when to assist: developmental issues in lifelong assistive robotics.

PubMed

Demiris, Yiannis

2009-01-01

Children and adults with sensorimotor disabilities can significantly increase their autonomy through the use of assistive robots. As the field progresses from short-term, task-specific solutions to long-term, adaptive ones, new challenges are emerging. In this paper a lifelong methodological approach is presented, that attempts to balance the immediate context-specific needs of the user, with the long-term effects that the robot's assistance can potentially have on the user's developmental trajectory.

Localizing people in crosswalks with a moving handheld camera: proof of concept

NASA Astrophysics Data System (ADS)

Lalonde, Marc; Chapdelaine, Claude; Foucher, Samuel

2015-02-01

Although people or object tracking in uncontrolled environments has been acknowledged in the literature, the accurate localization of a subject with respect to a reference ground plane remains a major issue. This study describes an early prototype for the tracking and localization of pedestrians with a handheld camera. One application envisioned here is to analyze the trajectories of blind people going across long crosswalks when following different audio signals as a guide. This kind of study is generally conducted manually with an observer following a subject and logging his/her current position at regular time intervals with respect to a white grid painted on the ground. This study aims at automating the manual logging activity: with a marker attached to the subject's foot, a video of the crossing is recorded by a person following the subject, and a semi-automatic tool analyzes the video and estimates the trajectory of the marker with respect to the painted markings. Challenges include robustness to variations to lighting conditions (shadows, etc.), occlusions, and changes in camera viewpoint. Results are promising when compared to GNSS measurements.

Configuring the HYSPLIT Model for National Weather Service Forecast Office and Spaceflight Meteorology Group Applications

NASA Technical Reports Server (NTRS)

Dreher, Joseph G.

2009-01-01

For expedience in delivering dispersion guidance in the diversity of operational situations, National Weather Service Melbourne (MLB) and Spaceflight Meteorology Group (SMG) are becoming increasingly reliant on the PC-based version of the HYSPLIT model run through a graphical user interface (GUI). While the GUI offers unique advantages when compared to traditional methods, it is difficult for forecasters to run and manage in an operational environment. To alleviate the difficulty in providing scheduled real-time trajectory and concentration guidance, the Applied Meteorology Unit (AMU) configured a Linux version of the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) (HYSPLIT) model that ingests the National Centers for Environmental Prediction (NCEP) guidance, such as the North American Mesoscale (NAM) and the Rapid Update Cycle (RUC) models. The AMU configured the HYSPLIT system to automatically download the NCEP model products, convert the meteorological grids into HYSPLIT binary format, run the model from several pre-selected latitude/longitude sites, and post-process the data to create output graphics. In addition, the AMU configured several software programs to convert local Weather Research and Forecast (WRF) model output into HYSPLIT format.

Analysis of the Waggle Dance Motion of Honeybees for the Design of a Biomimetic Honeybee Robot

PubMed Central

Landgraf, Tim; Rojas, Raúl; Nguyen, Hai; Kriegel, Fabian; Stettin, Katja

2011-01-01

The honeybee dance “language” is one of the most popular examples of information transfer in the animal world. Today, more than 60 years after its discovery it still remains unknown how follower bees decode the information contained in the dance. In order to build a robotic honeybee that allows a deeper investigation of the communication process we have recorded hundreds of videos of waggle dances. In this paper we analyze the statistics of visually captured high-precision dance trajectories of European honeybees (Apis mellifera carnica). The trajectories were produced using a novel automatic tracking system and represent the most detailed honeybee dance motion information available. Although honeybee dances seem very variable, some properties turned out to be invariant. We use these properties as a minimal set of parameters that enables us to model the honeybee dance motion. We provide a detailed statistical description of various dance properties that have not been characterized before and discuss the role of particular dance components in the commmunication process. PMID:21857906

Dynamic Forms. Part 2; Application to Aircraft Guidance

NASA Technical Reports Server (NTRS)

Meyer, George; Smith, G. Allan

1997-01-01

The paper describes a method for guiding a dynamic system through a given set of points. The paradigm is a fully automatic aircraft subject to air traffic control (ATC). The ATC provides a sequence of waypoints through which the aircraft trajectory must pass. The waypoints typically specify time, position, and velocity. The guidance problem is to synthesize a system state trajectory that satisfies both the ATC and aircraft constraints. Complications arise because the controlled process is multidimensional, multiaxis, nonlinear, highly coupled, and the state space is not flat. In addition, there is a multitude of operating modes, which may number in the hundreds. Each such mode defines a distinct state space model of the process by specifying the state space coordinatization, the partition of the controls into active controls and configuration controls, and the output map. Furthermore, mode transitions are required to be smooth. The proposed guidance algorithm is based on the inversion of the pure feedback approximation, followed by correction for the effects of zero dynamics. The paper describes the structure and major modules of the algorithm, and the performance is illustrated by several example aircraft maneuvers.

How Evolution May Work Through Curiosity-Driven Developmental Process.

PubMed

Oudeyer, Pierre-Yves; Smith, Linda B

2016-04-01

Infants' own activities create and actively select their learning experiences. Here we review recent models of embodied information seeking and curiosity-driven learning and show that these mechanisms have deep implications for development and evolution. We discuss how these mechanisms yield self-organized epigenesis with emergent ordered behavioral and cognitive developmental stages. We describe a robotic experiment that explored the hypothesis that progress in learning, in and for itself, generates intrinsic rewards: The robot learners probabilistically selected experiences according to their potential for reducing uncertainty. In these experiments, curiosity-driven learning led the robot learner to successively discover object affordances and vocal interaction with its peers. We explain how a learning curriculum adapted to the current constraints of the learning system automatically formed, constraining learning and shaping the developmental trajectory. The observed trajectories in the robot experiment share many properties with those in infant development, including a mixture of regularities and diversities in the developmental patterns. Finally, we argue that such emergent developmental structures can guide and constrain evolution, in particular with regard to the origins of language. Copyright © 2016 Cognitive Science Society, Inc.

Variational Identification of Markovian Transition States

NASA Astrophysics Data System (ADS)

Martini, Linda; Kells, Adam; Covino, Roberto; Hummer, Gerhard; Buchete, Nicolae-Viorel; Rosta, Edina

2017-07-01

We present a method that enables the identification and analysis of conformational Markovian transition states from atomistic or coarse-grained molecular dynamics (MD) trajectories. Our algorithm is presented by using both analytical models and examples from MD simulations of the benchmark system helix-forming peptide Ala5 , and of larger, biomedically important systems: the 15-lipoxygenase-2 enzyme (15-LOX-2), the epidermal growth factor receptor (EGFR) protein, and the Mga2 fungal transcription factor. The analysis of 15-LOX-2 uses data generated exclusively from biased umbrella sampling simulations carried out at the hybrid ab initio density functional theory (DFT) quantum mechanics/molecular mechanics (QM/MM) level of theory. In all cases, our method automatically identifies the corresponding transition states and metastable conformations in a variationally optimal way, with the input of a set of relevant coordinates, by accurately reproducing the intrinsic slowest relaxation rate of each system. Our approach offers a general yet easy-to-implement analysis method that provides unique insight into the molecular mechanism and the rare but crucial (i.e., rate-limiting) transition states occurring along conformational transition paths in complex dynamical systems such as molecular trajectories.

A combined stochastic feedforward and feedback control design methodology with application to autoland design

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1987-01-01

A combined stochastic feedforward and feedback control design methodology was developed. The objective of the feedforward control law is to track the commanded trajectory, whereas the feedback control law tries to maintain the plant state near the desired trajectory in the presence of disturbances and uncertainties about the plant. The feedforward control law design is formulated as a stochastic optimization problem and is embedded into the stochastic output feedback problem where the plant contains unstable and uncontrollable modes. An algorithm to compute the optimal feedforward is developed. In this approach, the use of error integral feedback, dynamic compensation, control rate command structures are an integral part of the methodology. An incremental implementation is recommended. Results on the eigenvalues of the implemented versus designed control laws are presented. The stochastic feedforward/feedback control methodology is used to design a digital automatic landing system for the ATOPS Research Vehicle, a Boeing 737-100 aircraft. The system control modes include localizer and glideslope capture and track, and flare to touchdown. Results of a detailed nonlinear simulation of the digital control laws, actuator systems, and aircraft aerodynamics are presented.

Identification of linearised RMS-voltage dip patterns based on clustering in renewable plants

DOE Office of Scientific and Technical Information (OSTI.GOV)

García-Sánchez, Tania; Gómez-Lázaro, Emilio; Muljadi, Edward

Generation units connected to the grid are currently required to meet low-voltage ride-through (LVRT) requirements. In most developed countries, these requirements also apply to renewable sources, mainly wind power plants and photovoltaic installations connected to the grid. This study proposes an alternative characterisation solution to classify and visualise a large number of collected events in light of current limits and requirements. The authors' approach is based on linearised root-mean-square-(RMS)-voltage trajectories, taking into account LRVT requirements, and a clustering process to identify the most likely pattern trajectories. The proposed solution gives extensive information on an event's severity by providing a simplemore » but complete visualisation of the linearised RMS-voltage patterns. In addition, these patterns are compared to current LVRT requirements to determine similarities or discrepancies. A large number of collected events can then be automatically classified and visualised for comparative purposes. Real disturbances collected from renewable sources in Spain are used to assess the proposed solution. Extensive results and discussions are also included in this study.« less

Influence of the balance of the intertropical front on seasonal variations of the isotopic composition in rainfall at Kisiba Masoko (Rungwe Volcanic Province, SW, Tanzania).

PubMed

Nivet, Fantine; Bergonzini, Laurent; Mathé, Pierre-Etienne; Noret, Aurélie; Monvoisin, Gaël; Majule, Amos; Williamson, David

2018-08-01

Tropical rainfall isotopic composition results from complex processes. The climatological and environmental variability in East Africa increases this complexity. Long rainfall isotope datasets are needed to fill the lack of observations in this region. At Kisiba Masoko, Tanzania, rainfall and rain isotopic composition have been monitored during 6 years. Mean year profiles allow to analyse the seasonal variations. The mean annual rainfall is 2099 mm with a rain-weighted mean composition of -3.2 ‰ for δ 18 O and -11.7 ‰ for δ 2 H. The results are consistent with available data although they present their own specificity. Thus, if the local meteoric water line is δ 2 H = 8.6 δ 18 O + 14.8, two seasonal lines are observed. The seasonality of the isotopic composition in rain and deuterium excess has been compared with precipitating air masses backtracking trajectories to characterize a simple scheme of vapour histories. The three major oceanic sources have two moisture signatures with their own trajectory histories: one originated from the tropical Indian Ocean at the beginning of the rainy season and one from the Austral Ocean at its end. The presented isotopic seasonality depends on the balance of the intertropical front and provides a useful dataset to improve the knowledge about local processes.

High degree-of-freedom dynamic manipulation

NASA Astrophysics Data System (ADS)

Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

2012-06-01

The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

A balance of activity in brain control and reward systems predicts self-regulatory outcomes

PubMed Central

Chen, Pin-Hao A.; Huckins, Jeremy F.; Hofmann, Wilhelm; Kelley, William M.; Heatherton, Todd F.

2017-01-01

Abstract Previous neuroimaging work has shown that increased reward-related activity following exposure to food cues is predictive of self-control failure. The balance model suggests that self-regulation failures result from an imbalance in reward and executive control mechanisms. However, an open question is whether the relative balance of activity in brain systems associated with executive control (vs reward) supports self-regulatory outcomes when people encounter tempting cues in daily life. Sixty-nine chronic dieters, a population known for frequent lapses in self-control, completed a food cue-reactivity task during an fMRI scanning session, followed by a weeklong sampling of daily eating behaviors via ecological momentary assessment. We related participants’ food cue activity in brain systems associated with executive control and reward to real-world eating patterns. Specifically, a balance score representing the amount of activity in brain regions associated with self-regulatory control, relative to automatic reward-related activity, predicted dieters’ control over their eating behavior during the following week. This balance measure may reflect individual self-control capacity and be useful for examining self-regulation success in other domains and populations. PMID:28158874

A balance of activity in brain control and reward systems predicts self-regulatory outcomes.

PubMed

Lopez, Richard B; Chen, Pin-Hao A; Huckins, Jeremy F; Hofmann, Wilhelm; Kelley, William M; Heatherton, Todd F

2017-05-01

Previous neuroimaging work has shown that increased reward-related activity following exposure to food cues is predictive of self-control failure. The balance model suggests that self-regulation failures result from an imbalance in reward and executive control mechanisms. However, an open question is whether the relative balance of activity in brain systems associated with executive control (vs reward) supports self-regulatory outcomes when people encounter tempting cues in daily life. Sixty-nine chronic dieters, a population known for frequent lapses in self-control, completed a food cue-reactivity task during an fMRI scanning session, followed by a weeklong sampling of daily eating behaviors via ecological momentary assessment. We related participants' food cue activity in brain systems associated with executive control and reward to real-world eating patterns. Specifically, a balance score representing the amount of activity in brain regions associated with self-regulatory control, relative to automatic reward-related activity, predicted dieters' control over their eating behavior during the following week. This balance measure may reflect individual self-control capacity and be useful for examining self-regulation success in other domains and populations. © The Author (2017). Published by Oxford University Press.

Parallel processing for nonlinear dynamics simulations of structures including rotating bladed-disk assemblies

NASA Technical Reports Server (NTRS)

Hsieh, Shang-Hsien

1993-01-01

The principal objective of this research is to develop, test, and implement coarse-grained, parallel-processing strategies for nonlinear dynamic simulations of practical structural problems. There are contributions to four main areas: finite element modeling and analysis of rotational dynamics, numerical algorithms for parallel nonlinear solutions, automatic partitioning techniques to effect load-balancing among processors, and an integrated parallel analysis system.

Exploring the Williams syndrome face-processing debate: the importance of building developmental trajectories.

PubMed

Karmiloff-Smith, Annette; Thomas, Michael; Annaz, Dagmara; Humphreys, Kate; Ewing, Sandra; Brace, Nicola; Duuren, Mike; Pike, Graham; Grice, Sarah; Campbell, Ruth

2004-10-01

Face processing in Williams syndrome (WS) has been a topic of heated debate over the past decade. Initial claims about a normally developing ('intact') face-processing module were challenged by data suggesting that individuals with WS used a different balance of cognitive processes from controls, even when their behavioural scores fell within the normal range. Measurement of evoked brain potentials also point to atypical processes. However, two recent studies have claimed that people with WS process faces exactly like normal controls. In this paper, we examine the details of this continuing debate on the basis of three new face-processing experiments. In particular, for two of our experiments we built task-specific full developmental trajectories from childhood to adolescence/adulthood and plotted the WS data on these trajectories. The first experiment used photos of real faces. While it revealed broadly equivalent accuracy across groups, the WS participants were worse at configural processing when faces were upright and less sensitive than controls to face inversion. In Experiment 2, measuring face processing in a storybook context, the face inversion effect emerged clearly in controls but only weakly in the WS developmental trajectory. Unlike the controls, the Benton Face Recognition Test and the Pattern Construction results were not correlated in WS, highlighting the different developmental patterns in the two groups. Again in contrast to the controls, Experiment 3 with schematic faces and non-face stimuli revealed a configural-processing deficit in WS both with respect to their chronological age (CA) and to their level of performance on the Benton. These findings point to both delay and deviance in WS face processing and illustrate how vital it is to build developmental trajectories for each specific task.

Recreational Physical Activity in Postmenopausal Women is Stable Over 8-Years of Follow-Up

PubMed Central

Nguyen, Huong Q.; Herting, Jerald R.; Kohen, Ruth; Perry, Cynthia K; LaCroix, Andrea; Adams-Campbell, Lucile; Beresford, Shirley A.A.; Eaton, Charles; Tinker, Lesley

2016-01-01

Background The Women’s Health Initiative (WHI) provides a unique opportunity to study a large, diverse, and well-characterized cohort of post-menopausal women. The goals of this study were to examine (1) longitudinal trajectories of energy expenditure from recreational physical activity (PA) in MET hr/wk (2) whether women who belong to different recreational PA trajectories engage in different types of PA, and (3) whether baseline socio-demographic, health, psychosocial, and lifestyle characteristics predict membership in these PA trajectories. Methods Women from the WHI Observational Study with baseline PA data (n=92,629) were included in the analyses. Physical activity, measured via self-report six times over eight years, was converted to MET hr/wk for analysis; other baseline variables were also obtained via self-report. Latent growth curve mixture models and latent profile models were used to analyze 8-year longitudinal PA trajectories and cross-sectional PA composition, respectively, across three age strata, 50-59, 60-69, and 70+. Results Women fell into three distinct, stable PA trajectories (highly, moderately, and minimally active) over 8-years of follow-up with nearly 75% of the women classified as minimally active. The majority of women who were at least moderately active engaged in a fairly balanced combination of walking, moderate, and vigorous PA. Socio-demographic characteristics, e.g. income, education, and lifestyle behaviors such as past vigorous PA, smoking, fruit and vegetable intake, were predictive of longitudinal PA class membership, as were some aspects of health status, e.g. body mass index, but not health related quality of life. Conclusions Self-reported recreational PA is largely stable across nearly a decade of follow-up and thus, reliance on one cross-sectional assessment of PA level at baseline is likely sufficient in epidemiological studies. PMID:23006606

Testing the assumption of normality in body sway area calculations during unipedal stance tests with an inertial sensor.

PubMed

Kyoung Jae Kim; Lucarevic, Jennifer; Bennett, Christopher; Gaunaurd, Ignacio; Gailey, Robert; Agrawal, Vibhor

2016-08-01

The quantification of postural sway during the unipedal stance test is one of the essentials of posturography. A shift of center of pressure (CoP) is an indirect measure of postural sway and also a measure of a person's ability to maintain balance. A widely used method in laboratory settings to calculate the sway of body center of mass (CoM) is through an ellipse that encloses 95% of CoP trajectory. The 95% ellipse can be computed under the assumption that the spatial distribution of the CoP points recorded from force platforms is normal. However, to date, this assumption of normality has not been demonstrated for sway measurements recorded from a sacral inertial measurement unit (IMU). This work provides evidence for non-normality of sway trajectories calculated at a sacral IMU with injured subjects as well as healthy subjects.

