Drive Control of an Electric Vehicle by a Non-linear Controller

NASA Astrophysics Data System (ADS)

Mubin, Marizan; Ouchi, Shigeto; Anabuki, Masatoshi; Hirata, Hiroshi

The driving force of automobiles is transmitted by the frictional force between the tires and the road surface. This frictional force is a function of the weight of the car-body and the friction coefficient μ between the tires and the road surface. The friction coefficient μ is also a function of the following parameters: the slip ratio λ determined by the car-body speed and the wheel speed, and the condition of the road surface. Slippage of automobiles which causes much damage often occurs during accelerating and braking. In this paper, we propose a new drive control system which has an effect on acceleration and braking. In the drive control system, a non-linear controller designed by using a Lyapunov function is used. This non-linear controller has two functions: first one is μ control which moves the car-body, another one is λ control. The controller is designed in order that μ and λ work at noslip and with slip respectively. As another controller, a disturbance observer is used for estimating the car-body speed which is difficult to be measured. Then, this lead to the proof of the stability condition of the combined system which consists of two controllers: the non-linear controller and the disturbance observer. Finally, the effectiveness of this control system is proved by a very satisfactory simulation and experimental results for two cases.

Hierarchical control of ride height system for electronically controlled air suspension based on variable structure and fuzzy control theory

NASA Astrophysics Data System (ADS)

Xu, Xing; Zhou, Kongkang; Zou, Nannan; Jiang, Hong; Cui, Xiaoli

2015-09-01

The current research of air suspension mainly focuses on the characteristics and design of the air spring. In fact, electronically controlled air suspension (ECAS) has excellent performance in flexible height adjustment during different driving conditions. However, the nonlinearity of the ride height adjusting system and the uneven distribution of payload affect the control accuracy of ride height and the body attitude. Firstly, the three-point measurement system of three height sensors is used to establish the mathematical model of the ride height adjusting system. The decentralized control of ride height and the centralized control of body attitude are presented to design the ride height control system for ECAS. The exact feedback linearization method is adopted for the nonlinear mathematical model of the ride height system. Secondly, according to the hierarchical control theory, the variable structure control (VSC) technique is used to design a controller that is able to adjust the ride height for the quarter-vehicle anywhere, and each quarter-vehicle height control system is independent. Meanwhile, the three-point height signals obtained by three height sensors are tracked to calculate the body pitch and roll attitude over time, and then by calculating the deviation of pitch and roll and its rates, the height control correction is reassigned based on the fuzzy algorithm. Finally, to verify the effectiveness and performance of the proposed combined control strategy, a validating test of ride height control system with and without road disturbance is carried out. Testing results show that the height adjusting time of both lifting and lowering is over 5 s, and the pitch angle and the roll angle of body attitude are less than 0.15°. This research proposes a hierarchical control method that can guarantee the attitude stability, as well as satisfy the ride height tracking system.

Multimodal Perception and Multicriterion Control of Nested Systems. 1; Coordination of Postural Control and Vehicular Control

NASA Technical Reports Server (NTRS)

Riccio, Gary E.; McDonald, P. Vernon

1998-01-01

The purpose of this report is to identify the essential characteristics of goal-directed whole-body motion. The report is organized into three major sections (Sections 2, 3, and 4). Section 2 reviews general themes from ecological psychology and control-systems engineering that are relevant to the perception and control of whole-body motion. These themes provide an organizational framework for analyzing the complex and interrelated phenomena that are the defining characteristics of whole-body motion. Section 3 of this report applies the organization framework from the first section to the problem of perception and control of aircraft motion. This is a familiar problem in control-systems engineering and ecological psychology. Section 4 examines an essential but generally neglected aspect of vehicular control: coordination of postural control and vehicular control. To facilitate presentation of this new idea, postural control and its coordination with vehicular control are analyzed in terms of conceptual categories that are familiar in the analysis of vehicular control.

Comparison of estimates of body fat content in childhood-onset systemic lupus erythematosus.

PubMed

Sinicato, N A; Peres, F A; de Oliveira Peliçari, K; de Oliveira Santos, A; Ramos, C D; Marini, R; Appenzeller, S

2017-04-01

Objective We aimed to compare estimates of body fat content with respect to their ability to predict the percentage of body fat, confirmed by dual-energy X-ray absorptiometry scans in childhood-onset systemic lupus erythematosus. Methods We included 64 consecutive childhood-onset systemic lupus erythematosus patients and 64 healthy age and sex-matched controls in a cross-sectional study. Anthropometric data, body mass index and body adiposity index were calculated for all subjects. Childhood-onset systemic lupus erythematosus patients were further assessed for clinical and laboratory childhood-onset systemic lupus erythematosus manifestations and fat mass, lean mass and percentage of body fat evaluated by dual-energy X-ray absorptiometry. Results Elevated waist/hip ratio was observed in childhood-onset systemic lupus erythematosus patients when compared to controls ( p < 0.001). We did not find differences between body mass index and body adiposity index classification in childhood-onset systemic lupus erythematosus patients and controls. Using dual-energy X-ray absorptiometry as gold standard we observed that all indirect estimates of body fat were correlated with whole body fat mass. We observed a correlation between height and cumulative corticosteroid dose adjusted by weight ( r = 0.429, p = 0.005) in childhood-onset systemic lupus erythematosus. On whole body analysis we observed a correlation between lean mass and ACR Damage Index scores ( r = -0.395; p = 0.019); percentage of body fat and adjusted Systemic Lupus Erythematosus Disease Activity Index ( r = 0.402; p = 0.008), disease duration ( r = -0.370; p = 0.012). On trunk analysis we observed a correlation between lean mass and ACR Damage Index ( r = -0.319; p = 0.042); percentage of body fat with adjusted Systemic Lupus Erythematosus Disease Activity Index ( r = 0.402; p = 0.005), disease duration ( r = -0.408; p = 0.005). Conclusions This is the first study analyzing body adiposity index in childhood-onset systemic lupus erythematosus patients. We observed that all indirect estimates of body fat were correlated with whole body fat mass. This study shows that we should not replace body mass index by body adiposity index to evaluating fat levels in childhood-onset systemic lupus erythematosus. In consideration of the importance of overweight classification in cardiovascular diseases, any direct estimates of body fat can be used in an attempt to improve the prognosis of patients. Note We believe that we have presented evidence of body adiposity index accuracy in childhood-onset systemic lupus erythematosus patients but further research on the generalizability of body adiposity index to other patient groups needs to be done.