Regge trajectories and Hagedorn behavior: Hadronic realizations of dynamical dark matter

NASA Astrophysics Data System (ADS)

Dienes, Keith R.; Huang, Fei; Su, Shufang; Thomas, Brooks

2017-11-01

Dynamical Dark Matter (DDM) is an alternative framework for dark-matter physics in which the dark sector comprises a vast ensemble of particle species whose Standard-Model decay widths are balanced against their cosmological abundances. In this talk, we study the properties of a hitherto-unexplored class of DDM ensembles in which the ensemble constituents are the "hadronic" resonances associated with the confining phase of a strongly-coupled dark sector. Such ensembles exhibit masses lying along Regge trajectories and Hagedorn-like densities of states that grow exponentially with mass. We investigate the applicable constraints on such dark-"hadronic" DDM ensembles and find that these constraints permit a broad range of mass and confinement scales for these ensembles. We also find that the distribution of the total present-day abundance across the ensemble is highly correlated with the values of these scales. This talk reports on research originally presented in Ref. [1].

A Study of the Amputee Experience of Viewing Self in the Mirror

PubMed Central

Freysteinson, Wyona; Thomas, Lisa; Sebastian-Deutsch, Amy; Douglas, Denika; Melton, Danielle; Celia, Tania; Reeves, Kristin; Bowyer, Patricia

2017-01-01

Abstract Purpose To describe the trajectory of viewing self in a mirror after an ampu-tation and participants’ perceptions of what health care professionals should know about mirrors. Design Hermeneutic phenomenology Methods Focus groups were conducted to collect the research data. Findings The mirror experience had three key moments: decision, seeing, and consent. The trajectory of viewing self in a mirror had four key themes: mirror shock, mirror anguish, recognizing self, and acceptance: a new normal. Participants’ recommendations for introducing the mirror after an amputation and using a mirror to avoid skin breakdown and infection, and correct gait and balance are described. Conclusions This study provides a unique viewpoint into the world of those who have suffered amputation of a limb. Clinical Relevance Rehabilitation nurses and other health care professionals are encouraged through these participants to consider the effect and value of mirrors when caring for those who have had an amputation. PMID:26879100

The influence of the microscope lamp filament colour temperature on the process of digital images of histological slides acquisition standardization.

PubMed

Korzynska, Anna; Roszkowiak, Lukasz; Pijanowska, Dorota; Kozlowski, Wojciech; Markiewicz, Tomasz

2014-01-01

The aim of this study is to compare the digital images of the tissue biopsy captured with optical microscope using bright field technique under various light conditions. The range of colour's variation in immunohistochemically stained with 3,3'-Diaminobenzidine and Haematoxylin tissue samples is immense and coming from various sources. One of them is inadequate setting of camera's white balance to microscope's light colour temperature. Although this type of error can be easily handled during the stage of image acquisition, it can be eliminated with use of colour adjustment algorithms. The examination of the dependence of colour variation from microscope's light temperature and settings of the camera is done as an introductory research to the process of automatic colour standardization. Six fields of view with empty space among the tissue samples have been selected for analysis. Each field of view has been acquired 225 times with various microscope light temperature and camera white balance settings. The fourteen randomly chosen images have been corrected and compared, with the reference image, by the following methods: Mean Square Error, Structural SIMilarity and visual assessment of viewer. For two types of backgrounds and two types of objects, the statistical image descriptors: range, median, mean and its standard deviation of chromaticity on a and b channels from CIELab colour space, and luminance L, and local colour variability for objects' specific area have been calculated. The results have been averaged for 6 images acquired in the same light conditions and camera settings for each sample. The analysis of the results leads to the following conclusions: (1) the images collected with white balance setting adjusted to light colour temperature clusters in certain area of chromatic space, (2) the process of white balance correction for images collected with white balance camera settings not matched to the light temperature moves image descriptors into proper chromatic space but simultaneously the value of luminance changes. So the process of the image unification in a sense of colour fidelity can be solved in separate introductory stage before the automatic image analysis.

DLA based compressed sensing for high resolution MR microscopy of neuronal tissue.

PubMed

Nguyen, Khieu-Van; Li, Jing-Rebecca; Radecki, Guillaume; Ciobanu, Luisa

2015-10-01

In this work we present the implementation of compressed sensing (CS) on a high field preclinical scanner (17.2 T) using an undersampling trajectory based on the diffusion limited aggregation (DLA) random growth model. When applied to a library of images this approach performs better than the traditional undersampling based on the polynomial probability density function. In addition, we show that the method is applicable to imaging live neuronal tissues, allowing significantly shorter acquisition times while maintaining the image quality necessary for identifying the majority of neurons via an automatic cell segmentation algorithm. Copyright © 2015 Elsevier Inc. All rights reserved.

Full-body gestures and movements recognition: user descriptive and unsupervised learning approaches in GDL classifier

NASA Astrophysics Data System (ADS)

Hachaj, Tomasz; Ogiela, Marek R.

2014-09-01

Gesture Description Language (GDL) is a classifier that enables syntactic description and real time recognition of full-body gestures and movements. Gestures are described in dedicated computer language named Gesture Description Language script (GDLs). In this paper we will introduce new GDLs formalisms that enable recognition of selected classes of movement trajectories. The second novelty is new unsupervised learning method with which it is possible to automatically generate GDLs descriptions. We have initially evaluated both proposed extensions of GDL and we have obtained very promising results. Both the novel methodology and evaluation results will be described in this paper.

Measuring and Modeling the Effects of Alternate Post-Fire Successional Trajectories on Boreal Forest Carbon Dynamics

NASA Astrophysics Data System (ADS)

Loranty, M. M.; Goetz, S. J.; Mack, M. C.; Alexander, H. D.; Beck, P. S.

2011-12-01

High latitude ecosystems are experiencing amplified climate warming, and recent evidence suggests concurrent intensification of fire disturbance regimes. In central Alaskan boreal forests, severe burns consume more of the soil organic layer, resulting in increased establishment of deciduous seedlings and altered post-fire stand composition with increased deciduous dominance. Quantifying differences in ecosystem carbon (C) dynamics between forest successional trajectories in response to burn severity is essential for understanding potential changes in regional or global feedbacks between boreal forests and climate. We used the Biome BioGeochemical Cycling model (Biome-BGC) to quantify differences in C stocks and fluxes associated with alternate post-fire successional trajectories related to fire severity. A version of Biome-BGC that allows alternate competing vegetation types was calibrated against a series of aboveground biomass observations from chronosequences of stands with differing post-fire successional trajectories characterized by the proportion of deciduous biomass. The model was able to reproduce observed patterns of biomass accumulation after fire, with stands dominated by deciduous species sequestering more C at a faster rate than stands dominated by conifers. Modeled C fluxes suggest that stands dominated by deciduous species are a stronger sink of atmospheric C soon after disturbance than coniferous stands. These results agree with the few available C flux observations. We use a historic database in conjunction with a map of deciduous canopy cover to explore the consequences of ongoing and potential future changes in the fire regime on central Alaskan C balance.

Language balance and switching ability in children acquiring English as a second language.

PubMed

Goriot, Claire; Broersma, Mirjam; McQueen, James M; Unsworth, Sharon; van Hout, Roeland

2018-09-01

This study investigated whether relative lexical proficiency in Dutch and English in child second language (L2) learners is related to executive functioning. Participants were Dutch primary school pupils of three different age groups (4-5, 8-9, and 11-12 years) who either were enrolled in an early-English schooling program or were age-matched controls not on that early-English program. Participants performed tasks that measured switching, inhibition, and working memory. Early-English program pupils had greater knowledge of English vocabulary and more balanced Dutch-English lexicons. In both groups, lexical balance, a ratio measure obtained by dividing vocabulary scores in English by those in Dutch, was related to switching but not to inhibition or working memory performance. These results show that for children who are learning an L2 in an instructional setting, and for whom managing two languages is not yet an automatized process, language balance may be more important than L2 proficiency in influencing the relation between childhood bilingualism and switching abilities. Copyright © 2018 Elsevier Inc. All rights reserved.

Automatic recognition of falls in gait-slip training: Harness load cell based criteria.

PubMed

Yang, Feng; Pai, Yi-Chung

2011-08-11

Over-head-harness systems, equipped with load cell sensors, are essential to the participants' safety and to the outcome assessment in perturbation training. The purpose of this study was to first develop an automatic outcome recognition criterion among young adults for gait-slip training and then verify such criterion among older adults. Each of 39 young and 71 older subjects, all protected by safety harness, experienced 8 unannounced, repeated slips, while walking on a 7m walkway. Each trial was monitored with a motion capture system, bilateral ground reaction force (GRF), harness force, and video recording. The fall trials were first unambiguously indentified with careful visual inspection of all video records. The recoveries without balance loss (in which subjects' trailing foot landed anteriorly to the slipping foot) were also first fully recognized from motion and GRF analyses. These analyses then set the gold standard for the outcome recognition with load cell measurements. Logistic regression analyses based on young subjects' data revealed that the peak load cell force was the best predictor of falls (with 100% accuracy) at the threshold of 30% body weight. On the other hand, the peak moving average force of load cell across 1s period, was the best predictor (with 100% accuracy) separating recoveries with backward balance loss (in which the recovery step landed posterior to slipping foot) from harness assistance at the threshold of 4.5% body weight. These threshold values were fully verified using the data from older adults (100% accuracy in recognizing falls). Because of the increasing popularity in the perturbation training coupling with the protective over-head-harness system, this new criterion could have far reaching implications in automatic outcome recognition during the movement therapy. Copyright © 2011 Elsevier Ltd. All rights reserved.

AUTOMATIC RECOGNITION OF FALLS IN GAIT-SLIP: A HARNESS LOAD CELL BASED CRITERION

PubMed Central

Yang, Feng; Pai, Yi-Chung

2012-01-01

Over-head-harness systems, equipped with load cell sensors, are essential to the participants’ safety and to the outcome assessment in perturbation training. The purpose of this study was to first develop an automatic outcome recognition criterion among young adults for gait-slip training and then verify such criterion among older adults. Each of 39 young and 71 older subjects, all protected by safety harness, experienced 8 unannounced, repeated slips, while walking on a 7-m walkway. Each trial was monitored with a motion capture system, bilateral ground reaction force (GRF), harness force and video recording. The fall trials were first unambiguously indentified with careful visual inspection of all video records. The recoveries without balance loss (in which subjects’ trailing foot landed anteriorly to the slipping foot) were also first fully recognized from motion and GRF analyses. These analyses then set the gold standard for the outcome recognition with load cell measurements. Logistic regression analyses based on young subjects’ data revealed that peak load cell force was the best predictor of falls (with 100% accuracy) at the threshold of 30% body weight. On the other hand, the peak moving average force of load cell across 1-s period, was the best predictor (with 100% accuracy) separating recoveries with backward balance loss (in which the recovery step landed posterior to slipping foot) from harness assistance at the threshold of 4.5% body weight. These threshold values were fully verified using the data from older adults (100% accuracy in recognizing falls). Because of the increasing popularity in the perturbation training coupling with the protective over-head-harness system, this new criterion could have far reaching implications in automatic outcome recognition during the movement therapy. PMID:21696744

Is early weight bearing resumption beneficial after total hip replacement?

PubMed

Merle, J; Rougier, P; Belaid, D; Cantalloube, S; Lamotte, D

2009-04-01

Current rehabilitation protocols of patients following total hip replacement recommend weight bearing on the operated extremity as early as possible. This strategy is likely to induce specific consequences on postural balance control; this study seeks to highlight these reactions to early loading. Eight men and six women, ranging in age from 57 to 85 years, volunteered enrolling this study on their arrival at our rehabilitation center. This study assessed their postural behavior using a system composed of two separate force platforms under two loading situations; in the course of these tests they were required to minimize their body sway as much as possible by keeping their eyes open. In the natural uncontrolled situation, the subjects adopted a comfortable body weight distribution. In the imposed (IMP) situation, they had to load their operated extremity more than in regular natural conditions in order to distribute their body weight more evenly. Three successive 32-s trials (sampled at 64 Hz) with intermediate recovery periods of equivalent duration were performed allowing period of rest between each trial. The balance strategies were evaluated through a frequency analysis of the resultant and plantar centers of pressure (CP(Res)) of each foot and of the estimated trajectories of the vertical projection of the center of gravity (CG), and from the difference CP(Res)-CG. No difference was found for the plantar CP trajectories in the situation where body weight is spontaneously distributed, whereas loading the implanted extremity induced increased CP(Res), CG, and CP(Res)-CG trajectory amplitudes along the mediolateral axis. No effect was observed along the anteroposterior axis. Finally, when comparing the two limbs for each testing condition, the statistical analysis demonstrated greater displacements along the ML axis for the trajectories measured under the healthy leg than under the implanted extremity. Loading the operated extremity early in the rehabilitation process leads to less stability (an increase in the CG movements) and to increased energy expenditure (an increase in the CP(Res)-CG movements). These postural behavior alterations can be explained by various factors including a loss of muscle strength, residual apprehension due to the disuse of this limb, and persistent pain, all of which are increased by limb loading. These features should be taken into consideration when elaborating the rehabilitation protocol for these patients.

Incorporating Ecosystem Processes Controlling Carbon Balance Into Models of Coupled Human-Natural Systems

NASA Astrophysics Data System (ADS)

Currie, W.; Brown, D. G.; Brunner, A.; Fouladbash, L.; Hadzick, Z.; Hutchins, M.; Kiger, S. E.; Makino, Y.; Nassauer, J. I.; Robinson, D. T.; Riolo, R. L.; Sun, S.

2012-12-01

A key element in the study of coupled human-natural systems is the interactions of human populations with vegetation and soils. In human-dominated landscapes, vegetation production and change results from a combination of ecological processes and human decision-making and behavior. Vegetation is often dramatically altered, whether to produce food for humans and livestock, to harvest fiber for construction and other materials, to harvest fuel wood or feedstock for biofuels, or simply for cultural preferences as in the case of residential lawns with sparse trees in the exurban landscape. This alteration of vegetation and its management has a substantial impact on the landscape carbon balance. Models can be used to simulate scenarios in human-natural systems and to examine the integration of processes that determine future trajectories of carbon balance. However, most models of human-natural systems include little integration of the human alteration of vegetation with the ecosystem processes that regulate carbon balance. Here we illustrate a few case studies of pilot-study models that strive for this integration from our research across various types of landscapes. We focus greater detail on a fully developed research model linked to a field study of vegetation and soils in the exurban residential landscape of Southeastern Michigan, USA. The field study characterized vegetation and soil carbon storage in 5 types of ecological zones. Field-observed carbon storage in the vegetation in these zones ranged widely, from 150 g C/m2 in turfgrass zones, to 6,000 g C/m2 in zones defined as turfgrass with sparse woody vegetation, to 16,000 g C/m2 in a zone defined as dense trees and shrubs. Use of these zones facilitated the scaling of carbon pools to the landscape, where the areal mixtures of zone types had a significant impact on landscape C storage. Use of these zones also facilitated the use of the ecosystem process model Biome-BGC to simulate C trajectories and also facilitated our linkage of vegetation management, such as lawn mowing, fertilizer use, and leaf litter removal, to agent-based modeling of human preferences and behaviors.

Non-musicians also have a piano in the head: evidence for spatial-musical associations from line bisection tracking.

PubMed

Hartmann, Matthias

2017-02-01

The spatial representation of ordinal sequences (numbers, time, tones) seems to be a fundamental cognitive property. While an automatic association between horizontal space and pitch height (left-low pitch, right-high pitch) is constantly reported in musicians, the evidence for such an association in non-musicians is mixed. In this study, 20 non-musicians performed a line bisection task while listening to irrelevant high- and low-pitched tones and white noise (control condition). While pitch height had no influence on the final bisection point, participants' movement trajectories showed systematic biases: When approaching the line and touching the line for the first time (initial bisection point), the mouse cursor was directed more rightward for high-pitched tones compared to low-pitched tones and noise. These results show that non-musicians also have a subtle but nevertheless automatic association between pitch height and the horizontal space. This suggests that spatial-musical associations do not necessarily depend on constant sensorimotor experiences (as it is the case for musicians) but rather reflect the seemingly inescapable tendency to represent ordinal information on a horizontal line.

Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hervas, Jaime Rubio; Tang, Hui; Reyhanoglu, Mahmut

2014-12-10

This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative tomore » an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.« less

High-order space charge effects using automatic differentiation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Reusch, M.F.; Bruhwiler, D.L.

1997-02-01

The Northrop Grumman Topkark code has been upgraded to Fortran 90, making use of operator overloading, so the same code can be used to either track an array of particles or construct a Taylor map representation of the accelerator lattice. We review beam optics and beam dynamics simulations conducted with TOPKARK in the past and we present a new method for modeling space charge forces to high-order with automatic differentiation. This method generates an accurate, high-order, 6-D Taylor map of the phase space variable trajectories for a bunched, high-current beam. The spatial distribution is modeled as the product of amore » Taylor Series times a Gaussian. The variables in the argument of the Gaussian are normalized to the respective second moments of the distribution. This form allows for accurate representation of a wide range of realistic distributions, including any asymmetries, and allows for rapid calculation of the space charge fields with free space boundary conditions. An example problem is presented to illustrate our approach. {copyright} {ital 1997 American Institute of Physics.}« less

Automatic cardiac LV segmentation in MRI using modified graph cuts with smoothness and interslice constraints.