Evolving Systems: An Outcome of Fondest Hopes and Wildest Dreams

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Balas, Mark J.

2012-01-01

New theory is presented for evolving systems, which are autonomously controlled subsystems that self-assemble into a new evolved system with a higher purpose. Evolving systems of aerospace structures often require additional control when assembling to maintain stability during the entire evolution process. This is the concept of Adaptive Key Component Control that operates through one specific component to maintain stability during the evolution. In addition, this control must often overcome persistent disturbances that occur while the evolution is in progress. Theoretical results will be presented for Adaptive Key Component control for persistent disturbance rejection. An illustrative example will demonstrate the Adaptive Key Component controller on a system composed of rigid body and flexible body modes.

Active vibration control techniques for flexible space structures

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Jayasuriya, Suhada

1990-01-01

Two proposed control system design techniques for active vibration control in flexible space structures are detailed. Control issues relevant only to flexible-body dynamics are addressed, whereas no attempt was made to integrate the flexible and rigid-body spacecraft dynamics. Both of the proposed approaches revealed encouraging results; however, further investigation of the interaction of the flexible and rigid-body dynamics is warranted.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-01

VEHICLE IN AN OFF-ROAD SCENARIO USING INTEGRATED SENSOR, CONTROLLER, AND MULTI-BODY DYNAMICS Paramsothy Jayakumar , PhD William Smith US Army...environment for a control system, mechanical system dynamics , and sensor simulation for an improved assessment of the vehicle system performance...improve vehicle dynamic performance; we must also evaluate and improve the sensor suite employed on the vehicle, and the controller used to operate

A global bioheat model with self-tuning optimal regulation of body temperature using Hebbian feedback covariance learning.

PubMed

Ong, M L; Ng, E Y K

2005-12-01

In the lower brain, body temperature is continually being regulated almost flawlessly despite huge fluctuations in ambient and physiological conditions that constantly threaten the well-being of the body. The underlying control problem defining thermal homeostasis is one of great enormity: Many systems and sub-systems are involved in temperature regulation and physiological processes are intrinsically complex and intertwined. Thus the defining control system has to take into account the complications of nonlinearities, system uncertainties, delayed feedback loops as well as internal and external disturbances. In this paper, we propose a self-tuning adaptive thermal controller based upon Hebbian feedback covariance learning where the system is to be regulated continually to best suit its environment. This hypothesis is supported in part by postulations of the presence of adaptive optimization behavior in biological systems of certain organisms which face limited resources vital for survival. We demonstrate the use of Hebbian feedback covariance learning as a possible self-adaptive controller in body temperature regulation. The model postulates an important role of Hebbian covariance adaptation as a means of reinforcement learning in the thermal controller. The passive system is based on a simplified 2-node core and shell representation of the body, where global responses are captured. Model predictions are consistent with observed thermoregulatory responses to conditions of exercise and rest, and heat and cold stress. An important implication of the model is that optimal physiological behaviors arising from self-tuning adaptive regulation in the thermal controller may be responsible for the departure from homeostasis in abnormal states, e.g., fever. This was previously unexplained using the conventional "set-point" control theory.

Design of a New Integrated Structure of the Active Suspension System and Emergency Lane Change Test

NASA Astrophysics Data System (ADS)

Zhao, Jing-bo; Liu, Hai-mei; Zhang, Lan-chun; Bei, Shao-yi

2017-09-01

An integrated structure of the active suspension system was proposed in order to solve the problem of the individual control of the height of the body or the adjustable damping of the active suspension system of the electric vehicle, which improve the vibration reduction performance of the vehicle. The air bag was used to replace the traditional spiral spring, and the traditional shock absorber was replaced by the damping adjustable shock absorber, and the control module received the body acceleration sensor and the horizontal height sensor signal. The system controlled adjustable damping coefficient of shock absorber through the height of the car body the output of the air pump relay and the height control valve and the output of the electromagnetic valve of the adjustable damping shock absorber, and the emergency lane change test was carried out under different modes of speed of 60km/h. The experimental results indicated that the damping value was greater, average roll angle, yaw angle and average vehicle lateral acceleration were small when vehicle body was in the state of emergency lane change, which verified the feasibility of the integrated control strategy and structure design of the active suspension system. The research has important theoretical research value and engineering application prospect for designing and controlling strategy of vehicle chassis integrated control system.

Orthotic Body-Weight Support Through Underactuated Potential Energy Shaping with Contact Constraints

PubMed Central

Lv, Ge; Gregg, Robert D.

2015-01-01

Body-weight support is an effective clinical tool for gait rehabilitation after neurological impairment. Body-weight supported training systems have been developed to help patients regain mobility and confidence during walking, but conventional systems constrain the patient's treatment in clinical environments. We propose that this challenge could be addressed by virtually providing patients with body-weight support through the actuators of a powered orthosis (or exoskeleton) utilizing potential energy shaping control. However, the changing contact conditions and degrees of underactuation encountered during human walking present significant challenges to consistently matching a desired potential energy for the human in closed loop. We therefore introduce a generalized matching condition for shaping Lagrangian systems with holonomic contact constraints. By satisfying this matching condition for four phases of gait, we derive control laws to achieve virtual body-weight support through a powered knee-ankle orthosis. We demonstrate beneficial effects of virtual body-weight support in simulations of a human-like biped model, indicating the potential clinical value of this proposed control approach. PMID:26900254

Standing-up exerciser based on functional electrical stimulation and body weight relief.