PubMed

Albà, Xènia; Figueras I Ventura, Rosa M; Lekadir, Karim; Tobon-Gomez, Catalina; Hoogendoorn, Corné; Frangi, Alejandro F

2014-12-01

Magnetic resonance imaging (MRI), specifically late-enhanced MRI, is the standard clinical imaging protocol to assess cardiac viability. Segmentation of myocardial walls is a prerequisite for this assessment. Automatic and robust multisequence segmentation is required to support processing massive quantities of data. A generic rule-based framework to automatically segment the left ventricle myocardium is presented here. We use intensity information, and include shape and interslice smoothness constraints, providing robustness to subject- and study-specific changes. Our automatic initialization considers the geometrical and appearance properties of the left ventricle, as well as interslice information. The segmentation algorithm uses a decoupled, modified graph cut approach with control points, providing a good balance between flexibility and robustness. The method was evaluated on late-enhanced MRI images from a 20-patient in-house database, and on cine-MRI images from a 15-patient open access database, both using as reference manually delineated contours. Segmentation agreement, measured using the Dice coefficient, was 0.81±0.05 and 0.92±0.04 for late-enhanced MRI and cine-MRI, respectively. The method was also compared favorably to a three-dimensional Active Shape Model approach. The experimental validation with two magnetic resonance sequences demonstrates increased accuracy and versatility. © 2013 Wiley Periodicals, Inc.

Clinical Evidence for the Relationship between Nail Configuration and Mechanical Forces

PubMed Central

Ogawa, Rei

2014-01-01

Summary: Mechanobiology is an emerging field of science that focuses on the way physical forces and changes in cell or tissue mechanics contribute to development, physiology, and disease. As nails are always exposed to physical stimulation, mechanical forces may have a particularly pronounced effect on nail configuration and could be involved in the development of nail deformities. However, the role of mechanobiology in nail configuration and deformities has rarely been assessed. This review describes what is currently understood regarding the effect of mechanical force on nail configuration and deformities. On the basis of these observations, we hypothesize that nails have an automatic curvature function that allows them to adapt to the daily upward mechanical forces. Under normal conditions, the upward daily mechanical force and the automatic curvature force are well balanced. However, an imbalance between these 2 forces may cause nail deformation. For example, pincer nails may be caused by the absence of upward mechanical forces or a genetic propensity increase in the automatic curvature force, whereas koilonychias may occur when the upward mechanical force exceeds the automatic curvature force, thereby causing the nail to curve outward. This hypothesis is a new concept that could aid the development of innovative methods to prevent and treat nail deformities. PMID:25289309

DEPEND - A design environment for prediction and evaluation of system dependability

NASA Technical Reports Server (NTRS)

Goswami, Kumar K.; Iyer, Ravishankar K.

1990-01-01

The development of DEPEND, an integrated simulation environment for the design and dependability analysis of fault-tolerant systems, is described. DEPEND models both hardware and software components at a functional level, and allows automatic failure injection to assess system performance and reliability. It relieves the user of the work needed to inject failures, maintain statistics, and output reports. The automatic failure injection scheme is geared toward evaluating a system under high stress (workload) conditions. The failures that are injected can affect both hardware and software components. To illustrate the capability of the simulator, a distributed system which employs a prediction-based, dynamic load-balancing heuristic is evaluated. Experiments were conducted to determine the impact of failures on system performance and to identify the failures to which the system is especially susceptible.

Evaluation of a Wedge on a Force Balance as a Flow Angle Probe

DTIC Science & Technology

1975-02-01

pitot rake attached to the Captive Trajectory System (CTS), and (3) measurement of flow angles in the same region with a probe attached to the CTS...localized pressures. Although it was the characteristics of supersonic flow which led to this conclusion, and even though the wedge design was based...vary the open area from near zero to 10 percent. Suction through the porous walls is used to maximize flow uniformity and to develop supersonic flow

Motion reconstruction of animal groups: From schooling fish to swarming mosquitoes

NASA Astrophysics Data System (ADS)

Butail, Sachit

The long-term goal of this research is to provide kinematic data for the design and validation of spatial models of collective behavior in animal groups. The specific research objective of this dissertation is to apply methods from nonlinear estimation and computer vision to construct multi-target tracking systems that process multi-view calibrated video to reconstruct the three-dimensional movement of animals in a group. We adapt the tracking systems for the study of two animal species: Danio aequipinnatus, a common species of schooling fish, and Anopheles gambiae, the most important vector of malaria in sub-Saharan Africa. Together these tracking systems span variability in target size on image, density, and movement. For tracking fish, we automatically initialize, predict, and reconstruct shape trajectories of multiple fish through occlusions. For mosquitoes, which appear as faded streaks on in-field footage, we provide methods to extract velocity information from the streaks, adaptively seek missing measurements, and resolve occlusions within a multi-hypothesis framework. In each case the research has yielded an unprecedented volume of trajectory data for subsequent analysis. We present kinematic data of fast-start response in fish schools and first-ever trajectories of wild mosquito swarming and mating events. The broader impact of this work is to advance the understanding of animal groups for the design of bio-inspired robotic systems, where, similar to the animal groups we study, the collective is able to perform tasks far beyond the capabilities of a single inexpensive robot.

Three-dimensional/two-dimensional multiplanar stereotactic planning system: hardware and software configuration

NASA Astrophysics Data System (ADS)

Zamorano, Lucia J.; Dujovny, Manuel; Ausman, James I.

1990-01-01

"Real time" surgical treatment planning utilizing multimodality imaging (CT, MRI, DA) has been developed to provide the neurosurgeon with 2D multiplanar and 3D views of a patient's lesion for stereotactic planning. Both diagnostic and therapeutic stereotactic procedures have been implemented utilizing workstation (SUN 1/10) and specially developed software and hardware (developed in collaboration with TOMO Medical Imaging Technology, Southfield, MI). This provides complete 3D and 2D free-tilt views as part of the system instrumentation. The 2D Multiplanar includes reformatted sagittal, coronal, paraaxial and free tilt oblique vectors at any arbitrary plane of the patient's lesion. The 3D includes features for extracting a view of the target volume localized by a process including steps of automatic segmentation, thresholding, and/or boundary detection with 3D display of the volumes of interest. The system also includes the capability of interactive playback of reconstructed 3D movies, which can be viewed at any hospital network having compatible software on strategical locations or at remote sites through data transmission and record documentation by image printers. Both 2D and 3D menus include real time stereotactic coordinate measurements and trajectory definition capabilities as well as statistical functions for computing distances, angles, areas, and volumes. A combined interactive 3D-2D multiplanar menu allows simultaneous display of selected trajectory, final optimization, and multiformat 2D display of free-tilt reformatted images perpendicular to selected trajectory of the entire target volume.

Application of a Two Camera Video Imaging System to Three-Dimensional Vortex Tracking in the 80- by 120-Foot Wind Tunnel

NASA Technical Reports Server (NTRS)

Meyn, Larry A.; Bennett, Mark S.

1993-01-01

A description is presented of two enhancements for a two-camera, video imaging system that increase the accuracy and efficiency of the system when applied to the determination of three-dimensional locations of points along a continuous line. These enhancements increase the utility of the system when extracting quantitative data from surface and off-body flow visualizations. The first enhancement utilizes epipolar geometry to resolve the stereo "correspondence" problem. This is the problem of determining, unambiguously, corresponding points in the stereo images of objects that do not have visible reference points. The second enhancement, is a method to automatically identify and trace the core of a vortex in a digital image. This is accomplished by means of an adaptive template matching algorithm. The system was used to determine the trajectory of a vortex generated by the Leading-Edge eXtension (LEX) of a full-scale F/A-18 aircraft tested in the NASA Ames 80- by 120-Foot Wind Tunnel. The system accuracy for resolving the vortex trajectories is estimated to be +/-2 inches over distance of 60 feet. Stereo images of some of the vortex trajectories are presented. The system was also used to determine the point where the LEX vortex "bursts". The vortex burst point locations are compared with those measured in small-scale tests and in flight and found to be in good agreement.

Rapid Calculation of Spacecraft Trajectories Using Efficient Taylor Series Integration

NASA Technical Reports Server (NTRS)

Scott, James R.; Martini, Michael C.

2011-01-01

A variable-order, variable-step Taylor series integration algorithm was implemented in NASA Glenn's SNAP (Spacecraft N-body Analysis Program) code. SNAP is a high-fidelity trajectory propagation program that can propagate the trajectory of a spacecraft about virtually any body in the solar system. The Taylor series algorithm's very high order accuracy and excellent stability properties lead to large reductions in computer time relative to the code's existing 8th order Runge-Kutta scheme. Head-to-head comparison on near-Earth, lunar, Mars, and Europa missions showed that Taylor series integration is 15.8 times faster than Runge- Kutta on average, and is more accurate. These speedups were obtained for calculations involving central body, other body, thrust, and drag forces. Similar speedups have been obtained for calculations that include J2 spherical harmonic for central body gravitation. The algorithm includes a step size selection method that directly calculates the step size and never requires a repeat step. High-order Taylor series integration algorithms have been shown to provide major reductions in computer time over conventional integration methods in numerous scientific applications. The objective here was to directly implement Taylor series integration in an existing trajectory analysis code and demonstrate that large reductions in computer time (order of magnitude) could be achieved while simultaneously maintaining high accuracy. This software greatly accelerates the calculation of spacecraft trajectories. At each time level, the spacecraft position, velocity, and mass are expanded in a high-order Taylor series whose coefficients are obtained through efficient differentiation arithmetic. This makes it possible to take very large time steps at minimal cost, resulting in large savings in computer time. The Taylor series algorithm is implemented primarily through three subroutines: (1) a driver routine that automatically introduces auxiliary variables and sets up initial conditions and integrates; (2) a routine that calculates system reduced derivatives using recurrence relations for quotients and products; and (3) a routine that determines the step size and sums the series. The order of accuracy used in a trajectory calculation is arbitrary and can be set by the user. The algorithm directly calculates the motion of other planetary bodies and does not require ephemeris files (except to start the calculation). The code also runs with Taylor series and Runge-Kutta used interchangeably for different phases of a mission.

Design and evaluation of controls for drift, video gain, and color balance in spaceborne facsimile cameras

NASA Technical Reports Server (NTRS)

Katzberg, S. J.; Kelly, W. L., IV; Rowland, C. W.; Burcher, E. E.

1973-01-01

The facsimile camera is an optical-mechanical scanning device which has become an attractive candidate as an imaging system for planetary landers and rovers. This paper presents electronic techniques which permit the acquisition and reconstruction of high quality images with this device, even under varying lighting conditions. These techniques include a control for low frequency noise and drift, an automatic gain control, a pulse-duration light modulation scheme, and a relative spectral gain control. Taken together, these techniques allow the reconstruction of radiometrically accurate and properly balanced color images from facsimile camera video data. These techniques have been incorporated into a facsimile camera and reproduction system, and experimental results are presented for each technique and for the complete system.

Novel method for fabrication of monolithic multi-cavity molds and wafer optics

NASA Astrophysics Data System (ADS)

Wielandts, Marc; Wielandts, Remi

2015-10-01

One lens at a time on axis diamond turning or grinding of lens arrays with a large number of lenses is conventionally impractical because of the difficulties to shift and balance the substrate for each lens position. A novel method for automatic indexing was developed. This method uses an innovative mechatronics tooling (patent pending) that allows dynamic indexing at constant work spindle speed for maximum productivity and thermal stability of the work spindle while the balancing condition is maintained. In this paper we shall compare the machining capabilities of this method to free-form machining techniques, discuss about the main issues, present the concept and design of the working prototype and specific test bed, and present the results of the first cutting tests.

Energy balance and mass conservation in reduced order models of fluid flows

NASA Astrophysics Data System (ADS)

Mohebujjaman, Muhammad; Rebholz, Leo G.; Xie, Xuping; Iliescu, Traian

2017-10-01

In this paper, we investigate theoretically and computationally the conservation properties of reduced order models (ROMs) for fluid flows. Specifically, we investigate whether the ROMs satisfy the same (or similar) energy balance and mass conservation as those satisfied by the Navier-Stokes equations. All of our theoretical findings are illustrated and tested in numerical simulations of a 2D flow past a circular cylinder at a Reynolds number Re = 100. First, we investigate the ROM energy balance. We show that using the snapshot average for the centering trajectory (which is a popular treatment of nonhomogeneous boundary conditions in ROMs) yields an incorrect energy balance. Then, we propose a new approach, in which we replace the snapshot average with the Stokes extension. Theoretically, the Stokes extension produces an accurate energy balance. Numerically, the Stokes extension yields more accurate results than the standard snapshot average, especially for longer time intervals. Our second contribution centers around ROM mass conservation. We consider ROMs created using two types of finite elements: the standard Taylor-Hood (TH) element, which satisfies the mass conservation weakly, and the Scott-Vogelius (SV) element, which satisfies the mass conservation pointwise. Theoretically, the error estimates for the SV-ROM are sharper than those for the TH-ROM. Numerically, the SV-ROM yields significantly more accurate results, especially for coarser meshes and longer time intervals.

Automatic coronary artery segmentation based on multi-domains remapping and quantile regression in angiographies.

PubMed

Li, Zhixun; Zhang, Yingtao; Gong, Huiling; Li, Weimin; Tang, Xianglong

2016-12-01

Coronary artery disease has become the most dangerous diseases to human life. And coronary artery segmentation is the basis of computer aided diagnosis and analysis. Existing segmentation methods are difficult to handle the complex vascular texture due to the projective nature in conventional coronary angiography. Due to large amount of data and complex vascular shapes, any manual annotation has become increasingly unrealistic. A fully automatic segmentation method is necessary in clinic practice. In this work, we study a method based on reliable boundaries via multi-domains remapping and robust discrepancy correction via distance balance and quantile regression for automatic coronary artery segmentation of angiography images. The proposed method can not only segment overlapping vascular structures robustly, but also achieve good performance in low contrast regions. The effectiveness of our approach is demonstrated on a variety of coronary blood vessels compared with the existing methods. The overall segmentation performances si, fnvf, fvpf and tpvf were 95.135%, 3.733%, 6.113%, 96.268%, respectively. Copyright © 2016 Elsevier Ltd. All rights reserved.

A quality assessment of 3D video analysis for full scale rockfall experiments

NASA Astrophysics Data System (ADS)

Volkwein, A.; Glover, J.; Bourrier, F.; Gerber, W.

2012-04-01

Main goal of full scale rockfall experiments is to retrieve a 3D trajectory of a boulder along the slope. Such trajectories then can be used to calibrate rockfall simulation models. This contribution presents the application of video analysis techniques capturing rock fall velocity of some free fall full scale rockfall experiments along a rock face with an inclination of about 50 degrees. Different scaling methodologies have been evaluated. They mainly differ in the way the scaling factors between the movie frames and the reality and are determined. For this purpose some scale bars and targets with known dimensions have been distributed in advance along the slope. The single scaling approaches are briefly described as follows: (i) Image raster is scaled to the distant fixed scale bar then recalibrated to the plane of the passing rock boulder by taking the measured position of the nearest impact as the distance to the camera. The distance between the camera, scale bar, and passing boulder are surveyed. (ii) The image raster was scaled using the four nearest targets (identified using frontal video) from the trajectory to be analyzed. The average of the scaling factors was finally taken as scaling factor. (iii) The image raster was scaled using the four nearest targets from the trajectory to be analyzed. The scaling factor for one trajectory was calculated by balancing the mean scaling factors associated with the two nearest and the two farthest targets in relation to their mean distance to the analyzed trajectory. (iv) Same as previous method but with varying scaling factors during along the trajectory. It has shown that a direct measure of the scaling target and nearest impact zone is the most accurate. If constant plane is assumed it doesn't account for the lateral deviations of the rock boulder from the fall line consequently adding error into the analysis. Thus a combination of scaling methods (i) and (iv) are considered to give the best results. For best results regarding the lateral rough positioning along the slope, the frontal video must also be scaled. The error in scaling the video images can be evaluated by comparing the data by additional combination of the vertical trajectory component over time with the theoretical polynomial trend according to gravity. The different tracking techniques used to plot the position of the boulder's center of gravity all generated positional data with minimal error acceptable for trajectory analysis. However, when calculating instantaneous velocities an amplification of this error becomes un acceptable. A regression analysis of the data is helpful to optimize trajectory and velocity, respectively.

Communication: Note on detailed balance in symmetrical quasi-classical models for electronically non-adiabatic dynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Miller, William H., E-mail: millerwh@berkeley.edu; Cotton, Stephen J., E-mail: StephenJCotton47@gmail.com

2015-04-07

It is noted that the recently developed symmetrical quasi-classical (SQC) treatment of the Meyer-Miller (MM) model for the simulation of electronically non-adiabatic dynamics provides a good description of detailed balance, even though the dynamics which results from the classical MM Hamiltonian is “Ehrenfest dynamics” (i.e., the force on the nuclei is an instantaneous coherent average over all electronic states). This is seen to be a consequence of the SQC windowing methodology for “processing” the results of the trajectory calculation. For a particularly simple model discussed here, this is shown to be true regardless of the choice of windowing function employedmore » in the SQC model, and for a more realistic full classical molecular dynamics simulation, it is seen to be maintained correctly for very long time.« less

Light touch leads to increased stability in quiet and perturbed balance: Equivalent effects between post-stroke and healthy older individuals.

PubMed

Martinelli, Alessandra Rezende; Coelho, Daniel Boari; Teixeira, Luis Augusto

2018-04-01

Cerebral damage provoked by stroke may lead to deficits of quiet balance control and of the recovery of body equilibrium following an unanticipated postural perturbation. In this investigation we aimed to evaluate the effect of light touch (LT) of an earth-fixed surface on balance stability in individuals with post-stroke hemiparesis, taking performance of age-matched healthy participants as reference. Evaluations were made in conditions of full and no visual information. Analysis of quiet balance showed that LT induced higher balance stability, with reduced amplitude and velocity of postural sway. Evaluation of the effect of LT on automatic postural responses was made in the task of recovering body equilibrium following a mechanical perturbation of balance leading to fast forward body sway. Results showed that LT led to reduced amplitude of center of mass displacement following the perturbation, in addition to reduced amplitude and velocity of center of pressure under the feet, and lower activation of the lower legs muscles. Those effects of LT were observed in both the post-stroke and control groups, and did not interact with vision availability. Our results indicated then that individuals who suffered a cerebral stroke can stabilize perturbed and non-perturbed postural responses by lightly touching a stable surface to a similar extent of healthy older individuals. Copyright © 2018 Elsevier B.V. All rights reserved.

Predicting Recovery Patterns After Sport-Related Concussion

PubMed Central

Teel, Elizabeth F.; Marshall, Stephen W.; Shankar, Viswanathan; McCrea, Michael; Guskiewicz, Kevin M.

2017-01-01

Context: Clinicians sometimes treat concussed individuals who have amnesia, loss of consciousness (LOC), a concussion history, or certain symptom types more conservatively, but it is unclear whether recovery patterns differ in individuals with these characteristics. Objective: To determine whether (1) amnesia, LOC, and concussion history influence the acute recovery of symptoms, cognition, and balance; and (2) cognition and balance are influenced by acute symptom type. Design: Cohort study. Setting: Seven sports at 26 colleges and 210 high schools. Patients or Other Participants: A total of 8905 collegiate (n = 1392) and high school (n = 7513) athletes. Main Outcome Measure(s): The Graded Symptom Checklist, Standardized Assessment of Concussion, and Balance Error Scoring System were administered to all athletes during the preseason. To allow us to track recovery patterns, athletes diagnosed with a concussion (n = 375) repeated these assessments immediately after the injury, 3 hours postinjury, 1 day postinjury, and at 2, 3, 5, 7, and 90 days after injury. Results: Athletes who experienced amnesia had markedly greater deficits in and a slower recovery trajectory on measures of symptoms, cognition, and balance. Athletes with 2 or more prior concussions demonstrated poorer balance than those with no previous history. Otherwise, LOC and concussion history largely did not affect symptoms, cognition, or balance. Greater deficits in balance scores were observed in athletes with all symptom types. Regardless of these characteristics, most athletes recovered within 7 to 10 days. Conclusions: Athletes who experienced amnesia had more symptoms and greater deficits in cognition and balance. Symptoms and cognitive or balance deficits were not consistently associated with LOC or concussion history. Acute symptoms had a strong influence on balance scores and, to a lesser extent, on cognition. However, we found no evidence to support more cautious return-to-play decisions for athletes with these characteristics, as group recovery occurred within normal timelines. Our study supports current clinical practice: recommending that athletes be withheld from activity until they are asymptomatic, followed by a graduated return-to-play progression. PMID:28387552

Predicting Recovery Patterns After Sport-Related Concussion.

PubMed

Teel, Elizabeth F; Marshall, Stephen W; Shankar, Viswanathan; McCrea, Michael; Guskiewicz, Kevin M

2017-03-01

Clinicians sometimes treat concussed individuals who have amnesia, loss of consciousness (LOC), a concussion history, or certain symptom types more conservatively, but it is unclear whether recovery patterns differ in individuals with these characteristics. To determine whether (1) amnesia, LOC, and concussion history influence the acute recovery of symptoms, cognition, and balance; and (2) cognition and balance are influenced by acute symptom type. Cohort study. Seven sports at 26 colleges and 210 high schools. A total of 8905 collegiate (n = 1392) and high school (n = 7513) athletes. The Graded Symptom Checklist, Standardized Assessment of Concussion, and Balance Error Scoring System were administered to all athletes during the preseason. To allow us to track recovery patterns, athletes diagnosed with a concussion (n = 375) repeated these assessments immediately after the injury, 3 hours postinjury, 1 day postinjury, and at 2, 3, 5, 7, and 90 days after injury. Athletes who experienced amnesia had markedly greater deficits in and a slower recovery trajectory on measures of symptoms, cognition, and balance. Athletes with 2 or more prior concussions demonstrated poorer balance than those with no previous history. Otherwise, LOC and concussion history largely did not affect symptoms, cognition, or balance. Greater deficits in balance scores were observed in athletes with all symptom types. Regardless of these characteristics, most athletes recovered within 7 to 10 days. Athletes who experienced amnesia had more symptoms and greater deficits in cognition and balance. Symptoms and cognitive or balance deficits were not consistently associated with LOC or concussion history. Acute symptoms had a strong influence on balance scores and, to a lesser extent, on cognition. However, we found no evidence to support more cautious return-to-play decisions for athletes with these characteristics, as group recovery occurred within normal timelines. Our study supports current clinical practice: recommending that athletes be withheld from activity until they are asymptomatic, followed by a graduated return-to-play progression.

The Evolution of Different Forms of Sociality: Behavioral Mechanisms and Eco-Evolutionary Feedback

PubMed Central

van der Post, Daniel J.; Verbrugge, Rineke; Hemelrijk, Charlotte K.

2015-01-01

Different forms of sociality have evolved via unique evolutionary trajectories. However, it remains unknown to what extent trajectories of social evolution depend on the specific characteristics of different species. Our approach to studying such trajectories is to use evolutionary case-studies, so that we can investigate how grouping co-evolves with a multitude of individual characteristics. Here we focus on anti-predator vigilance and foraging. We use an individual-based model, where behavioral mechanisms are specified, and costs and benefits are not predefined. We show that evolutionary changes in grouping alter selection pressures on vigilance, and vice versa. This eco-evolutionary feedback generates an evolutionary progression from “leader-follower” societies to “fission-fusion” societies, where cooperative vigilance in groups is maintained via a balance between within- and between-group selection. Group-level selection is generated from an assortment that arises spontaneously when vigilant and non-vigilant foragers have different grouping tendencies. The evolutionary maintenance of small groups, and cooperative vigilance in those groups, is therefore achieved simultaneously. The evolutionary phases, and the transitions between them, depend strongly on behavioral mechanisms. Thus, integrating behavioral mechanisms and eco-evolutionary feedback is critical for understanding what kinds of intermediate stages are involved during the evolution of particular forms of sociality. PMID:25629313

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

PubMed

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-06-15

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

The evolution of different forms of sociality: behavioral mechanisms and eco-evolutionary feedback.

PubMed

van der Post, Daniel J; Verbrugge, Rineke; Hemelrijk, Charlotte K

2015-01-01

Different forms of sociality have evolved via unique evolutionary trajectories. However, it remains unknown to what extent trajectories of social evolution depend on the specific characteristics of different species. Our approach to studying such trajectories is to use evolutionary case-studies, so that we can investigate how grouping co-evolves with a multitude of individual characteristics. Here we focus on anti-predator vigilance and foraging. We use an individual-based model, where behavioral mechanisms are specified, and costs and benefits are not predefined. We show that evolutionary changes in grouping alter selection pressures on vigilance, and vice versa. This eco-evolutionary feedback generates an evolutionary progression from "leader-follower" societies to "fission-fusion" societies, where cooperative vigilance in groups is maintained via a balance between within- and between-group selection. Group-level selection is generated from an assortment that arises spontaneously when vigilant and non-vigilant foragers have different grouping tendencies. The evolutionary maintenance of small groups, and cooperative vigilance in those groups, is therefore achieved simultaneously. The evolutionary phases, and the transitions between them, depend strongly on behavioral mechanisms. Thus, integrating behavioral mechanisms and eco-evolutionary feedback is critical for understanding what kinds of intermediate stages are involved during the evolution of particular forms of sociality.

Bread and Shoulders: Reversing the Downward Spiral, a Qualitative Analyses of the Effects of a Housing First-Type Program in France.

PubMed

Rhenter, Pauline; Moreau, Delphine; Laval, Christian; Mantovani, Jean; Albisson, Amandine; Suderie, Guillaume; Boucekine, Mohamed; Tinland, Aurelie; Loubière, Sandrine; Greacen, Tim; Auquier, Pascal; Girard, Vincent

2018-03-14

This paper is a qualitative analysis of the effects of accompagnement , a support framework, on recovery trajectories of people with long-term homelessness and severe psychiatric disorders during 24 months in a Housing First-type program in France. A comprehensive methodology based on grounded theory was used to construct an interview guide, conduct multiple interviews with 35 Housing First participants sampled for heterogeneity, and produce memos on their trajectories before and after entering the program based on interview information. Thematic analysis of a representative subsample ( n = 13) of memos identified 12 objective factors and 6 subjective factors key to the recovery process. An in-depth re-analysis of the memos generated four recovery themes: (1) the need for secure space favorable to self-reflexivity; (2) a "honeymoon" effect; (3) the importance of even weak social ties; (4) support from and hope among peers. Three challenges to recovery were identified: (1) finding a balance between protection and risk; (2) breaking downward spirals; (3) bifurcating the trajectory. This study provides new insight into the recovery process, understood as a non-linear transformation of an experience-the relationship between objective life conditions and subjective perception of those conditions-which reinforces protective support over risk elements.

Bread and Shoulders: Reversing the Downward Spiral, a Qualitative Analyses of the Effects of a Housing First-Type Program in France

PubMed Central

Rhenter, Pauline; Moreau, Delphine; Laval, Christian; Mantovani, Jean; Albisson, Amandine; Suderie, Guillaume; Boucekine, Mohamed; Tinland, Aurelie; Loubière, Sandrine; Greacen, Tim; Auquier, Pascal; Girard, Vincent

2018-01-01

This paper is a qualitative analysis of the effects of accompagnement, a support framework, on recovery trajectories of people with long-term homelessness and severe psychiatric disorders during 24 months in a Housing First-type program in France. A comprehensive methodology based on grounded theory was used to construct an interview guide, conduct multiple interviews with 35 Housing First participants sampled for heterogeneity, and produce memos on their trajectories before and after entering the program based on interview information. Thematic analysis of a representative subsample (n = 13) of memos identified 12 objective factors and 6 subjective factors key to the recovery process. An in-depth re-analysis of the memos generated four recovery themes: (1) the need for secure space favorable to self-reflexivity; (2) a “honeymoon” effect; (3) the importance of even weak social ties; (4) support from and hope among peers. Three challenges to recovery were identified: (1) finding a balance between protection and risk; (2) breaking downward spirals; (3) bifurcating the trajectory. This study provides new insight into the recovery process, understood as a non-linear transformation of an experience—the relationship between objective life conditions and subjective perception of those conditions—which reinforces protective support over risk elements. PMID:29538346

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology

PubMed Central

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-01-01

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP’s position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice. PMID:28617338

Linear quadratic Gaussian and feedforward controllers for the DSS-13 antenna

NASA Technical Reports Server (NTRS)

Gawronski, W. K.; Racho, C. S.; Mellstrom, J. A.

1994-01-01

The controller development and the tracking performance evaluation for the DSS-13 antenna are presented. A trajectory preprocessor, linear quadratic Gaussian (LQG) controller, feedforward controller, and their combination were designed, built, analyzed, and tested. The antenna exhibits nonlinear behavior when the input to the antenna and/or the derivative of this input exceeds the imposed limits; for slewing and acquisition commands, these limits are typically violated. A trajectory preprocessor was designed to ensure that the antenna behaves linearly, just to prevent nonlinear limit cycling. The estimator model for the LQG controller was identified from the data obtained from the field test. Based on an LQG balanced representation, a reduced-order LQG controller was obtained. The feedforward controller and the combination of the LQG and feedforward controller were also investigated. The performance of the controllers was evaluated with the tracking errors (due to following a trajectory) and the disturbance errors (due to the disturbances acting on the antenna). The LQG controller has good disturbance rejection properties and satisfactory tracking errors. The feedforward controller has small tracking errors but poor disturbance rejection properties. The combined LQG and feedforward controller exhibits small tracking errors as well as good disturbance rejection properties. However, the cost for this performance is the complexity of the controller.

Line mixing effects in isotropic Raman spectra of pure N{sub 2}: A classical trajectory study

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ivanov, Sergey V., E-mail: serg.vict.ivanov@gmail.com; Boulet, Christian; Buzykin, Oleg G.

2014-11-14

Line mixing effects in the Q branch of pure N{sub 2} isotropic Raman scattering are studied at room temperature using a classical trajectory method. It is the first study using an extended modified version of Gordon's classical theory of impact broadening and shift of rovibrational lines. The whole relaxation matrix is calculated using an exact 3D classical trajectory method for binary collisions of rigid N{sub 2} molecules employing the most up-to-date intermolecular potential energy surface (PES). A simple symmetrizing procedure is employed to improve off-diagonal cross-sections to make them obeying exactly the principle of detailed balance. The adequacy of themore » results is confirmed by the sum rule. The comparison is made with available experimental data as well as with benchmark fully quantum close coupling [F. Thibault, C. Boulet, and Q. Ma, J. Chem. Phys. 140, 044303 (2014)] and refined semi-classical Robert-Bonamy [C. Boulet, Q. Ma, and F. Thibault, J. Chem. Phys. 140, 084310 (2014)] results. All calculations (classical, quantum, and semi-classical) were made using the same PES. The agreement between classical and quantum relaxation matrices is excellent, opening the way to the analysis of more complex molecular systems.« less

Gait post-stroke: Pathophysiology and rehabilitation strategies.

PubMed

Beyaert, C; Vasa, R; Frykberg, G E

2015-11-01

We reviewed neural control and biomechanical description of gait in both non-disabled and post-stroke subjects. In addition, we reviewed most of the gait rehabilitation strategies currently in use or in development and observed their principles in relation to recent pathophysiology of post-stroke gait. In both non-disabled and post-stroke subjects, motor control is organized on a task-oriented basis using a common set of a few muscle modules to simultaneously achieve body support, balance control, and forward progression during gait. Hemiparesis following stroke is due to disruption of descending neural pathways, usually with no direct lesion of the brainstem and cerebellar structures involved in motor automatic processes. Post-stroke, improvements of motor activities including standing and locomotion are variable but are typically characterized by a common postural behaviour which involves the unaffected side more for body support and balance control, likely in response to initial muscle weakness of the affected side. Various rehabilitation strategies are regularly used or in development, targeting muscle activity, postural and gait tasks, using more or less high-technology equipment. Reduced walking speed often improves with time and with various rehabilitation strategies, but asymmetric postural behaviour during standing and walking is often reinforced, maintained, or only transitorily decreased. This asymmetric compensatory postural behaviour appears to be robust, driven by support and balance tasks maintaining the predominant use of the unaffected side over the initially impaired affected side. Based on these elements, stroke rehabilitation including affected muscle strengthening and often stretching would first need to correct the postural asymmetric pattern by exploiting postural automatic processes in various particular motor tasks secondarily beneficial to gait. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

Reaching while standing in microgravity: a new postural solution to oversimplify movement control.

PubMed

Casellato, Claudia; Tagliabue, Michele; Pedrocchi, Alessandra; Papaxanthis, Charalambos; Ferrigno, Giancarlo; Pozzo, Thierry

2012-01-01

Many studies showed that both arm movements and postural control are characterized by strong invariants. Besides, when a movement requires simultaneous control of the hand trajectory and balance maintenance, these two movement components are highly coordinated. It is well known that the focal and postural invariants are individually tightly linked to gravity, much less is known about the role of gravity in their coordination. It is not clear whether the effect of gravity on different movement components is such as to keep a strong movement-posture coordination even in different gravitational conditions or whether gravitational information is necessary for maintaining motor synergism. We thus set out to analyze the movements of eleven standing subjects reaching for a target in front of them beyond arm's length in normal conditions and in microgravity. The results showed that subjects quickly adapted to microgravity and were able to successfully accomplish the task. In contrast to the hand trajectory, the postural strategy was strongly affected by microgravity, so to become incompatible with normo-gravity balance constraints. The distinct effects of gravity on the focal and postural components determined a significant decrease in their reciprocal coordination. This finding suggests that movement-posture coupling is affected by gravity, and thus, it does not represent a unique hardwired and invariant mode of control. Additional kinematic and dynamic analyses suggest that the new motor strategy corresponds to a global oversimplification of movement control, fulfilling the mechanical and sensory constraints of the microgravity environment.

Characterization and Early Detection of Balance Deficits in Fragile X Premutation Carriers With and Without Fragile X-Associated Tremor/Ataxia Syndrome (FXTAS).

PubMed

O'Keefe, Joan A; Robertson-Dick, Erin; Dunn, Emily J; Li, Yan; Deng, Youping; Fiutko, Amber N; Berry-Kravis, Elizabeth; Hall, Deborah A

2015-12-01

Fragile X-associated tremor/ataxia syndrome (FXTAS) results from a "premutation" size 55-200 CGG repeat expansion in the fragile X mental retardation 1 (FMR1) gene. Core motor features include cerebellar gait ataxia and kinetic tremor, resulting in progressive mobility disability. There are no published studies characterizing balance deficits in FMR1 premutation carriers with and without FXTAS using a battery of quantitative measures to test the sensory integration underlying postural control, automatic postural reflexes, and dynamic postural stability limits. Computerized dynamic posturography (CDP) and two performance-based balance measures were administered in 44 premutation carriers, 21 with FXTAS and 23 without FXTAS, and 42 healthy controls to compare balance and functional mobility between these groups. Relationships between FMR1 molecular variables, age, and sex and CDP scores were explored. FXTAS subjects demonstrated significantly lower scores on the sensory organization test (with greatest reductions in the vestibular control of balance), longer response latencies to balance perturbations, and reduced stability limits compared to controls. Premutation carriers without FXTAS also demonstrated significantly delayed response latencies and disrupted sensory weighting for balance control. Advancing age, male sex, increased CGG repeat size, and reduced X activation of the normal allele in premutation carrier women predicted balance dysfunction. These postural control deficits in carriers with and without FXTAS implicate dysfunctional cerebellar neural networks and may provide valuable outcome markers for tailored rehabilitative interventions. Our findings suggest that CDP may provide sensitive measures for early detection of postural control impairments in at-risk carriers and better characterize balance dysfunction and progression in FXTAS.

Fighting Proliferation New Concerns for the Nineties,

DTIC Science & Technology

1996-09-01

assuming this dominates the error in measuring material unaccounted for [ MUFI ) and with a material-balance calculation done once a year, the absolute value...defenses, the Soviet economy, and the Salvadoran land-reform program. Dr Blair, who earned a BA in mathematics from the University of Tennessee and a PhD...California, Berkeley; and UCLA. Dr Weiss is the author of numerous technical papers on various aspects of applied mathematics , especially automatic control

Development of the Power Simulation Tool for Energy Balance Analysis of Nanosatellites

NASA Astrophysics Data System (ADS)

Kim, Eun-Jung; Sim, Eun-Sup; Kim, Hae-Dong

2017-09-01

The energy balance in a satellite needs to be designed properly for the satellite to safely operate and carry out successive missions on an orbit. In this study, an analysis program was developed using the MATLABⓇ graphic user interface (GUI) for nanosatellites. This program was used in a simulation to confirm the generated power, consumed power, and battery power in the satellites on the orbit, and its performance was verified with applying different satellite operational modes and units. For data transmission, STKⓇ-MATLABⓇ connectivity was used to send the generated power from STKⓇ to MATLABⓇ automatically. Moreover, this program is general-purpose; therefore, it can be applied to nanosatellites that have missions or shapes that are different from those of the satellites in this study. This power simulation tool could be used not only to calculate the suitable power budget when developing the power systems, but also to analyze the remaining energy balance in the satellites.