PubMed

Ferrarin, M; Pavan, E E; Spadone, R; Cardini, R; Frigo, C

2002-05-01

The goal of the present work was to develop and test an innovative system for the training of paraplegic patients when they are standing up. The system consisted of a computer-controlled stimulator, surface electrodes for quadricep muscle stimulation, two knee angle sensors, a digital proportional-integrative-derivative (PID) controller and a mechanical device to support, partially, the body weight (weight reliever (WR)). A biomechanical model of the combined WR and patient was developed to find an optimum reference trajectory for the PID controller. The system was tested on three paraplegic patients and was shown to be reliable and safe. One patient completed a 30-session training period. Initially he was able to stand up only with 62% body weight relief, whereas, after the training period, he performed a series of 30 standing-up/sitting-down cycles with 45% body weight relief. The closed-loop controller was able to keep the patient standing upright with minimum stimulation current, to compensate automatically for muscle fatigue and to smooth the sitting-down movement. The limitations of the controller in connection with a highly non-linear system are considered.

A digital computer program for the dynamic interaction simulation of controls and structure (DISCOS), volume 1

NASA Technical Reports Server (NTRS)

Bodley, C. S.; Devers, A. D.; Park, A. C.; Frisch, H. P.

1978-01-01

A theoretical development and associated digital computer program system for the dynamic simulation and stability analysis of passive and actively controlled spacecraft are presented. The dynamic system (spacecraft) is modeled as an assembly of rigid and/or flexible bodies not necessarily in a topological tree configuration. The computer program system is used to investigate total system dynamic characteristics, including interaction effects between rigid and/or flexible bodies, control systems, and a wide range of environmental loadings. In addition, the program system is used for designing attitude control systems and for evaluating total dynamic system performance, including time domain response and frequency domain stability analyses.

Central control of body temperature

PubMed Central

Morrison, Shaun F.

2016-01-01

Central neural circuits orchestrate the behavioral and autonomic repertoire that maintains body temperature during environmental temperature challenges and alters body temperature during the inflammatory response and behavioral states and in response to declining energy homeostasis. This review summarizes the central nervous system circuit mechanisms controlling the principal thermoeffectors for body temperature regulation: cutaneous vasoconstriction regulating heat loss and shivering and brown adipose tissue for thermogenesis. The activation of these thermoeffectors is regulated by parallel but distinct efferent pathways within the central nervous system that share a common peripheral thermal sensory input. The model for the neural circuit mechanism underlying central thermoregulatory control provides a useful platform for further understanding of the functional organization of central thermoregulation, for elucidating the hypothalamic circuitry and neurotransmitters involved in body temperature regulation, and for the discovery of novel therapeutic approaches to modulating body temperature and energy homeostasis. PMID:27239289

Central control of body temperature.

PubMed

Morrison, Shaun F

2016-01-01

Central neural circuits orchestrate the behavioral and autonomic repertoire that maintains body temperature during environmental temperature challenges and alters body temperature during the inflammatory response and behavioral states and in response to declining energy homeostasis. This review summarizes the central nervous system circuit mechanisms controlling the principal thermoeffectors for body temperature regulation: cutaneous vasoconstriction regulating heat loss and shivering and brown adipose tissue for thermogenesis. The activation of these thermoeffectors is regulated by parallel but distinct efferent pathways within the central nervous system that share a common peripheral thermal sensory input. The model for the neural circuit mechanism underlying central thermoregulatory control provides a useful platform for further understanding of the functional organization of central thermoregulation, for elucidating the hypothalamic circuitry and neurotransmitters involved in body temperature regulation, and for the discovery of novel therapeutic approaches to modulating body temperature and energy homeostasis.

Fully decentralized control of a soft-bodied robot inspired by true slime mold.

PubMed

Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio

2010-03-01

Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom, equivalent to animals, into the robots' bodies. For taming many degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However a systematic way of designing such autonomous decentralized control system is still missing. Aiming at understanding the principles that underlie animals' locomotion, we have focused on a true slime mold, a primitive living organism, and extracted a design scheme for autonomous decentralized control system. In order to validate this design scheme, this article presents a soft-bodied amoeboid robot inspired by the true slime mold. Significant features of this robot are twofold: (1) the robot has a truly soft and deformable body stemming from real-time tunable springs and protoplasm, the former is used for an outer skin of the body and the latter is to satisfy the law of conservation of mass; and (2) fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts stemming from the law of conservation of protoplasmic mass. Simulation results show that this robot exhibits highly supple and adaptive locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design methodology for autonomous decentralized control system.

[Design of a miniaturized blood temperature-varying system based on computer distributed control].

PubMed

Xu, Qiang; Zhou, Zhaoying; Peng, Jiegang; Zhu, Junhua

2007-10-01

Blood temperature-varying has been widely applied in clinical practice such as extracorporeal circulation for whole-body perfusion hyperthermia (WBPH), body rewarming and blood temperature-varying in organ transplantation. This paper reports a novel DCS (Computer distributed control)-based blood temperature-varying system which includes therapy management function and whose hardware and software can be extended easily. Simulation results illustrate that this system provides precise temperature control with good performance in various operation conditions.

A cardiovascular system model for lower-body negative pressure response

NASA Technical Reports Server (NTRS)

Mitchell, B. A., Jr.; Giese, R. P.

1971-01-01

Mathematical models used to study complex physiological control systems are discussed. Efforts were made to modify a model of the cardiovascular system for use in studying lower body negative pressure. A computer program was written which allows orderly, straightforward expansion to include exercise, metabolism (thermal stress), respiration, and other body functions.

Actively controlled vibration welding system and method

DOEpatents

Cai, Wayne W.; Kang, Bongsu; Tan, Chin-An

2013-04-02

A vibration welding system includes a controller, welding horn, an active material element, and anvil assembly. The assembly may include an anvil body connected to a back plate and support member. The element, e.g., a piezoelectric stack or shape memory alloy, is positioned with respect to the assembly. The horn vibrates in a desirable first direction to form a weld on a work piece. The element controls any vibrations in a second direction by applying calibrated response to the anvil body in the second direction. A method for controlling undesirable vibrations in the system includes positioning the element with respect to the anvil assembly, connecting the anvil body to the support member through the back plate, vibrating the horn in a desirable first direction, and transmitting an input signal to the element to control vibration in an undesirable second direction.

Coupling of fingertip somatosensory information to head and body sway

NASA Technical Reports Server (NTRS)

Jeka, J. J.; Schoner, G.; Dijkstra, T.; Ribeiro, P.; Lackner, J. R.