The financial status of Medicare.

PubMed Central

Foster, R S

1998-01-01

Medicare is the largest health care program in the country, providing medical care to 38 million aged and disabled Americans. Concerns over rapid cost increases and the imminent insolvency of the Medicare Hospital Insurance trust fund led to enactment of sweeping Medicare legislation as part of the Balanced Budget Act of 1997. Preliminary estimates indicate that this legislation will result in program savings of $150 billion in the first five years and will postpone the depletion of the Hospital Insurance fund from the year 2001 until about 2010. While the Balanced Budget Act significantly reduces Hospital Insurance expenditure in the long range, serious deficits are still expected when the "baby boom" generation reaches retirement. The Medicare Supplementary Medical Insurance trust fund is automatically in financial balance, but policy makers remain concerned about continuing rapid cost increases. A new National Bipartisan Commission on the Future of Medicare will attempt to determine effective solutions to these long-range problems. Images p110-a p111-a p111-b PMID:9719810

Computer vision elastography: speckle adaptive motion estimation for elastography using ultrasound sequences.

PubMed

Revell, James; Mirmehdi, Majid; McNally, Donal

2005-06-01

We present the development and validation of an image based speckle tracking methodology, for determining temporal two-dimensional (2-D) axial and lateral displacement and strain fields from ultrasound video streams. We refine a multiple scale region matching approach incorporating novel solutions to known speckle tracking problems. Key contributions include automatic similarity measure selection to adapt to varying speckle density, quantifying trajectory fields, and spatiotemporal elastograms. Results are validated using tissue mimicking phantoms and in vitro data, before applying them to in vivo musculoskeletal ultrasound sequences. The method presented has the potential to improve clinical knowledge of tendon pathology from carpel tunnel syndrome, inflammation from implants, sport injuries, and many others.

Development and evaluation of a Kalman-filter algorithm for terminal area navigation using sensors of moderate accuracy

NASA Technical Reports Server (NTRS)

Kanning, G.; Cicolani, L. S.; Schmidt, S. F.

1983-01-01

Translational state estimation in terminal area operations, using a set of commonly available position, air data, and acceleration sensors, is described. Kalman filtering is applied to obtain maximum estimation accuracy from the sensors but feasibility in real-time computations requires a variety of approximations and devices aimed at minimizing the required computation time with only negligible loss of accuracy. Accuracy behavior throughout the terminal area, its relation to sensor accuracy, its effect on trajectory tracking errors and control activity in an automatic flight control system, and its adequacy in terms of existing criteria for various terminal area operations are examined. The principal investigative tool is a simulation of the system.

Current Technologies and its Trends of Machine Vision in the Field of Security and Disaster Prevention

NASA Astrophysics Data System (ADS)

Hashimoto, Manabu; Fujino, Yozo

Image sensing technologies are expected as useful and effective way to suppress damages by criminals and disasters in highly safe and relieved society. In this paper, we describe current important subjects, required functions, technical trends, and a couple of real examples of developed system. As for the video surveillance, recognition of human trajectory and human behavior using image processing techniques are introduced with real examples about the violence detection for elevators. In the field of facility monitoring technologies as civil engineering, useful machine vision applications such as automatic detection of concrete cracks on walls of a building or recognition of crowded people on bridge for effective guidance in emergency are shown.

Nonlinear Model Reduction in Power Systems by Balancing of Empirical Controllability and Observability Covariances

DOE Office of Scientific and Technical Information (OSTI.GOV)

Qi, Junjian; Wang, Jianhui; Liu, Hui

Abstract: In this paper, nonlinear model reduction for power systems is performed by the balancing of empirical controllability and observability covariances that are calculated around the operating region. Unlike existing model reduction methods, the external system does not need to be linearized but is directly dealt with as a nonlinear system. A transformation is found to balance the controllability and observability covariances in order to determine which states have the greatest contribution to the input-output behavior. The original system model is then reduced by Galerkin projection based on this transformation. The proposed method is tested and validated on a systemmore » comprised of a 16-machine 68-bus system and an IEEE 50-machine 145-bus system. The results show that by using the proposed model reduction the calculation efficiency can be greatly improved; at the same time, the obtained state trajectories are close to those for directly simulating the whole system or partitioning the system while not performing reduction. Compared with the balanced truncation method based on a linearized model, the proposed nonlinear model reduction method can guarantee higher accuracy and similar calculation efficiency. It is shown that the proposed method is not sensitive to the choice of the matrices for calculating the empirical covariances.« less

Automatic Generation Control Study in Two Area Reheat Thermal Power System

NASA Astrophysics Data System (ADS)

Pritam, Anita; Sahu, Sibakanta; Rout, Sushil Dev; Ganthia, Sibani; Prasad Ganthia, Bibhu

2017-08-01

Due to industrial pollution our living environment destroyed. An electric grid system has may vital equipment like generator, motor, transformers and loads. There is always be an imbalance between sending end and receiving end system which cause system unstable. So this error and fault causing problem should be solved and corrected as soon as possible else it creates faults and system error and fall of efficiency of the whole power system. The main problem developed from this fault is deviation of frequency cause instability to the power system and may cause permanent damage to the system. Therefore this mechanism studied in this paper make the system stable and balance by regulating frequency at both sending and receiving end power system using automatic generation control using various controllers taking a two area reheat thermal power system into account.

Mobile camera-space manipulation

NASA Technical Reports Server (NTRS)

Seelinger, Michael J. (Inventor); Yoder, John-David S. (Inventor); Skaar, Steven B. (Inventor)

2001-01-01

The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object. The system also determines a suitable pose or series of poses for the holonomic degrees of freedom of the manipulator. With additional visual samples, the system automatically updates the trajectory and final pose of the manipulator so as to allow for greater precision in the overall final position of the system.

Pairwise Trajectory Management (PTM): Concept Overview

NASA Technical Reports Server (NTRS)

Jones, Kenneth M.; Graff, Thomas J.; Chartrand, Ryan C.; Carreno, Victor; Kibler, Jennifer L.

2017-01-01

Pairwise Trajectory Management (PTM) is an Interval Management (IM) concept that utilizes airborne and ground-based capabilities to enable the implementation of airborne pairwise spacing capabilities in oceanic regions. The goal of PTM is to use airborne surveillance and tools to manage an "at or greater than" inter-aircraft spacing. Due to the precision of Automatic Dependent Surveillance-Broadcast (ADS-B) information and the use of airborne spacing guidance, the PTM minimum spacing distance will be less than distances a controller can support with current automation systems that support oceanic operations. Ground tools assist the controller in evaluating the traffic picture and determining appropriate PTM clearances to be issued. Avionics systems provide guidance information that allows the flight crew to conform to the PTM clearance issued by the controller. The combination of a reduced minimum distance and airborne spacing management will increase the capacity and efficiency of aircraft operations at a given altitude or volume of airspace. This paper provides an overview of the proposed application, description of a few key scenarios, high level discussion of expected air and ground equipment and procedure changes, overview of a potential flight crew human-machine interface that would support PTM operations and some initial PTM benefits results.

Development of Vision Based Multiview Gait Recognition System with MMUGait Database

PubMed Central

Ng, Hu; Tan, Wooi-Haw; Tong, Hau-Lee

2014-01-01

This paper describes the acquisition setup and development of a new gait database, MMUGait. This database consists of 82 subjects walking under normal condition and 19 subjects walking with 11 covariate factors, which were captured under two views. This paper also proposes a multiview model-based gait recognition system with joint detection approach that performs well under different walking trajectories and covariate factors, which include self-occluded or external occluded silhouettes. In the proposed system, the process begins by enhancing the human silhouette to remove the artifacts. Next, the width and height of the body are obtained. Subsequently, the joint angular trajectories are determined once the body joints are automatically detected. Lastly, crotch height and step-size of the walking subject are determined. The extracted features are smoothened by Gaussian filter to eliminate the effect of outliers. The extracted features are normalized with linear scaling, which is followed by feature selection prior to the classification process. The classification experiments carried out on MMUGait database were benchmarked against the SOTON Small DB from University of Southampton. Results showed correct classification rate above 90% for all the databases. The proposed approach is found to outperform other approaches on SOTON Small DB in most cases. PMID:25143972

[Atmospheric particle formation events in Nanjing during summer 2010].

PubMed

Wang, Hong-Lei; Zhu, Bin; Shen, Li-Juan; Kang, Han-Qing; Diao, Yi-Wei

2012-03-01

Feature of aerosol particle number concentration, condition and impact factor of new particle formation (NPF) were investigated in Nanjing during summer. In this study, aerosol particle number concentration and gaseous pollutants (O3, SO2 and NO2) measurements were carried out by Wide-Range Particle Spectrometer (WPS) and Differential Optical Absorption Spectroscopy (DOAS) in July 2010. Combining with observations from Automatic Weather Station and Backward Trajectory Simulation, the condition and impact factor of NPF were discussed. Results showed that the averaged 10-500 nm particle number concentration was 1.7 x 10(4) cm(-3), similar to some typical observation values in North American and Europe; the 10-25 nm particle number concentration accounted for 25% of the total number concentration. Six NPF events occurred during observation. We analyzed that stable wind speed and direction, strong solar radiation promoted the NPF. The humidity during NPF event varied from 50% to 70%. Results indicated that clean ocean air mass brought from easterly and southerly wind promoted the NPF by Backward Trajectory Model Simulation. During the NPF event, the 10 - 25 nm particle number concentration positively correlated with the concentration of SO2, and negatively correlated with O3, whereas poorly correlated with NO2.

MATtrack: A MATLAB-Based Quantitative Image Analysis Platform for Investigating Real-Time Photo-Converted Fluorescent Signals in Live Cells.

PubMed

Courtney, Jane; Woods, Elena; Scholz, Dimitri; Hall, William W; Gautier, Virginie W

2015-01-01

We introduce here MATtrack, an open source MATLAB-based computational platform developed to process multi-Tiff files produced by a photo-conversion time lapse protocol for live cell fluorescent microscopy. MATtrack automatically performs a series of steps required for image processing, including extraction and import of numerical values from Multi-Tiff files, red/green image classification using gating parameters, noise filtering, background extraction, contrast stretching and temporal smoothing. MATtrack also integrates a series of algorithms for quantitative image analysis enabling the construction of mean and standard deviation images, clustering and classification of subcellular regions and injection point approximation. In addition, MATtrack features a simple user interface, which enables monitoring of Fluorescent Signal Intensity in multiple Regions of Interest, over time. The latter encapsulates a region growing method to automatically delineate the contours of Regions of Interest selected by the user, and performs background and regional Average Fluorescence Tracking, and automatic plotting. Finally, MATtrack computes convenient visualization and exploration tools including a migration map, which provides an overview of the protein intracellular trajectories and accumulation areas. In conclusion, MATtrack is an open source MATLAB-based software package tailored to facilitate the analysis and visualization of large data files derived from real-time live cell fluorescent microscopy using photoconvertible proteins. It is flexible, user friendly, compatible with Windows, Mac, and Linux, and a wide range of data acquisition software. MATtrack is freely available for download at eleceng.dit.ie/courtney/MATtrack.zip.

MATtrack: A MATLAB-Based Quantitative Image Analysis Platform for Investigating Real-Time Photo-Converted Fluorescent Signals in Live Cells

PubMed Central

Courtney, Jane; Woods, Elena; Scholz, Dimitri; Hall, William W.; Gautier, Virginie W.

2015-01-01

We introduce here MATtrack, an open source MATLAB-based computational platform developed to process multi-Tiff files produced by a photo-conversion time lapse protocol for live cell fluorescent microscopy. MATtrack automatically performs a series of steps required for image processing, including extraction and import of numerical values from Multi-Tiff files, red/green image classification using gating parameters, noise filtering, background extraction, contrast stretching and temporal smoothing. MATtrack also integrates a series of algorithms for quantitative image analysis enabling the construction of mean and standard deviation images, clustering and classification of subcellular regions and injection point approximation. In addition, MATtrack features a simple user interface, which enables monitoring of Fluorescent Signal Intensity in multiple Regions of Interest, over time. The latter encapsulates a region growing method to automatically delineate the contours of Regions of Interest selected by the user, and performs background and regional Average Fluorescence Tracking, and automatic plotting. Finally, MATtrack computes convenient visualization and exploration tools including a migration map, which provides an overview of the protein intracellular trajectories and accumulation areas. In conclusion, MATtrack is an open source MATLAB-based software package tailored to facilitate the analysis and visualization of large data files derived from real-time live cell fluorescent microscopy using photoconvertible proteins. It is flexible, user friendly, compatible with Windows, Mac, and Linux, and a wide range of data acquisition software. MATtrack is freely available for download at eleceng.dit.ie/courtney/MATtrack.zip. PMID:26485569

Association of 10-year C-reactive protein trajectories with markers of healthy aging: findings from the English Longitudinal Study of Ageing.

PubMed

Lassale, Camille; Batty, G David; Steptoe, Andrew; Cadar, Dorina; Akbaraly, Tasnime N; Kivimäki, Mika; Zaninotto, Paola

2018-02-15

Elevated systematic inflammation is a hallmark of aging, but the association of long-term inflammation trajectories with subsequent aging phenotypes has been little examined. We assessed inflammatory marker C-reactive protein (CRP) repeatedly over time and examined whether long-term changes predicted aging outcomes. A total of 2,437 men and women aged 47-87 years at baseline (1998-2001) who were participants in the English Longitudinal Study of Ageing had CRP measured on two or three occasions between 1998 and 2009. Inflammation trajectories were computed using latent-class growth mixture modelling and were related to aging outcomes measured in 2012/2013: physical functioning, cardiometabolic, respiratory, mental health, and a composite "healthy aging" outcome. Four CRP trajectories were identified: 'stable-low' (71% of the sample) with baseline mean 1.33mg/L remaining <3mg/L; 'medium-to-high' (14%) with baseline 2.7mg/L rising to 5.3mg/L; 'high-to-medium' (10%) with baseline 6.6mg/L decreasing to 2.4mg/L; 'stable-high' (5%) with levels from 5.7 to 7.5mg/L. Relative to the stable-low trajectory, individuals in the medium-to-high had a higher risk of limitations in basic activities of daily living (ADL, Odds Ratio; 95% Confidence Interval: 2.09; 1.51,2.88), instrumental ADL (1.62; 1.15,2.30), impaired balance (1.59; 1.20,2.11) and walking speed (1.61; 1.15,2.24), arthritis (1.55; 1.16,2.06), hypertension (1.57; 1.21,2.04), obesity (1.95; 1.36,2.80), poor respiratory function (1.84; 1.36,2.50), and depression (1.55; 1.13,2.12). A lower odds of healthy aging was observed in people in the medium-to-high (0.57; 0.40,0.79) and stable-high (0.50; 0.27,0.91) trajectories. Older people who displayed an elevation in CRP levels over a decade experienced an increased risk of adverse aging outcomes.

Real-time terminal area trajectory planning for runway independent aircraft

NASA Astrophysics Data System (ADS)

Xue, Min

The increasing demand for commercial air transportation results in delays due to traffic queues that form bottlenecks along final approach and departure corridors. In urban areas, it is often infeasible to build new runways, and regardless of automation upgrades traffic must remain separated to avoid the wakes of previous aircraft. Vertical or short takeoff and landing aircraft as Runway Independent Aircraft (RIA) can increase passenger throughput at major urban airports via the use of vertiports or stub runways. The concept of simultaneous non-interfering (SNI) operations has been proposed to reduce traffic delays by creating approach and departure corridors that do not intersect existing fixed-wing routes. However, SNI trajectories open new routes that may overfly noise-sensitive areas, and RIA may generate more noise than traditional jet aircraft, particularly on approach. In this dissertation, we develop efficient SNI noise abatement procedures applicable to RIA. First, we introduce a methodology based on modified approximated cell-decomposition and Dijkstra's search algorithm to optimize longitudinal plane (2-D) RIA trajectories over a cost function that minimizes noise, time, and fuel use. Then, we extend the trajectory optimization model to 3-D with a k-ary tree as the discrete search space. We incorporate geography information system (GIS) data, specifically population, into our objective function, and focus on a practical case study: the design of SNI RIA approach procedures to Baltimore-Washington International airport. Because solutions were represented as trim state sequences, we incorporated smooth transition between segments to enable more realistic cost estimates. Due to the significant computational complexity, we investigated alternative more efficient optimization techniques applicable to our nonlinear, non-convex, heavily constrained, and discontinuous objective function. Comparing genetic algorithm (GA) and adaptive simulated annealing (ASA) with our original Dijkstra's algorithm, ASA is identified as the most efficient algorithm for terminal area trajectory optimization. The effects of design parameter discretization are analyzed, with results indicating a SNI procedure with 3-4 segments effectively balances simplicity with cost minimization. Finally, pilot control commands were implemented and generated via optimization-base inverse simulation to validate execution of the optimal approach trajectories.

Automatic 2.5-D Facial Landmarking and Emotion Annotation for Social Interaction Assistance.