1997-01-01

Light touch contact of a fingertip with a stationary surface can provide orientation information that enhances control of upright stance. Slight changes in contact force at the fingertip provide sensory cues about the direction of body sway, allowing attenuation of sway. In the present study, we asked to which extent somatosensory cues are part of the postural control system, that is, which sensory signal supports this coupling? We investigated postural control not only when the contact surface was stationary, but also when it was moving rhythmically (from 0.1 to 0.5 Hz). In doing so, we brought somatosensory cues from the hand into conflict with other parts of the postural control system. Our focus was the temporal relationship between body sway and the contact surface. Postural sway was highly coherent with contact surface motion. Head and body sway assumed the frequency of the moving contact surface at all test frequencies. To account for these results, a simple model was formulated by approximating the postural control system as a second-order linear dynamical system. The influence of the touch stimulus was captured as the difference between the velocity of the contact surface and the velocity of body sway, multiplied by a coupling constant. Comparison of empirical results (relative phase, coherence, and gain) with model predictions supports the hypothesis of coupling between body sway and touch cues through the velocity of the somatosensory stimulus at the fingertip. One subject, who perceived movement of the touch surface, demonstrated weaker coupling than other subjects, suggesting that cognitive mechanisms introduce flexibility into the postural control scheme.

Control System for Prosthetic Devices

NASA Technical Reports Server (NTRS)

Bozeman, Richard J. (Inventor)

1996-01-01

A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that of movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the moveable body part through the full-shrg position of the moveable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the moveable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective moveable prosthesis device and its sub-prosthesis.

Control system and method for prosthetic devices

NASA Technical Reports Server (NTRS)

Bozeman, Richard J., Jr. (Inventor)

1992-01-01

A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the movable body part through the full-shrug position of the movable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the movable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective movable prosthesis device and its sub-prosthesis.

An intelligent control and virtual display system for evolutionary space station workstation design

NASA Technical Reports Server (NTRS)

Feng, Xin; Niederjohn, Russell J.; Mcgreevy, Michael W.

1992-01-01

Research and development of the Advanced Display and Computer Augmented Control System (ADCACS) for the space station Body-Ported Cupola Virtual Workstation (BP/VCWS) were pursued. The potential applications were explored of body ported virtual display and intelligent control technology for the human-system interfacing applications is space station environment. The new system is designed to enable crew members to control and monitor a variety of space operations with greater flexibility and efficiency than existing fixed consoles. The technologies being studied include helmet mounted virtual displays, voice and special command input devices, and microprocessor based intelligent controllers. Several research topics, such as human factors, decision support expert systems, and wide field of view, color displays are being addressed. The study showed the significant advantages of this uniquely integrated display and control system, and its feasibility for human-system interfacing applications in the space station command and control environment.

Brain-controlled body movement assistance devices and methods

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

Leuthardt, Eric C.; Love, Lonnie J.; Coker, Rob

Methods, devices, systems, and apparatus, including computer programs encoded on a computer storage medium, for brain-controlled body movement assistance devices. In one aspect, a device includes a brain-controlled body movement assistance device with a brain-computer interface (BCI) component adapted to be mounted to a user, a body movement assistance component operably connected to the BCI component and adapted to be worn by the user, and a feedback mechanism provided in connection with at least one of the BCI component and the body movement assistance component, the feedback mechanism being configured to output information relating to a usage session of themore » brain-controlled body movement assistance device.« less

Simulation of a flexible spinning vehicle

NASA Technical Reports Server (NTRS)

Baudry, W. A.

1972-01-01

Results are presented of experimental investigation of the controlled and uncontrolled dynamical behavior of a rotating or artificial gravity space station including flexible body effects. A dynamically scaled model was supported by a spherical air bearing which provided a nearly moment free environment. Reaction jet system were provided for spin-up and spin-down and for damping of wobble motion. Two single-gimbal gyros were arranged as a control moment gyro wobble damping system. Remotely controllable movable masses were provided to simulate mass shift disturbances such as arise from crew motions. An active mass balance wobble damping system which acted to minimize the wobble motions induced by crew motions was also installed. Flexible body effects were provided by a pair of inertia augmentation booms. Inertia augmentation booms are contemplated for use on rotating space stations to cause the spin axis moment of inertia to be the largest of the three moments of inertia as is necessary to assure gyroscopic stability. Test runs were made with each of the control systems with the booms locked (rigid body) and unlocked (flexible body).

Motor-based bodily self is selectively impaired in eating disorders.

PubMed

Campione, Giovanna Cristina; Mansi, Gianluigi; Fumagalli, Alessandra; Fumagalli, Beatrice; Sottocornola, Simona; Molteni, Massimo; Micali, Nadia

2017-01-01

Body representation disturbances in body schema (i.e. unconscious sensorimotor body representations for action) have been frequently reported in eating disorders. Recently, it has been proposed that body schema relies on adequate functioning of the motor system, which is strongly implicated in discriminating between one's own and someone else's body. The present study aimed to investigate the motor-based bodily self in eating disorders and controls, in order to examine the role of the motor system in body representation disturbances at the body schema level. Female outpatients diagnosed with eating disorders (N = 15), and healthy controls (N = 18) underwent a hand laterality task, in which their own (self-stimuli) and someone else's hands (other-stimuli) were displayed at different orientations. Participants had to mentally rotate their own hand in order to provide a laterality judgement. Group differences in motor-based bodily self-recognition-i.e. whether a general advantage occurred when implicitly processing self- vs. other-stimuli - were evaluated, by analyzing response times and accuracy by means of mixed ANOVAs. Patients with eating disorders did not show a temporal advantage when mentally rotating self-stimuli compared to other-stimuli, as opposed to controls (F(1, 31) = 5.6, p = 0.02; eating disorders-other = 1092 ±256 msec, eating disorders-self = 1097±254 msec; healthy controls-other = 1239±233 msec, healthy controls -self = 1192±232 msec). This study provides initial indication that high-level motor functions might be compromised as part of body schema disturbances in eating disorders. Further larger investigations are required to test motor system abnormalities in the context of body schema disturbance in eating disorders.