PubMed

Zhao, Xi; Zou, Jianhua; Li, Huibin; Dellandrea, Emmanuel; Kakadiaris, Ioannis A; Chen, Liming

2016-09-01

People with low vision, Alzheimer's disease, and autism spectrum disorder experience difficulties in perceiving or interpreting facial expression of emotion in their social lives. Though automatic facial expression recognition (FER) methods on 2-D videos have been extensively investigated, their performance was constrained by challenges in head pose and lighting conditions. The shape information in 3-D facial data can reduce or even overcome these challenges. However, high expenses of 3-D cameras prevent their widespread use. Fortunately, 2.5-D facial data from emerging portable RGB-D cameras provide a good balance for this dilemma. In this paper, we propose an automatic emotion annotation solution on 2.5-D facial data collected from RGB-D cameras. The solution consists of a facial landmarking method and a FER method. Specifically, we propose building a deformable partial face model and fit the model to a 2.5-D face for localizing facial landmarks automatically. In FER, a novel action unit (AU) space-based FER method has been proposed. Facial features are extracted using landmarks and further represented as coordinates in the AU space, which are classified into facial expressions. Evaluated on three publicly accessible facial databases, namely EURECOM, FRGC, and Bosphorus databases, the proposed facial landmarking and expression recognition methods have achieved satisfactory results. Possible real-world applications using our algorithms have also been discussed.

Common psychotic symptoms can be explained by the theory of ecological perception.

PubMed

Golembiewski, Jan Alexander

2012-01-01

The symptoms of psychiatric illness are diverse, as are the causes of the conditions that cause them. Yet, regardless of the heterogeneity of cause and presentation, a great deal of symptoms can be explained by the failure of a single perceptual function--the reprocessing of ecological perception. It is a central tenet of the ecological theory of perception that we perceive opportunities to act. It has also been found that perception automatically causes actions and thoughts to occur unless this primary action pathway is inhibited. Inhibition allows perceptions to be reprocessed into more appropriate alternative actions and thoughts. Reprocessing of this kind takes place over the entire frontal lobe and it renders action optional. Choice about what action to take (if any) is the basis for the feeling of autonomy and ultimately for the sense-of-self. When thoughts and actions occur automatically (without choice) they appear to originate outside of the self, thereby providing prima facie evidence for some of the bizarre delusions that define schizophrenia such as delusional misidentification, delusions of control and Cotard's delusion. Automatic actions and thoughts are triggered by residual stimulation whenever reprocessing is insufficient to balance automatic excitatory cues (for whatever reason). These may not be noticed if they are neutral and therefore unimportant or where actions and thoughts have a positive bias and are desirable. Responses to negative stimulus, on the other hand, are always unwelcome, because the actions that are triggered will carry the negative bias. Automatic thoughts may include spontaneous positive feelings of love and joy, but automatic negative thoughts and visualisations are experienced as hallucinations. Not only do these feel like they emerge from elsewhere but they carry a negative bias (they are most commonly critical, rude and are irrationally paranoid). Automatic positive actions may include laughter and smiling and these are welcome. Automatic behaviours that carry a negative bias, however, are unwelcome and like hallucinations, occur without a sense of choice. These include crying, stereotypies, perseveration, ataxia, utilization and imitation behaviours and catatonia. Copyright © 2011 Elsevier Ltd. All rights reserved.

Communication: rate coefficients from quasiclassical trajectory calculations from the reverse reaction: The Mu + H2 reaction re-visited.

PubMed

Homayoon, Zahra; Jambrina, Pablo G; Aoiz, F Javier; Bowman, Joel M

2012-07-14

In a previous paper [P. G. Jambrina et al., J. Chem. Phys. 135, 034310 (2011)] various calculations of the rate coefficient for the Mu + H(2) → MuH + H reaction were presented and compared to experiment. The widely used standard quasiclassical trajectory (QCT) method was shown to overestimate the rate coefficients by several orders of magnitude over the temperature range 200-1000 K. This was attributed to a major failure of that method to describe the correct threshold for the reaction owing to the large difference in zero-point energies (ZPE) of the reactant H(2) and product MuH (∼0.32 eV). In this Communication we show that by performing standard QCT calculations for the reverse reaction and then applying detailed balance, the resulting rate coefficient is in very good agreement with the other computational results that respect the ZPE, (as well as with the experiment) but which are more demanding computationally.

Communication: Rate coefficients from quasiclassical trajectory calculations from the reverse reaction: The Mu + H2 reaction re-visited

NASA Astrophysics Data System (ADS)

Homayoon, Zahra; Jambrina, Pablo G.; Aoiz, F. Javier; Bowman, Joel M.

2012-07-01

In a previous paper [P. G. Jambrina et al., J. Chem. Phys. 135, 034310 (2011), 10.1063/1.3611400] various calculations of the rate coefficient for the Mu + H2 → MuH + H reaction were presented and compared to experiment. The widely used standard quasiclassical trajectory (QCT) method was shown to overestimate the rate coefficients by several orders of magnitude over the temperature range 200-1000 K. This was attributed to a major failure of that method to describe the correct threshold for the reaction owing to the large difference in zero-point energies (ZPE) of the reactant H2 and product MuH (˜0.32 eV). In this Communication we show that by performing standard QCT calculations for the reverse reaction and then applying detailed balance, the resulting rate coefficient is in very good agreement with the other computational results that respect the ZPE, (as well as with the experiment) but which are more demanding computationally.

Riding the Banzai Pipeline at Jupiter: Balancing Low Delta-V and Low Radiation to Reach Europa

NASA Technical Reports Server (NTRS)

McElrath, Timothy P.; Campagnola, Stefano; Strange, Nathan J.

2012-01-01

Europa's tantalizing allure as a possible haven for life comes cloaked in a myriad of challenges for robotic spacecraft exploration. Not only are the propulsive requirements high and the solar illumination low, but the radiation environment at Jupiter administers its inexorable death sentence on any electronics dispatched to closely examine the satellite. So to the usual trades of mass, delta-V, and cost, we must add radiation dose, which tugs the trajectory solution in a contrary direction. Previous studies have concluded that adding radiation shielding mass is more efficient than using ?V to reduce the exposure time, but that position was recently challenged by a study focusing on delivering simple landers to the Europa surface. During this work, a new trajectory option was found to occupy a strategic location in the delta-V/radiation continuum - we call it the "Banzai pipeline" due to the visual similarity with the end-on view down a breaking wave, as shown in the following figures.

Statistical methodology for the analysis of dye-switch microarray experiments

PubMed Central

Mary-Huard, Tristan; Aubert, Julie; Mansouri-Attia, Nadera; Sandra, Olivier; Daudin, Jean-Jacques

2008-01-01

Background In individually dye-balanced microarray designs, each biological sample is hybridized on two different slides, once with Cy3 and once with Cy5. While this strategy ensures an automatic correction of the gene-specific labelling bias, it also induces dependencies between log-ratio measurements that must be taken into account in the statistical analysis. Results We present two original statistical procedures for the statistical analysis of individually balanced designs. These procedures are compared with the usual ML and REML mixed model procedures proposed in most statistical toolboxes, on both simulated and real data. Conclusion The UP procedure we propose as an alternative to usual mixed model procedures is more efficient and significantly faster to compute. This result provides some useful guidelines for the analysis of complex designs. PMID:18271965

The importance of accurate glacier albedo for estimates of surface mass balance on Vatnajökull: evaluating the surface energy budget in a regional climate model with automatic weather station observations

NASA Astrophysics Data System (ADS)

Steffensen Schmidt, Louise; Aðalgeirsdóttir, Guðfinna; Guðmundsson, Sverrir; Langen, Peter L.; Pálsson, Finnur; Mottram, Ruth; Gascoin, Simon; Björnsson, Helgi

2017-07-01

A simulation of the surface climate of Vatnajökull ice cap, Iceland, carried out with the regional climate model HIRHAM5 for the period 1980-2014, is used to estimate the evolution of the glacier surface mass balance (SMB). This simulation uses a new snow albedo parameterization that allows albedo to exponentially decay with time and is surface temperature dependent. The albedo scheme utilizes a new background map of the ice albedo created from observed MODIS data. The simulation is evaluated against observed daily values of weather parameters from five automatic weather stations (AWSs) from the period 2001-2014, as well as in situ SMB measurements from the period 1995-2014. The model agrees well with observations at the AWS sites, albeit with a general underestimation of the net radiation. This is due to an underestimation of the incoming radiation and a general overestimation of the albedo. The average modelled albedo is overestimated in the ablation zone, which we attribute to an overestimation of the thickness of the snow layer and not taking the surface darkening from dirt and volcanic ash deposition during dust storms and volcanic eruptions into account. A comparison with the specific summer, winter, and net mass balance for the whole of Vatnajökull (1995-2014) shows a good overall fit during the summer, with a small mass balance underestimation of 0.04 m w.e. on average, whereas the winter mass balance is overestimated by on average 0.5 m w.e. due to too large precipitation at the highest areas of the ice cap. A simple correction of the accumulation at the highest points of the glacier reduces this to 0.15 m w.e. Here, we use HIRHAM5 to simulate the evolution of the SMB of Vatnajökull for the period 1981-2014 and show that the model provides a reasonable representation of the SMB for this period. However, a major source of uncertainty in the representation of the SMB is the representation of the albedo, and processes currently not accounted for in RCMs, such as dust storms, are an important source of uncertainty in estimates of snow melt rate.

Detecting dynamical boundaries from kinematic data in biomechanics

NASA Astrophysics Data System (ADS)

Ross, Shane D.; Tanaka, Martin L.; Senatore, Carmine

2010-03-01

Ridges in the state space distribution of finite-time Lyapunov exponents can be used to locate dynamical boundaries. We describe a method for obtaining dynamical boundaries using only trajectories reconstructed from time series, expanding on the current approach which requires a vector field in the phase space. We analyze problems in musculoskeletal biomechanics, considered as exemplars of a class of experimental systems that contain separatrix features. Particular focus is given to postural control and balance, considering both models and experimental data. Our success in determining the boundary between recovery and failure in human balance activities suggests this approach will provide new robust stability measures, as well as measures of fall risk, that currently are not available and may have benefits for the analysis and prevention of low back pain and falls leading to injury, both of which affect a significant portion of the population.

Dynamic optimization and adaptive controller design

NASA Astrophysics Data System (ADS)

Inamdar, S. R.

2010-10-01

In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

Theory and modeling of atmospheric turbulence, part 2

NASA Technical Reports Server (NTRS)

Chen, C. M.

1984-01-01

Two dimensional geostrophic turbulence driven by a random force is investigated. Based on the Liouville equation, which simulates the primitive hydrodynamical equations, a group-kinetic theory of turbulence is developed and the kinetic equation of the scaled singlet distribution is derived. The kinetic equation is transformed into an equation of spectral balance in the equilibrium and non-equilibrium states. Comparison is made between the propagators and the Green's functions in the case of the non-asymptotic quasi-linear equation to prove the equivalence of both kinds of approximations used to describe perturbed trajectories of plasma turbulence. The microdynamical state of fluid turbulence is described by a hydrodynamical system and transformed into a master equation analogous to the Vlasov equation for plasma turbulence. The spectral balance for the velocity fluctuations of individual components shows that the scaled pressure strain correlation and the cascade transfer are two transport functions that play the most important roles.

Preliminary Benefits Assessment of Traffic Aware Strategic Aircrew Requests (TASAR)

NASA Technical Reports Server (NTRS)

Henderson, Jeff; Idris, Husni; Wing, David J.

2012-01-01

While en route, aircrews submit trajectory change requests to air traffic control (ATC) to better meet their objectives including reduced delays, reduced fuel burn, and passenger comfort. Aircrew requests are currently made with limited to no information on surrounding traffic. Consequently, these requests are uninformed about a key ATC objective, ensuring traffic separation, and therefore less likely to be accepted than requests informed by surrounding traffic and that avoids creating conflicts. This paper studies the benefits of providing aircrews with on-board decision support to generate optimized trajectory requests that are probed and cleared of known separation violations prior to issuing the request to ATC. These informed requests are referred to as traffic aware strategic aircrew requests (TASAR) and leverage traffic surveillance information available through Automatic Dependent Surveillance Broadcast (ADS-B) In capability. Preliminary fast-time simulation results show increased benefits with longer stage lengths since beneficial trajectory changes can be applied over a longer distance. Also, larger benefits were experienced between large hub airports as compared to other airport sizes. On average, an aircraft equipped with TASAR reduced its travel time by about one to four minutes per operation and fuel burn by about 50 to 550 lbs per operation depending on the objective of the aircrew (time, fuel, or weighted combination of time and fuel), class of airspace user, and aircraft type. These preliminary results are based on analysis of approximately one week of traffic in July 2012 and additional analysis is planned on a larger data set to confirm these initial findings.

Needle localization using a moving stylet/catheter in ultrasound-guided regional anesthesia: a feasibility study

NASA Astrophysics Data System (ADS)

Beigi, Parmida; Rohling, Robert

2014-03-01

Despite the wide range and long history of ultrasound guided needle insertions, an unresolved issue in many cases is clear needle visibility. A well-known ad hoc technique to detect the needle is to move the stylet and look for changes in the needle appearance. We present a new method to automatically locate a moving stylet/catheter within a stationary cannula using motion detection. We then use this information to detect the needle trajectory and the tip. The differences between the current frame and the previous frame are detected and localized, to minimize the influence of tissue global motions. A polynomial fit based on the detected needle axis determines the estimated stylet shaft trajectory, and the extent of the differences along the needle axis represents the tip. Over a few periodic movements of the stylet including its full insertion into the cannula to the tip, a combination of polynomial fits determines the needle trajectory and the last detected point represents the needle tip. Experiments are conducted in water bath and bovine muscle tissue for several stylet/catheter materials. Results show that a plastic stylet has the best needle shaft and tip localization accuracy in the water bath with RMSE = 0:16 mm and RMSE = 0:51 mm, respectively. In the bovine tissue, the needle tip was best localized with the plastic catheter with RMSE = 0:33 mm. The stylet tip localization was most accurate with the steel stylet, with RMSE = 2:81 mm and the shaft was best localized with the plastic catheter, with RMSE = 0:32 mm.

Automatic detection of a hand-held needle in ultrasound via phased-based analysis of the tremor motion

NASA Astrophysics Data System (ADS)

Beigi, Parmida; Salcudean, Septimiu E.; Rohling, Robert; Ng, Gary C.

2016-03-01

This paper presents an automatic localization method for a standard hand-held needle in ultrasound based on temporal motion analysis of spatially decomposed data. Subtle displacement arising from tremor motion has a periodic pattern which is usually imperceptible in the intensity image but may convey information in the phase image. Our method aims to detect such periodic motion of a hand-held needle and distinguish it from intrinsic tissue motion, using a technique inspired by video magnification. Complex steerable pyramids allow specific design of the wavelets' orientations according to the insertion angle as well as the measurement of the local phase. We therefore use steerable pairs of even and odd Gabor wavelets to decompose the ultrasound B-mode sequence into various spatial frequency bands. Variations of the local phase measurements in the spatially decomposed input data is then temporally analyzed using a finite impulse response bandpass filter to detect regions with a tremor motion pattern. Results obtained from different pyramid levels are then combined and thresholded to generate the binary mask input for the Hough transform, which determines an estimate of the direction angle and discards some of the outliers. Polynomial fitting is used at the final stage to remove any remaining outliers and improve the trajectory detection. The detected needle is finally added back to the input sequence as an overlay of a cloud of points. We demonstrate the efficiency of our approach to detect the needle using subtle tremor motion in an agar phantom and in-vivo porcine cases where intrinsic motion is also present. The localization accuracy was calculated by comparing to expert manual segmentation, and presented in (mean, standard deviation and root-mean-square error) of (0.93°, 1.26° and 0.87°) and (1.53 mm, 1.02 mm and 1.82 mm) for the trajectory and the tip, respectively.

Development and Evaluation of an Automatic Fragment-Weighing Apparatus,

DTIC Science & Technology

1980-12-01

mainly attributable to the large variation in size and geometry of the fragments and the need to separate and feed each of the fragments singly onto the...for separating and feeding the fragments to the balance pan Fragments introduced into the vibrating sorter are forced to travel slowly upwards along...Fragment feed rate from the spiral can be further controlled by the amplitude of vibration of the spiral (speed of fragment ascent) as well as the

Accelerating semantic graph databases on commodity clusters

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morari, Alessandro; Castellana, Vito G.; Haglin, David J.

We are developing a full software system for accelerating semantic graph databases on commodity cluster that scales to hundreds of nodes while maintaining constant query throughput. Our framework comprises a SPARQL to C++ compiler, a library of parallel graph methods and a custom multithreaded runtime layer, which provides a Partitioned Global Address Space (PGAS) programming model with fork/join parallelism and automatic load balancing over a commodity clusters. We present preliminary results for the compiler and for the runtime.

Acquisition of Telecommunications in the Navy from an Automatic Data Processing (ADP) Point of View.

DTIC Science & Technology

1982-03-01

United States Air Force . F. DEFINITIONS AND ABBREVIATIONS The definitions and abbreviations list is attached as Appendix A. G. SUMMARY The different...responsible. Below is a list of Navy submitting authorities. [Ref. 12] Commander in Chief U.S. Naval Forces , Europe Commander in Chief U.S. Atlantic Fleet...the PPBS where OSD decisionmaking is keyed to the balancing of all programs within established DOD fiscal limits. Each majur AIS shall be submitted

Teen Sized Humanoid Robot: Archie

NASA Astrophysics Data System (ADS)

Baltes, Jacky; Byagowi, Ahmad; Anderson, John; Kopacek, Peter

This paper describes our first teen sized humanoid robot Archie. This robot has been developed in conjunction with Prof. Kopacek’s lab from the Technical University of Vienna. Archie uses brushless motors and harmonic gears with a novel approach to position encoding. Based on our previous experience with small humanoid robots, we developed software to create, store, and play back motions as well as control methods which automatically balance the robot using feedback from an internal measurement unit (IMU).

Visual Data Exploration for Balance Quantification in Real-Time During Exergaming.

PubMed

Soancatl Aguilar, Venustiano; J van de Gronde, Jasper; J C Lamoth, Claudine; van Diest, Mike; M Maurits, Natasha; B T M Roerdink, Jos

2017-01-01

Unintentional injuries are among the ten leading causes of death in older adults; falls cause 60% of these deaths. Despite their effectiveness to improve balance and reduce the risk of falls, balance training programs have several drawbacks in practice, such as lack of engaging elements, boring exercises, and the effort and cost of travelling, ultimately resulting in low adherence. Exergames, that is, digital games controlled by body movements, have been proposed as an alternative to improve balance. One of the main challenges for exergames is to automatically quantify balance during game-play in order to adapt the game difficulty according to the skills of the player. Here we perform a multidimensional exploratory data analysis, using visualization techniques, to find useful measures for quantifying balance in real-time. First, we visualize exergaming data, derived from 400 force plate recordings of 40 participants from 20 to 79 years and 10 trials per participant, as heat maps and violin plots to get quick insight into the nature of the data. Second, we extract known and new features from the data, such as instantaneous speed, measures of dispersion, turbulence measures derived from speed, and curvature values. Finally, we analyze and visualize these features using several visualizations such as a heat map, overlapping violin plots, a parallel coordinate plot, a projection of the two first principal components, and a scatter plot matrix. Our visualizations and findings suggest that heat maps and violin plots can provide quick insight and directions for further data exploration. The most promising measures to quantify balance in real-time are speed, curvature and a turbulence measure, because these measures show age-related changes in balance performance. The next step is to apply the present techniques to data of whole body movements as recorded by devices such as Kinect.

Visual Data Exploration for Balance Quantification in Real-Time During Exergaming

PubMed Central

J. van de Gronde, Jasper; J. C. Lamoth, Claudine; van Diest, Mike; M. Maurits, Natasha; B. T. M. Roerdink, Jos

2017-01-01

Unintentional injuries are among the ten leading causes of death in older adults; falls cause 60% of these deaths. Despite their effectiveness to improve balance and reduce the risk of falls, balance training programs have several drawbacks in practice, such as lack of engaging elements, boring exercises, and the effort and cost of travelling, ultimately resulting in low adherence. Exergames, that is, digital games controlled by body movements, have been proposed as an alternative to improve balance. One of the main challenges for exergames is to automatically quantify balance during game-play in order to adapt the game difficulty according to the skills of the player. Here we perform a multidimensional exploratory data analysis, using visualization techniques, to find useful measures for quantifying balance in real-time. First, we visualize exergaming data, derived from 400 force plate recordings of 40 participants from 20 to 79 years and 10 trials per participant, as heat maps and violin plots to get quick insight into the nature of the data. Second, we extract known and new features from the data, such as instantaneous speed, measures of dispersion, turbulence measures derived from speed, and curvature values. Finally, we analyze and visualize these features using several visualizations such as a heat map, overlapping violin plots, a parallel coordinate plot, a projection of the two first principal components, and a scatter plot matrix. Our visualizations and findings suggest that heat maps and violin plots can provide quick insight and directions for further data exploration. The most promising measures to quantify balance in real-time are speed, curvature and a turbulence measure, because these measures show age-related changes in balance performance. The next step is to apply the present techniques to data of whole body movements as recorded by devices such as Kinect. PMID:28135284

Wide tracking range, auto ranging, low jitter phase lock loop for swept and fixed frequency systems

DOEpatents

Kerner, Thomas M.

2001-01-01

The present invention provides a wide tracking range phase locked loop (PLL) circuit that achieves minimal jitter in a recovered clock signal, regardless of the source of the jitter (i.e. whether it is in the source or the transmission media). The present invention PLL has automatic harmonic lockout detection circuitry via a novel lock and seek control logic in electrical communication with a programmable frequency discriminator and a code balance detector. (The frequency discriminator enables preset of a frequency window of upper and lower frequency limits to derive a programmable range within which signal acquisition is effected. The discriminator works in combination with the code balance detector circuit to minimize the sensitivity of the PLL circuit to random data in the data stream). In addition, the combination of a differential loop integrator with the lock and seek control logic obviates a code preamble and guarantees signal acquisition without harmonic lockup. An adaptive cable equalizer is desirably used in combination with the present invention PLL to recover encoded transmissions containing a clock and/or data. The equalizer automatically adapts to equalize short haul cable lengths of coaxial and twisted pair cables or wires and provides superior jitter performance itself. The combination of the equalizer with the present invention PLL is desirable in that such combination permits the use of short haul wires without significant jitter.

Relative performance of empirical and physical models in assessing the seasonal and annual glacier surface mass balance of Saint-Sorlin Glacier (French Alps)

NASA Astrophysics Data System (ADS)

Réveillet, Marion; Six, Delphine; Vincent, Christian; Rabatel, Antoine; Dumont, Marie; Lafaysse, Matthieu; Morin, Samuel; Vionnet, Vincent; Litt, Maxime

2018-04-01

This study focuses on simulations of the seasonal and annual surface mass balance (SMB) of Saint-Sorlin Glacier (French Alps) for the period 1996-2015 using the detailed SURFEX/ISBA-Crocus snowpack model. The model is forced by SAFRAN meteorological reanalysis data, adjusted with automatic weather station (AWS) measurements to ensure that simulations of all the energy balance components, in particular turbulent fluxes, are accurately represented with respect to the measured energy balance. Results indicate good model performance for the simulation of summer SMB when using meteorological forcing adjusted with in situ measurements. Model performance however strongly decreases without in situ meteorological measurements. The sensitivity of the model to meteorological forcing indicates a strong sensitivity to wind speed, higher than the sensitivity to ice albedo. Compared to an empirical approach, the model exhibited better performance for simulations of snow and firn melting in the accumulation area and similar performance in the ablation area when forced with meteorological data adjusted with nearby AWS measurements. When such measurements were not available close to the glacier, the empirical model performed better. Our results suggest that simulations of the evolution of future mass balance using an energy balance model require very accurate meteorological data. Given the uncertainties in the temporal evolution of the relevant meteorological variables and glacier surface properties in the future, empirical approaches based on temperature and precipitation could be more appropriate for simulations of glaciers in the future.

A Holding Function for Conflict Probe Appiications

NASA Technical Reports Server (NTRS)

McNally, Dave; Walton, Joe

2004-01-01

Conflict Alerts for aircraft in holding patterns are often missed or in error due to fact that holding trajectories are not modeled in Conflict Alert or Conflict Probe logic. In addition, a controller in one sector may not know when aircraft are holding in a neighboring sector. These factors can lead to an increased potential for loss of separation while aircraft are flying in holding patterns. A holding function for conflict probe applications has been developed and tested with air traffic data from Fort Worth Center. The holding function automatically determines when an aircraft enters a holding pattern, builds a holding region around the pattern and then probes the region for conflict with other traffic. The operational concept of use assumes that air traffic controllers are very busy during periods when aircraft are in holding and therefore don't have time to manually enter information which defines a holding pattern and activates conflict probing. For this reason, it is important the holding function automatically detect aircraft in holding and compute a holding region for conflict analysis. The controller is then alerted if other aircraft are predicted to fly through the holding region at the holding altitude.

Long-Term Tracking of a Specific Vehicle Using Airborne Optical Camera Systems

NASA Astrophysics Data System (ADS)

Kurz, F.; Rosenbaum, D.; Runge, H.; Cerra, D.; Mattyus, G.; Reinartz, P.

2016-06-01

In this paper we present two low cost, airborne sensor systems capable of long-term vehicle tracking. Based on the properties of the sensors, a method for automatic real-time, long-term tracking of individual vehicles is presented. This combines the detection and tracking of the vehicle in low frame rate image sequences and applies the lagged Cell Transmission Model (CTM) to handle longer tracking outages occurring in complex traffic situations, e.g. tunnels. The CTM model uses the traffic conditions in the proximities of the target vehicle and estimates its motion to predict the position where it reappears. The method is validated on an airborne image sequence acquired from a helicopter. Several reference vehicles are tracked within a range of 500m in a complex urban traffic situation. An artificial tracking outage of 240m is simulated, which is handled by the CTM. For this, all the vehicles in the close proximity are automatically detected and tracked to estimate the basic density-flow relations of the CTM model. Finally, the real and simulated trajectories of the reference vehicles in the outage are compared showing good correspondence also in congested traffic situations.

Computer-assisted analysis of the vascular endothelial cell motile response to injury.

PubMed

Askey, D B; Herman, I M

1988-12-01

We have developed an automated, user-friendly method to track vascular endothelial cell migration in vitro using an IBM PC/XT with MS DOS. Analog phase-contrast images of the bovine aortic endothelial cells are converted into digital images (8 bit, 250 x 240 pixel resolution) using a Tecmar Video VanGogh A/D board. Digitized images are stored at selected time points following mechanical injury in vitro. FORTRAN and assembly language subroutines have been implemented to automatically detect the wound edge and the edge of each cell nucleus in the phase-contrast, light-microscope field. Detection of the wound edge is accomplished by intensity thresholding following noise reduction in the image and subsequent sampling of the wound. After the range of wound intensities is determined, the entire image is sampled and a histogram of intensities is formed. The histogram peak corresponding to the wound intensities is subtracted, leaving a histogram peak that gives the range of intensities corresponding to the cell nuclei. Rates of cell migration, as well as cellular trajectories and cell surface areas, can be automatically quantitated and analyzed. This inexpensive, automated cell-tracking system should be widely applicable in a variety of cell biologic applications.

Small UAV Automatic Ground Collision Avoidance System Design Considerations and Flight Test Results

NASA Technical Reports Server (NTRS)

Sorokowski, Paul; Skoog, Mark; Burrows, Scott; Thomas, SaraKatie

2015-01-01

The National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Small Unmanned Aerial Vehicle (SUAV) Automatic Ground Collision Avoidance System (Auto GCAS) project demonstrated several important collision avoidance technologies. First, the SUAV Auto GCAS design included capabilities to take advantage of terrain avoidance maneuvers flying turns to either side as well as straight over terrain. Second, the design also included innovative digital elevation model (DEM) scanning methods. The combination of multi-trajectory options and new scanning methods demonstrated the ability to reduce the nuisance potential of the SUAV while maintaining robust terrain avoidance. Third, the Auto GCAS algorithms were hosted on the processor inside a smartphone, providing a lightweight hardware configuration for use in either the ground control station or on board the test aircraft. Finally, compression of DEM data for the entire Earth and successful hosting of that data on the smartphone was demonstrated. The SUAV Auto GCAS project demonstrated that together these methods and technologies have the potential to dramatically reduce the number of controlled flight into terrain mishaps across a wide range of aviation platforms with similar capabilities including UAVs, general aviation aircraft, helicopters, and model aircraft.

Flight test results for the Digital Integrated Automatic Landing Systems (DIALS): A modern control full-state feedback design

NASA Technical Reports Server (NTRS)

Hueschen, R. M.

1984-01-01

The Digital Integrated Automatic Landing System (DIALS) is discussed. The DIALS is a modern control theory design performing all the maneuver modes associated with current autoland systems: localizer capture and track, glideslope capture and track, decrab, and flare. The DIALS is an integrated full-state feedback system which was designed using direct-digital methods. The DIALS uses standard aircraft sensors and the digital Microwave Landing System (MLS) signals as measurements. It consists of separately designed longitudinal and lateral channels although some cross-coupling variables are fed between channels for improved state estimates and trajectory commands. The DIALS was implemented within the 16-bit fixed-point flight computers of the ATOPS research aircraft, a small twin jet commercial transport outfitted with a second research cockpit and a fly-by-wire system. The DIALS became the first modern control theory design to be successfully flight tested on a commercial-type aircraft. Flight tests were conducted in late 1981 using a wide coverage MLS on Runway 22 at Wallops Flight Center. All the modes were exercised including the capture and track of steep glidescopes up to 5 degrees.

Adaptive Personalized Training Games for Individual and Collaborative Rehabilitation of People with Multiple Sclerosis

PubMed Central

2014-01-01

Any rehabilitation involves people who are unique individuals with their own characteristics and rehabilitation needs, including patients suffering from Multiple Sclerosis (MS). The prominent variation of MS symptoms and the disease severity elevate a need to accommodate the patient diversity and support adaptive personalized training to meet every patient's rehabilitation needs. In this paper, we focus on integrating adaptivity and personalization in rehabilitation training for MS patients. We introduced the automatic adjustment of difficulty levels as an adaptation that can be provided in individual and collaborative rehabilitation training exercises for MS patients. Two user studies have been carried out with nine MS patients to investigate the outcome of this adaptation. The findings showed that adaptive personalized training trajectories have been successfully provided to MS patients according to their individual training progress, which was appreciated by the patients and the therapist. They considered the automatic adjustment of difficulty levels to provide more variety in the training and to minimize the therapists involvement in setting up the training. With regard to social interaction in the collaborative training exercise, we have observed some social behaviors between the patients and their training partner which indicated the development of social interaction during the training. PMID:24982862

X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.

1998-01-01

Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

The detection of faked identity using unexpected questions and mouse dynamics.

PubMed

Monaro, Merylin; Gamberini, Luciano; Sartori, Giuseppe

2017-01-01

The detection of faked identities is a major problem in security. Current memory-detection techniques cannot be used as they require prior knowledge of the respondent's true identity. Here, we report a novel technique for detecting faked identities based on the use of unexpected questions that may be used to check the respondent identity without any prior autobiographical information. While truth-tellers respond automatically to unexpected questions, liars have to "build" and verify their responses. This lack of automaticity is reflected in the mouse movements used to record the responses as well as in the number of errors. Responses to unexpected questions are compared to responses to expected and control questions (i.e., questions to which a liar also must respond truthfully). Parameters that encode mouse movement were analyzed using machine learning classifiers and the results indicate that the mouse trajectories and errors on unexpected questions efficiently distinguish liars from truth-tellers. Furthermore, we showed that liars may be identified also when they are responding truthfully. Unexpected questions combined with the analysis of mouse movement may efficiently spot participants with faked identities without the need for any prior information on the examinee.

Video-processing-based system for automated pedestrian data collection and analysis when crossing the street

NASA Astrophysics Data System (ADS)

Mansouri, Nabila; Watelain, Eric; Ben Jemaa, Yousra; Motamed, Cina

2018-03-01

Computer-vision techniques for pedestrian detection and tracking have progressed considerably and become widely used in several applications. However, a quick glance at the literature shows a minimal use of these techniques in pedestrian behavior and safety analysis, which might be due to the technical complexities facing the processing of pedestrian videos. To extract pedestrian trajectories from a video automatically, all road users must be detected and tracked during sequences, which is a challenging task, especially in a congested open-outdoor urban space. A multipedestrian tracker based on an interframe-detection-association process was proposed and evaluated. The tracker results are used to implement an automatic tool for pedestrians data collection when crossing the street based on video processing. The variations in the instantaneous speed allowed the detection of the street crossing phases (approach, waiting, and crossing). These were addressed for the first time in the pedestrian road security analysis to illustrate the causal relationship between pedestrian behaviors in the different phases. A comparison with a manual data collection method, by computing the root mean square error and the Pearson correlation coefficient, confirmed that the procedures proposed have significant potential to automate the data collection process.

Automated multi-day tracking of marked mice for the analysis of social behaviour.

PubMed

Ohayon, Shay; Avni, Ofer; Taylor, Adam L; Perona, Pietro; Roian Egnor, S E

2013-09-30

A quantitative description of animal social behaviour is informative for behavioural biologists and clinicians developing drugs to treat social disorders. Social interaction in a group of animals has been difficult to measure because behaviour develops over long periods of time and requires tedious manual scoring, which is subjective and often non-reproducible. Computer-vision systems with the ability to measure complex social behaviour automatically would have a transformative impact on biology. Here, we present a method for tracking group-housed mice individually as they freely interact over multiple days. Each mouse is bleach-marked with a unique fur pattern. The patterns are automatically learned by the tracking software and used to infer identities. Trajectories are analysed to measure behaviour as it develops over days, beyond the range of acute experiments. We demonstrate how our system may be used to study the development of place preferences, associations and social relationships by tracking four mice continuously for five days. Our system enables accurate and reproducible characterisation of wild-type mouse social behaviour and paves the way for high-throughput long-term observation of the effects of genetic, pharmacological and environmental manipulations. Published by Elsevier B.V.

Automatic trajectory planning for low-thrust active removal mission in low-earth orbit

NASA Astrophysics Data System (ADS)

Di Carlo, Marilena; Romero Martin, Juan Manuel; Vasile, Massimiliano

2017-03-01

In this paper two strategies are proposed to de-orbit up to 10 non-cooperative objects per year from the region within 800 and 1400 km altitude in Low Earth Orbit (LEO). The underlying idea is to use a single servicing spacecraft to de-orbit several objects applying two different approaches. The first strategy is analogous to the Traveling Salesman Problem: the servicing spacecraft rendezvous with multiple objects in order to physically attach a de-orbiting kit that reduces the perigee of the orbit. The second strategy is analogous to the Vehicle Routing Problem: the servicing spacecraft rendezvous and docks with an object, spirals it down to a lower altitude orbit, undocks, and then spirals up to the next target. In order to maximise the number of de-orbited objects with minimum propellant consumption, an optimal sequence of targets is identified using a bio-inspired incremental automatic planning and scheduling discrete optimisation algorithm. The optimisation of the resulting sequence is realised using a direct transcription method based on an asymptotic analytical solution of the perturbed Keplerian motion. The analytical model takes into account the perturbations deriving from the J2 gravitational effect and the atmospheric drag.