Preparing and probing many-body correlated systems in a Quantum Gas Microscope by engineering arbitrary landscape potentials

NASA Astrophysics Data System (ADS)

Rispoli, Matthew; Lukin, Alexander; Ma, Ruichao; Preiss, Philipp; Tai, M. Eric; Islam, Rajibul; Greiner, Markus

2015-05-01

Ultracold atoms in optical lattices provide a versatile tool box for observing the emergence of strongly correlated physics in quantum systems. Dynamic control of optical potentials on the single-site level allows us to prepare and probe many-body quantum states through local Hamiltonian engineering. We achieve these high precision levels of optical control through spatial light modulation with a DMD (digital micro-mirror device). This allows for both arbitrary beam shaping and aberration compensation in our imaging system to produce high fidelity optical potentials. We use these techniques to control state initialization, Hamiltonian dynamics, and measurement in experiments investigating low-dimensional many-body physics - from one-dimensional correlated quantum walks to characterizing entanglement.

Preliminary control/structure interaction study of coupled Space Station Freedom/Assembly Work Platform/orbiter

NASA Technical Reports Server (NTRS)

Singh, Sudeep K.; Lindenmoyer, Alan J.

1989-01-01

Results are presented from a preliminary control/structure interaction study of the Space Station, the Assembly Work Platform, and the STS orbiter dynamics coupled with the orbiter and station control systems. The first three Space Station assembly flight configurations and their finite element representations are illustrated. These configurations are compared in terms of control authority in each axis and propellant usage. The control systems design parameters during assembly are computed. Although the rigid body response was acceptable with the orbiter Primary Reaction Control System, the flexible body response showed large structural deflections and loads. It was found that severe control/structure interaction occurred if the stiffness of the Assembly Work Platform was equal to that of the station truss. Also, the response of the orbiter Vernier Reaction Control System to small changes in inertia properties is examined.

Hamiltonian quantum simulation with bounded-strength controls

NASA Astrophysics Data System (ADS)

Bookatz, Adam D.; Wocjan, Pawel; Viola, Lorenza

2014-04-01

We propose dynamical control schemes for Hamiltonian simulation in many-body quantum systems that avoid instantaneous control operations and rely solely on realistic bounded-strength control Hamiltonians. Each simulation protocol consists of periodic repetitions of a basic control block, constructed as a modification of an ‘Eulerian decoupling cycle,’ that would otherwise implement a trivial (zero) target Hamiltonian. For an open quantum system coupled to an uncontrollable environment, our approach may be employed to engineer an effective evolution that simulates a target Hamiltonian on the system while suppressing unwanted decoherence to the leading order, thereby allowing for dynamically corrected simulation. We present illustrative applications to both closed- and open-system simulation settings, with emphasis on simulation of non-local (two-body) Hamiltonians using only local (one-body) controls. In particular, we provide simulation schemes applicable to Heisenberg-coupled spin chains exposed to general linear decoherence, and show how to simulate Kitaev's honeycomb lattice Hamiltonian starting from Ising-coupled qubits, as potentially relevant to the dynamical generation of a topologically protected quantum memory. Additional implications for quantum information processing are discussed.

Enhancement and sign change of magnetic correlations in a driven quantum many-body system

NASA Astrophysics Data System (ADS)

Görg, Frederik; Messer, Michael; Sandholzer, Kilian; Jotzu, Gregor; Desbuquois, Rémi; Esslinger, Tilman

2018-01-01

Periodic driving can be used to control the properties of a many-body state coherently and to realize phases that are not accessible in static systems. For example, exposing materials to intense laser pulses makes it possible to induce metal-insulator transitions, to control magnetic order and to generate transient superconducting behaviour well above the static transition temperature. However, pinning down the mechanisms underlying these phenomena is often difficult because the response of a material to irradiation is governed by complex, many-body dynamics. For static systems, extensive calculations have been performed to explain phenomena such as high-temperature superconductivity. Theoretical analyses of driven many-body Hamiltonians are more challenging, but approaches have now been developed, motivated by recent observations. Here we report an experimental quantum simulation in a periodically modulated hexagonal lattice and show that antiferromagnetic correlations in a fermionic many-body system can be reduced, enhanced or even switched to ferromagnetic correlations (sign reversal). We demonstrate that the description of the many-body system using an effective Floquet-Hamiltonian with a renormalized tunnelling energy remains valid in the high-frequency regime by comparing the results to measurements in an equivalent static lattice. For near-resonant driving, the enhancement and sign reversal of correlations is explained by a microscopic model of the system in which the particle tunnelling and magnetic exchange energies can be controlled independently. In combination with the observed sufficiently long lifetimes of the correlations in this system, periodic driving thus provides an alternative way of investigating unconventional pairing in strongly correlated systems experimentally.

Enhancement and sign change of magnetic correlations in a driven quantum many-body system.

PubMed

Görg, Frederik; Messer, Michael; Sandholzer, Kilian; Jotzu, Gregor; Desbuquois, Rémi; Esslinger, Tilman

2018-01-24

Periodic driving can be used to control the properties of a many-body state coherently and to realize phases that are not accessible in static systems. For example, exposing materials to intense laser pulses makes it possible to induce metal-insulator transitions, to control magnetic order and to generate transient superconducting behaviour well above the static transition temperature. However, pinning down the mechanisms underlying these phenomena is often difficult because the response of a material to irradiation is governed by complex, many-body dynamics. For static systems, extensive calculations have been performed to explain phenomena such as high-temperature superconductivity. Theoretical analyses of driven many-body Hamiltonians are more challenging, but approaches have now been developed, motivated by recent observations. Here we report an experimental quantum simulation in a periodically modulated hexagonal lattice and show that antiferromagnetic correlations in a fermionic many-body system can be reduced, enhanced or even switched to ferromagnetic correlations (sign reversal). We demonstrate that the description of the many-body system using an effective Floquet-Hamiltonian with a renormalized tunnelling energy remains valid in the high-frequency regime by comparing the results to measurements in an equivalent static lattice. For near-resonant driving, the enhancement and sign reversal of correlations is explained by a microscopic model of the system in which the particle tunnelling and magnetic exchange energies can be controlled independently. In combination with the observed sufficiently long lifetimes of the correlations in this system, periodic driving thus provides an alternative way of investigating unconventional pairing in strongly correlated systems experimentally.

The Relationship Between the Stomatognathic System and Body Posture

PubMed Central

Cuccia, Antonino; Caradonna, Carola

2009-01-01

In recent years, many researchers have investigated the various factors that can influence body posture: mood states, anxiety, head and neck positions, oral functions (respiration, swallowing), oculomotor and visual systems, and the inner ear. Recent studies indicate a role for trigeminal afferents on body posture, but this has not yet been demonstrated conclusively. The present study aims to review the papers that have shown a relationship between the stomatognathic system and body posture. These studies suggest that tension in the stomatognathic system can contribute to impaired neural control of posture. Numerous anatomical connections between the stomatognathic system’s proprioceptive inputs and nervous structures are implicated in posture (cerebellum, vestibular and oculomotor nuclei, superior colliculus). If the proprioceptive information of the stomatognathic system is inaccurate, then head control and body position may be affected. In addition, the present review discusses the role the myofascial system plays in posture. If confirmed by further research, these considerations can improve our understanding and treatment of muscular-skeletal disorders that are associated with temporomandibular joint disorders, occlusal changes, and tooth loss. PMID:19142553

Process- and controller-adaptations determine the physiological effects of cold acclimation.

PubMed

Werner, Jürgen

2008-09-01

Experimental results on physiological effects of cold adaptation seem confusing and apparently incompatible with one another. This paper will explain that a substantial part of such a variety of results may be deduced from a common functional concept. A core/shell treatment ("model") of the thermoregulatory system is used with mean body temperature as the controlled variable. Adaptation, as a higher control level, is introduced into the system. Due to persistent stressors, either the (heat transfer) process or the controller properties (parameters) are adjusted (or both). It is convenient to call the one "process adaptation" and the other "controller adaptation". The most commonly demonstrated effect of autonomic cold acclimation is a change in the controller threshold. The analysis shows that this necessarily means a lowering of body temperature because of a lowered metabolic rate. This explains experimental results on both Europeans in the climatic chamber and Australian Aborigines in a natural environment. Exclusive autonomic process adaptation occurs in the form of a better insulation. The analysis explains why the post-adaptive steady-state can only be achieved, if the controller system reduces metabolism and why in spite of this the new state is inevitably characterized by a rise in body temperature. If both process and controller adaptations are simultaneously present, there may be not any change of body temperature at all, e.g., as demonstrated in animal experiments. Whether this kind of adaptation delivers a decrease, an increase or no change of mean body temperature, depends on the proportion of process and controller adaptation.

Active and passive stabilization of body pitch in insect flight

PubMed Central

Ristroph, Leif; Ristroph, Gunnar; Morozova, Svetlana; Bergou, Attila J.; Chang, Song; Guckenheimer, John; Wang, Z. Jane; Cohen, Itai

2013-01-01

Flying insects have evolved sophisticated sensory–motor systems, and here we argue that such systems are used to keep upright against intrinsic flight instabilities. We describe a theory that predicts the instability growth rate in body pitch from flapping-wing aerodynamics and reveals two ways of achieving balanced flight: active control with sufficiently rapid reactions and passive stabilization with high body drag. By glueing magnets to fruit flies and perturbing their flight using magnetic impulses, we show that these insects employ active control that is indeed fast relative to the instability. Moreover, we find that fruit flies with their control sensors disabled can keep upright if high-drag fibres are also attached to their bodies, an observation consistent with our prediction for the passive stability condition. Finally, we extend this framework to unify the control strategies used by hovering animals and also furnish criteria for achieving pitch stability in flapping-wing robots. PMID:23697713

Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-09-22

Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot's body was confirmed when operators controlled the robot either by performing the desired motion with their body (motion-control) or by employing a brain-computer interface (BCI) that translated motor imagery commands to robot movement (BCI-control). The interesting observation during BCI-control was that the illusion could be induced even with a noticeable delay in the BCI system. Temporal discrepancy has always shown critical weakening effects on body ownership illusions. However the delay-robustness of BOT during BCI-control raised a question about the interaction between the proprioceptive inputs and delayed visual feedback in agency-driven illusions. In this work, we compared the intensity of BOT illusion for operators in two conditions; motion-control and BCI-control. Our results revealed a significantly stronger BOT illusion for the case of BCI-control. This finding highlights BCI's potential in inducing stronger agency-driven illusions by building a direct communication between the brain and controlled body, and therefore removing awareness from the subject's own body.

DISCOS- DYNAMIC INTERACTION SIMULATION OF CONTROLS AND STRUCTURES (DEC VAX VERSION)

NASA Technical Reports Server (NTRS)

Frisch, H. P.