A computational intelligence approach to the Mars Precision Landing problem

NASA Astrophysics Data System (ADS)

Birge, Brian Kent, III

Various proposed Mars missions, such as the Mars Sample Return Mission (MRSR) and the Mars Smart Lander (MSL), require precise re-entry terminal position and velocity states. This is to achieve mission objectives including rendezvous with a previous landed mission, or reaching a particular geographic landmark. The current state of the art footprint is in the magnitude of kilometers. For this research a Mars Precision Landing is achieved with a landed footprint of no more than 100 meters, for a set of initial entry conditions representing worst guess dispersions. Obstacles to reducing the landed footprint include trajectory dispersions due to initial atmospheric entry conditions (entry angle, parachute deployment height, etc.), environment (wind, atmospheric density, etc.), parachute deployment dynamics, unavoidable injection error (propagated error from launch on), etc. Weather and atmospheric models have been developed. Three descent scenarios have been examined. First, terminal re-entry is achieved via a ballistic parachute with concurrent thrusting events while on the parachute, followed by a gravity turn. Second, terminal re-entry is achieved via a ballistic parachute followed by gravity turn to hover and then thrust vector to desired location. Third, a guided parafoil approach followed by vectored thrusting to reach terminal velocity is examined. The guided parafoil is determined to be the best architecture. The purpose of this study is to examine the feasibility of using a computational intelligence strategy to facilitate precision planetary re-entry, specifically to take an approach that is somewhat more intuitive and less rigid, and see where it leads. The test problems used for all research are variations on proposed Mars landing mission scenarios developed by NASA. A relatively recent method of evolutionary computation is Particle Swarm Optimization (PSO), which can be considered to be in the same general class as Genetic Algorithms. An improvement over the regular PSO algorithm, allowing tracking of nonstationary error functions is detailed. Continued refinement of PSO in the larger research community comes from attempts to understand human-human social interaction as well as analysis of the emergent behavior. Using PSO and the parafoil scenario, optimized reference trajectories are created for an initial condition set of 76 states, representing the convex hull of 2001 states from an early Monte Carlo analysis. The controls are a set series of bank angles followed by a set series of 3DOF thrust vectoring. The reference trajectories are used to train an Artificial Neural Network Reference Trajectory Generator (ANNTraG), with the (marginal) ability to generalize a trajectory from initial conditions it has never been presented. The controls here allow continuous change in bank angle as well as thrust vector. The optimized reference trajectories represent the best achievable trajectory given the initial condition. Steps toward a closed loop neural controller with online learning updates are examined. The inner loop of the simulation employs the Program to Optimize Simulated Trajectories (POST) as the basic model, containing baseline dynamics and state generation. This is controlled from a MATLAB shell that directs the optimization, learning, and control strategy. Using mainly bank angle guidance coupled with CI strategies, the set of achievable reference trajectories are shown to be 88% under 10 meters, a significant improvement in the state of the art. Further, the automatic real-time generation of realistic reference trajectories in the presence of unknown initial conditions is shown to have promise. The closed loop CI guidance strategy is outlined. An unexpected advance came from the effort to optimize the optimization, where the PSO algorithm was improved with the capability for tracking a changing error environment.

Automatic classifier based on heart rate variability to identify fallers among hypertensive subjects.

PubMed

Melillo, Paolo; Jovic, Alan; De Luca, Nicola; Pecchia, Leandro

2015-08-01

Accidental falls are a major problem of later life. Different technologies to predict falls have been investigated, but with limited success, mainly because of low specificity due to a high false positive rate. This Letter presents an automatic classifier based on heart rate variability (HRV) analysis with the goal to identify fallers automatically. HRV was used in this study as it is considered a good estimator of autonomic nervous system (ANS) states, which are responsible, among other things, for human balance control. Nominal 24 h electrocardiogram recordings from 168 cardiac patients (age 72 ± 8 years, 60 female), of which 47 were fallers, were investigated. Linear and nonlinear HRV properties were analysed in 30 min excerpts. Different data mining approaches were adopted and their performances were compared with a subject-based receiver operating characteristic analysis. The best performance was achieved by a hybrid algorithm, RUSBoost, integrated with feature selection method based on principal component analysis, which achieved satisfactory specificity and accuracy (80 and 72%, respectively), but low sensitivity (51%). These results suggested that ANS states causing falls could be reliably detected, but also that not all the falls were due to ANS states.

The development of the Athens Emotional States Inventory (AESI): collection, validation and automatic processing of emotionally loaded sentences.

PubMed

Chaspari, Theodora; Soldatos, Constantin; Maragos, Petros

2015-01-01

The development of ecologically valid procedures for collecting reliable and unbiased emotional data towards computer interfaces with social and affective intelligence targeting patients with mental disorders. Following its development, presented with, the Athens Emotional States Inventory (AESI) proposes the design, recording and validation of an audiovisual database for five emotional states: anger, fear, joy, sadness and neutral. The items of the AESI consist of sentences each having content indicative of the corresponding emotion. Emotional content was assessed through a survey of 40 young participants with a questionnaire following the Latin square design. The emotional sentences that were correctly identified by 85% of the participants were recorded in a soundproof room with microphones and cameras. A preliminary validation of AESI is performed through automatic emotion recognition experiments from speech. The resulting database contains 696 recorded utterances in Greek language by 20 native speakers and has a total duration of approximately 28 min. Speech classification results yield accuracy up to 75.15% for automatically recognizing the emotions in AESI. These results indicate the usefulness of our approach for collecting emotional data with reliable content, balanced across classes and with reduced environmental variability.

Automatic programming via iterated local search for dynamic job shop scheduling.

PubMed

Nguyen, Su; Zhang, Mengjie; Johnston, Mark; Tan, Kay Chen

2015-01-01

Dispatching rules have been commonly used in practice for making sequencing and scheduling decisions. Due to specific characteristics of each manufacturing system, there is no universal dispatching rule that can dominate in all situations. Therefore, it is important to design specialized dispatching rules to enhance the scheduling performance for each manufacturing environment. Evolutionary computation approaches such as tree-based genetic programming (TGP) and gene expression programming (GEP) have been proposed to facilitate the design task through automatic design of dispatching rules. However, these methods are still limited by their high computational cost and low exploitation ability. To overcome this problem, we develop a new approach to automatic programming via iterated local search (APRILS) for dynamic job shop scheduling. The key idea of APRILS is to perform multiple local searches started with programs modified from the best obtained programs so far. The experiments show that APRILS outperforms TGP and GEP in most simulation scenarios in terms of effectiveness and efficiency. The analysis also shows that programs generated by APRILS are more compact than those obtained by genetic programming. An investigation of the behavior of APRILS suggests that the good performance of APRILS comes from the balance between exploration and exploitation in its search mechanism.

Reconstruction of three-dimensional grain structure in polycrystalline iron via an interactive segmentation method

NASA Astrophysics Data System (ADS)

Feng, Min-nan; Wang, Yu-cong; Wang, Hao; Liu, Guo-quan; Xue, Wei-hua

2017-03-01

Using a total of 297 segmented sections, we reconstructed the three-dimensional (3D) structure of pure iron and obtained the largest dataset of 16254 3D complete grains reported to date. The mean values of equivalent sphere radius and face number of pure iron were observed to be consistent with those of Monte Carlo simulated grains, phase-field simulated grains, Ti-alloy grains, and Ni-based super alloy grains. In this work, by finding a balance between automatic methods and manual refinement, we developed an interactive segmentation method to segment serial sections accurately in the reconstruction of the 3D microstructure; this approach can save time as well as substantially eliminate errors. The segmentation process comprises four operations: image preprocessing, breakpoint detection based on mathematical morphology analysis, optimized automatic connection of the breakpoints, and manual refinement by artificial evaluation.

Assess and Predict Automatic Generation Control Performances for Thermal Power Generation Units Based on Modeling Techniques

NASA Astrophysics Data System (ADS)

Zhao, Yan; Yang, Zijiang; Gao, Song; Liu, Jinbiao

2018-02-01

Automatic generation control(AGC) is a key technology to maintain real time power generation and load balance, and to ensure the quality of power supply. Power grids require each power generation unit to have a satisfactory AGC performance, being specified in two detailed rules. The two rules provide a set of indices to measure the AGC performance of power generation unit. However, the commonly-used method to calculate these indices is based on particular data samples from AGC responses and will lead to incorrect results in practice. This paper proposes a new method to estimate the AGC performance indices via system identification techniques. In addition, a nonlinear regression model between performance indices and load command is built in order to predict the AGC performance indices. The effectiveness of the proposed method is validated through industrial case studies.

Hybrid image representation learning model with invariant features for basal cell carcinoma detection

NASA Astrophysics Data System (ADS)

Arevalo, John; Cruz-Roa, Angel; González, Fabio A.

2013-11-01

This paper presents a novel method for basal-cell carcinoma detection, which combines state-of-the-art methods for unsupervised feature learning (UFL) and bag of features (BOF) representation. BOF, which is a form of representation learning, has shown a good performance in automatic histopathology image classi cation. In BOF, patches are usually represented using descriptors such as SIFT and DCT. We propose to use UFL to learn the patch representation itself. This is accomplished by applying a topographic UFL method (T-RICA), which automatically learns visual invariance properties of color, scale and rotation from an image collection. These learned features also reveals these visual properties associated to cancerous and healthy tissues and improves carcinoma detection results by 7% with respect to traditional autoencoders, and 6% with respect to standard DCT representations obtaining in average 92% in terms of F-score and 93% of balanced accuracy.

Automatic Jet Contrail Detection and Segmentation

NASA Technical Reports Server (NTRS)

Weiss, J.; Christopher, S. A.; Welch, R. M.

1997-01-01

Jet contrails are an important subset of cirrus clouds in the atmosphere, and thin cirrus are thought to enhance the greenhouse effect due to their semi-transparent nature. They are nearly transparent to the solar energy reaching the surface, but they reduce the planetary emission to space due to their cold ambient temperatures. Having 'seeded' the environment, contrails often elongate and widen into cirrus-like features. However, there is great uncertainty regarding the impact of contrails on surface temperature and precipitation. With increasing numbers of subsonic aircraft operating in the upper troposphere, there is the possibility of increasing cloudiness which could lead to changes in the radiation balance. Automatic detection and seg- mentation of jet contrails in satellite imagery is important because (1) it is impractical to compile a contrail climatology by hand, and (2) with the segmented images it will be possible to retrieve contrail physical properties such as optical thickness, effective ice crystal diameter and emissivity.

SigVox - A 3D feature matching algorithm for automatic street object recognition in mobile laser scanning point clouds

NASA Astrophysics Data System (ADS)

Wang, Jinhu; Lindenbergh, Roderik; Menenti, Massimo

2017-06-01

Urban road environments contain a variety of objects including different types of lamp poles and traffic signs. Its monitoring is traditionally conducted by visual inspection, which is time consuming and expensive. Mobile laser scanning (MLS) systems sample the road environment efficiently by acquiring large and accurate point clouds. This work proposes a methodology for urban road object recognition from MLS point clouds. The proposed method uses, for the first time, shape descriptors of complete objects to match repetitive objects in large point clouds. To do so, a novel 3D multi-scale shape descriptor is introduced, that is embedded in a workflow that efficiently and automatically identifies different types of lamp poles and traffic signs. The workflow starts by tiling the raw point clouds along the scanning trajectory and by identifying non-ground points. After voxelization of the non-ground points, connected voxels are clustered to form candidate objects. For automatic recognition of lamp poles and street signs, a 3D significant eigenvector based shape descriptor using voxels (SigVox) is introduced. The 3D SigVox descriptor is constructed by first subdividing the points with an octree into several levels. Next, significant eigenvectors of the points in each voxel are determined by principal component analysis (PCA) and mapped onto the appropriate triangle of a sphere approximating icosahedron. This step is repeated for different scales. By determining the similarity of 3D SigVox descriptors between candidate point clusters and training objects, street furniture is automatically identified. The feasibility and quality of the proposed method is verified on two point clouds obtained in opposite direction of a stretch of road of 4 km. 6 types of lamp pole and 4 types of road sign were selected as objects of interest. Ground truth validation showed that the overall accuracy of the ∼170 automatically recognized objects is approximately 95%. The results demonstrate that the proposed method is able to recognize street furniture in a practical scenario. Remaining difficult cases are touching objects, like a lamp pole close to a tree.

Fast isotropic banding-free bSSFP imaging using 3D dynamically phase-cycled radial bSSFP (3D DYPR-SSFP).

PubMed

Benkert, Thomas; Ehses, Philipp; Blaimer, Martin; Jakob, Peter M; Breuer, Felix A

2016-03-01

Dynamically phase-cycled radial balanced steady-state free precession (DYPR-SSFP) is a method for efficient banding artifact removal in bSSFP imaging. Based on a varying radiofrequency (RF) phase-increment in combination with a radial trajectory, DYPR-SSFP allows obtaining a banding-free image out of a single acquired k-space. The purpose of this work is to present an extension of this technique, enabling fast three-dimensional isotropic banding-free bSSFP imaging. While banding artifact removal with DYPR-SSFP relies on the applied dynamic phase-cycle, this aspect can lead to artifacts, at least when the number of acquired projections lies below a certain limit. However, by using a 3D radial trajectory with quasi-random view ordering for image acquisition, this problem is intrinsically solved, enabling 3D DYPR-SSFP imaging at or even below the Nyquist criterion. The approach is validated for brain and knee imaging at 3 Tesla. Volumetric, banding-free images were obtained in clinically acceptable scan times with an isotropic resolution up to 0.56mm. The combination of DYPR-SSFP with a 3D radial trajectory allows banding-free isotropic volumetric bSSFP imaging with no expense of scan time. Therefore, this is a promising candidate for clinical applications such as imaging of cranial nerves or articular cartilage. Copyright © 2015. Published by Elsevier GmbH.

Trajectories of child externalizing problems between ages 3 and 10 years: Contributions of children's early effortful control, theory of mind, and parenting experiences.

PubMed

Olson, Sheryl L; Choe, Daniel Ewon; Sameroff, Arnold J

2017-10-01

Preventing problem behavior requires an understanding of earlier factors that are amenable to intervention. The main goals of our prospective longitudinal study were to trace trajectories of child externalizing behavior between ages 3 and 10 years, and to identify patterns of developmentally significant child and parenting risk factors that differentiated pathways of problem behavior. Participants were 218 3-year-old boys and girls who were reassessed following the transition to kindergarten (age 5-6 years) and during the late school-age years (age 10). Mothers contributed ratings of children's externalizing behavior at all three time points. Children's self-regulation abilities and theory of mind were assessed during a laboratory visit, and parenting risk (frequent corporal punishment and low maternal warmth) was assessed using interview-based and questionnaire measures. Four developmental trajectories of externalizing behavior yielded the best balance of parsimony and fit with our longitudinal data and latent class growth analysis. Most young children followed a pathway marked by relatively low levels of symptoms that continued to decrease across the school-age years. Atypical trajectories marked chronically high, increasing, and decreasing levels of externalizing problems across early and middle childhood. Three-year-old children with low levels of effortful control were far more likely to show the chronic pattern of elevated externalizing problems than changing or low patterns. Early parental corporal punishment and maternal warmth, respectively, differentiated preschoolers who showed increasing and decreasing patterns of problem behavior compared to the majority of children. The fact that children's poor effortful regulation skills predicted chronic early onset problems reinforces the need for early childhood screening and intervention services.

Trajectories of the Framingham general cardiovascular risk profile in midlife and poor motor function later in life: the Whitehall II study.

PubMed

Elbaz, Alexis; Shipley, Martin J; Nabi, Hermann; Brunner, Eric J; Kivimaki, Mika; Singh-Manoux, Archana

2014-03-01

Vascular risk factors are associated with increased risk of cognitive impairment and dementia, but their association with motor function, another key feature of aging, has received little research attention. We examined the association between trajectories of the Framingham general cardiovascular disease risk score (FRS) over midlife and motor function later in life. A total of 5376 participants of the Whitehall II cohort study (29% women) who had up to four repeat measures of FRS between 1991-1993 (mean age=48.6 years) and 2007-2009 (mean age=65.4 years) and without history of stroke or coronary heart disease in 2007-2009 were included. Motor function was assessed in 2007-2009 through objective tests (walking speed, chair rises, balance, finger tapping, grip strength). We used age- and sex-adjusted linear mixed models. Participants with poorer performances for walking speed, chair rises, and balance in 2007-2009 had higher FRS concurrently and also in 1991-1993, on average 16 years earlier. These associations were robust to adjustment for cognition, socio-economic status, height, and BMI, and not explained by incident mobility limitation prior to motor assessment. No association was found with finger tapping and grip strength. Cardiovascular risk early in midlife is associated with poor motor performances later in life. Vascular risk factors play an important and under-recognized role in motor function, independently of their impact on cognition, and suggest that better control of vascular risk factors in midlife may prevent physical impairment and disability in the elderly. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Post-Flight EDL Entry Guidance Performance of the 2011 Mars Science Laboratory Mission

NASA Technical Reports Server (NTRS)

Mendeck, Gavin F.; McGrew, Lynn Craig

2012-01-01

The 2011 Mars Science Laboratory was the first successful Mars mission to attempt a guided entry which safely delivered the rover to a final position approximately 2 km from its target within a touchdown ellipse of 19.1 km x 6.9 km. The Entry Terminal Point Controller guidance algorithm is derived from the final phase Apollo Command Module guidance and, like Apollo, modulates the bank angle to control the range flown. For application to Mars landers which must make use of the tenuous Martian atmosphere, it is critical to balance the lift of the vehicle to minimize the range error while still ensuring a safe deploy altitude. An overview of the process to generate optimized guidance settings is presented, discussing improvements made over the last nine years. Key dispersions driving deploy ellipse and altitude performance are identified. Performance sensitivities including attitude initialization error and the velocity of transition from range control to heading alignment are presented. Just prior to the entry and landing of MSL in August 2012, the EDL team examined minute tuning of the reference trajectory for the selected landing site, analyzed whether adjustment of bank reversal deadbands were necessary, the heading alignment velocity trigger was in union with other parameters to balance the EDL risks, and the vertical L/D command limits. This paper details a preliminary postflight assessment of the telemetry and trajectory reconstruction that is being performed, and updates the information presented in the former paper Entry Guidance for the 2011 Mars Science Laboratory Mission (AIAA Atmospheric Flight Mechanics Conference; 8-11 Aug. 2011; Portland, OR; United States)

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Matthies, Larry H.

1998-01-01

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Pseudosmooth tribrid inflation

NASA Astrophysics Data System (ADS)

Antusch, Stefan; Nolde, David; Rehman, Mansoor Ur

2012-08-01

We explore a new class of supersymmetric models of inflation where the inflaton is realised as a combination of a Higgs field and (gauge non-singlet) matter fields, using a ``tribrid'' structure of the superpotential. Inflation is associated with a phase transition around GUT scale energies. The inflationary trajectory already preselects the later vacuum after inflation, which has the advantage of automatically avoiding the production of dangerous topological defects at the end of inflation. While at first sight the models look similar to smooth inflation, they feature a waterfall and are therefore only pseudosmooth. The new class of models offers novel possibilities for realising inflation in close contact with particle physics, for instance with supersymmetric GUTs or with supersymmetric flavour models based on family symmetries.