1994-01-01

The Dynamic Interaction Simulation of Controls and Structure (DISCOS) program was developed for the dynamic simulation and stability analysis of passive and actively controlled spacecraft. In the use of DISCOS, the physical system undergoing analysis may be generally described as a cluster of contiguous flexible structures (bodies) that comprise a mechanical system, such as a spacecraft. The entire system (spacecraft) or portions thereof may be either spinning or nonspinning. Member bodies of the system may undergo large relative excursions, such as those of appendage deployment or rotor/ stator motion. The general system of bodies is, by its inherent nature, a feedback system in which inertial forces (such as those due to centrifugal and Coriolis acceleration) and the restoring and damping forces are motion-dependent. The system may possess a control system in which certain position and rate errors are actively controlled through the use of reaction control jets, servomotors, or momentum wheels. Bodies of the system may be interconnected by linear or nonlinear springs and dampers, by a gimbal and slider block mechanism, or by any combination of these. The DISCOS program can be used to obtain nonlinear and linearized time response of the system, interaction constant forces in the system, total system resonance properties, and frequency domain response and stability information for the system. DISCOS is probably the most powerful computational tool to date for the computer simulation of actively controlled coupled multi-flexible-body systems. The program is not easy to understand and effectively apply, but is not intended for simple problems. The DISCOS user is expected to have extensive working knowledge of rigid-body and flexible-body dynamics, finite-element techniques, numerical methods, and frequency-domain analysis. Various applications of DISCOS include simulation of the Shuttle payload deployment/retrieval mechanism, solar panel array deployment, antenna deployment, analysis of multispin satellites, and analysis of large, highly flexible satellites, including the design of attitude-control systems. The overall approach of DISCOS is unique in that any member body of the system may be flexible, and the system is not restricted to a topological tree configuration. The equations of motion are developed using the most general form of Lagrange's equations, including auxiliary nonholonomic rehenomic conditions of constraint. Lagrange multipliers are used as interaction forces/ torques to maintain prescribed constraints. Nonlinear flexible/rigid dynamic coupling effects are accounted for in unabridged fashion for individual bodies and for the total system. Elastic deformation can be represented by normal vibration modes or by any adequate series of Rayleigh functions, including 'quasi-static' displacement functions. To 'solve' Lagrange's equations of motion, the explicit form of the kinetic and potential energy functions, the dissipation function, and the form of the transformation relating ordinary Cartesian position coordinates to the generalized coordinates must be defined. The potential energy and dissipation functions for a structure are determined with standard finite-element techniques by the NASTRAN program. In order to use the computed functions, the Lagrange's equations and the system kinematic constraint equations are expressed in matrix format. These differential matrix equations are solved numerically by the DISCOS program. Provisions are included for environmental loading of the structure (spacecraft), including solar pressure, gravity gradient, and aerodynamic drag. Input to DISCOS includes topological and geometrical descriptions of the structure under analysis, initial conditions, control system descriptions, and NASTRAN-derived structural matrices. Specialized routines are supplied that read the input data and redimension the DISCOS programs to minimize core requirements. Output includes an extensive list of calculated parameters for each body of the structure, system state vector and its time derivatives, euler angles and position coordinates and their time derivatives, control system variables and their time derivatives, and various system parameters at a given simulation time. For linearized system analysis, output includes the various transfer matrices, eigenvectors, and calculated eigenvalues. The DISCOS program is available by license for a period of ten (10) years to approved licensees. The licensed program product delivered includes the source code and supporting documentation. Additional documentation may be purchased separately at any time. The IBM version of DISCOS is written in FORTRAN IV for batch execution and has been implemented on an IBM 360 series computer under OS with a central memory requirement of approximately 1,100K of 8 bit bytes. The DEC VAX version of DISCOS is written in FORTRAN for batch execution and has been implemented on a DEC VAX series computer under VMS. For plotted output a SC4020 plotting system is required. DISCOS was developed on the IBM in 1978 and was adapted (with enhancements) to the DEC VAX in 1982.

DISCOS- DYNAMIC INTERACTION SIMULATION OF CONTROLS AND STRUCTURES (IBM VERSION)

NASA Technical Reports Server (NTRS)

Frisch, H. P.

1994-01-01

The Dynamic Interaction Simulation of Controls and Structure (DISCOS) program was developed for the dynamic simulation and stability analysis of passive and actively controlled spacecraft. In the use of DISCOS, the physical system undergoing analysis may be generally described as a cluster of contiguous flexible structures (bodies) that comprise a mechanical system, such as a spacecraft. The entire system (spacecraft) or portions thereof may be either spinning or nonspinning. Member bodies of the system may undergo large relative excursions, such as those of appendage deployment or rotor/ stator motion. The general system of bodies is, by its inherent nature, a feedback system in which inertial forces (such as those due to centrifugal and Coriolis acceleration) and the restoring and damping forces are motion-dependent. The system may possess a control system in which certain position and rate errors are actively controlled through the use of reaction control jets, servomotors, or momentum wheels. Bodies of the system may be interconnected by linear or nonlinear springs and dampers, by a gimbal and slider block mechanism, or by any combination of these. The DISCOS program can be used to obtain nonlinear and linearized time response of the system, interaction constant forces in the system, total system resonance properties, and frequency domain response and stability information for the system. DISCOS is probably the most powerful computational tool to date for the computer simulation of actively controlled coupled multi-flexible-body systems. The program is not easy to understand and effectively apply, but is not intended for simple problems. The DISCOS user is expected to have extensive working knowledge of rigid-body and flexible-body dynamics, finite-element techniques, numerical methods, and frequency-domain analysis. Various applications of DISCOS include simulation of the Shuttle payload deployment/retrieval mechanism, solar panel array deployment, antenna deployment, analysis of multispin satellites, and analysis of large, highly flexible satellites, including the design of attitude-control systems. The overall approach of DISCOS is unique in that any member body of the system may be flexible, and the system is not restricted to a topological tree configuration. The equations of motion are developed using the most general form of Lagrange's equations, including auxiliary nonholonomic rehenomic conditions of constraint. Lagrange multipliers are used as interaction forces/ torques to maintain prescribed constraints. Nonlinear flexible/rigid dynamic coupling effects are accounted for in unabridged fashion for individual bodies and for the total system. Elastic deformation can be represented by normal vibration modes or by any adequate series of Rayleigh functions, including 'quasi-static' displacement functions. To 'solve' Lagrange's equations of motion, the explicit form of the kinetic and potential energy functions, the dissipation function, and the form of the transformation relating ordinary Cartesian position coordinates to the generalized coordinates must be defined. The potential energy and dissipation functions for a structure are determined with standard finite-element techniques by the NASTRAN program. In order to use the computed functions, the Lagrange's equations and the system kinematic constraint equations are expressed in matrix format. These differential matrix equations are solved numerically by the DISCOS program. Provisions are included for environmental loading of the structure (spacecraft), including solar pressure, gravity gradient, and aerodynamic drag. Input to DISCOS includes topological and geometrical descriptions of the structure under analysis, initial conditions, control system descriptions, and NASTRAN-derived structural matrices. Specialized routines are supplied that read the input data and redimension the DISCOS programs to minimize core requirements. Output includes an extensive list of calculated parameters for each body of the structure, system state vector and its time derivatives, euler angles and position coordinates and their time derivatives, control system variables and their time derivatives, and various system parameters at a given simulation time. For linearized system analysis, output includes the various transfer matrices, eigenvectors, and calculated eigenvalues. The DISCOS program is available by license for a period of ten (10) years to approved licensees. The licensed program product delivered includes the source code and supporting documentation. Additional documentation may be purchased separately at any time. The IBM version of DISCOS is written in FORTRAN IV for batch execution and has been implemented on an IBM 360 series computer under OS with a central memory requirement of approximately 1,100K of 8 bit bytes. The DEC VAX version of DISCOS is written in FORTRAN for batch execution and has been implemented on a DEC VAX series computer under VMS. For plotted output a SC4020 plotting system is required. DISCOS was developed on the IBM in 1978 and was adapted (with enhancements) to the DEC VAX in 1982.

Position determination systems. [using orbital antenna scan of celestial bodies

NASA Technical Reports Server (NTRS)

Shores, P. W. (Inventor)

1976-01-01

A system for an orbital antenna, operated at a synchronous altitude, to scan an area of a celestial body is disclosed. The antenna means comprises modules which are operated by a steering signal in a repetitive function for providing a scanning beam over the area. The scanning covers the entire area in a pattern and the azimuth of the scanning beam is transmitted to a control station on the celestial body simultaneous with signals from an activated ground beacon on the celestial body. The azimuth of the control station relative to the antenna is known and the location of the ground beacon is readily determined from the azimuth determinations.

Simulation of disturbance rejection control of half-car active suspension system using active disturbance rejection control with decoupling transformation

NASA Astrophysics Data System (ADS)

Hasbullah, Faried; Faris, Waleed F.

2017-12-01

In recent years, Active Disturbance Rejection Control (ADRC) has become a popular control alternative due to its easy applicability and robustness to varying processes. In this article, ADRC with input decoupling transformation (ADRC-IDT) is proposed to improve ride comfort of a vehicle with an active suspension system using half-car model. The ride performance of the ADRC-IDT is evaluated and compared with decentralized ADRC control as well as the passive system. Simulation results show that both ADRC and ADRC-IDT manage to appreciably reduce body accelerations and able to cope well with varying conditions typically encountered in an active suspension system. Also, it is sufficient to control only the body motions with both active controllers to improve ride comfort while maintaining good road holding and small suspension working space.

Article comprising a garment or other textile structure for use in controlling body temperature

DOEpatents

Butzer, Melissa J.

2000-01-01

There is disclosed an article for use in cooling body temperature which comprises a garment having a coat and pant, with each having a body section adapted to receive a portion of the torso of the wearer and extensions from the body section to receive the wearer's limbs. The garment includes a system for circulating temperature controlling fluid from a suitable source through patches removably received in pockets in each of body section and extensions.

[Exploration of the design of media access control layer of wireless body area network for medical healthcare].

PubMed

Liu, Xuemei; Ge, Baofeng

2012-04-01

This paper proposes a media access control (MAC) layer design for wireless body area network (WBAN) systems. WBAN is a technology that targets for wireless networking of wearable and implantable body sensors which monitor vital body signs, such as heart-rate, body temperature, blood pressure, etc. It has been receiving attentions from international organizations, e. g. the Institute of Electrical and Electronics Engineers (IEEE), due to its capability of providing efficient healthcare services and clinical management. This paper reviews the standardization procedure of WBAN and summarizes the challenge of the MAC layer design. It also discusses the methods of improving power consumption performance, which is one of the major issues of WBAN systems.

Recent Developments in Smart Adaptive Structures for Solar Sailcraft

NASA Technical Reports Server (NTRS)

Whorton, M. S.; Kim, Y. K.; Oakley, J.; Adetona, O.; Keel, L. H.

2007-01-01

The "Smart Adaptive Structures for Solar Sailcraft" development activity at MSFC has investigated issues associated with understanding how to model and scale the subsystem and multi-body system dynamics of a gossamer solar sailcraft with the objective of designing sailcraft attitude control systems. This research and development activity addressed three key tasks that leveraged existing facilities and core competencies of MSFC to investigate dynamics and control issues of solar sails. Key aspects of this effort included modeling and testing of a 30 m deployable boom; modeling of the multi-body system dynamics of a gossamer sailcraft; investigation of control-structures interaction for gossamer sailcraft; and development and experimental demonstration of adaptive control technologies to mitigate control-structures interaction.

Dynamically induced many-body localization

NASA Astrophysics Data System (ADS)

Choi, Soonwon; Abanin, Dmitry A.; Lukin, Mikhail D.

2018-03-01

We show that a quantum phase transition from ergodic to many-body localized (MBL) phases can be induced via periodic pulsed manipulation of spin systems. Such a transition is enabled by the interplay between weak disorder and slow heating rates. Specifically, we demonstrate that the Hamiltonian of a weakly disordered ergodic spin system can be effectively engineered, by using sufficiently fast coherent controls, to yield a stable MBL phase, which in turn completely suppresses the energy absorption from external control field. Our results imply that a broad class of existing many-body systems can be used to probe nonequilibrium phases of matter for a long time, limited only by coupling to external environment.

Many-body Quantum Control of a Spin-1 BEC

NASA Astrophysics Data System (ADS)

Hoang, Thai; Anquez, Martin; Robbins, Bryce; Yang, Xiaoyun; Land, Benjamin; Hamley, Christopher; Chapman, Michael

2014-05-01

Spin-1 condensates provide a useful platform for investigations of atom squeezing, generation of non-Gaussian states, and dynamical control. We demonstrate dynamic control of a quantum many-body spin-1 system that is enabled by strong collisional interactions. In contrast to the usual single-particle quantum control techniques, the method demonstrated here is intrinsically many-body, exploiting the strong collisional interactions. The experiment uses a spin-1 87Rb condensate initialized in the | F = 1 , mF = 0 > polar state at a high magnetic field above the quantum phase transition, and then prepared in a coherent state using a rf rotation. The many-body control is implemented by time-varying the relative strength of the Zeeman and spin interaction energies of the condensate at multiples of the natural coherent oscillation frequency of the system. This is a parametric excitation method relying on time varying changes to the Hamiltonian. We will present our experimental results, which compare well to theory, and will discuss future directions and applications.

Multi-zone cooling/warming garment

NASA Technical Reports Server (NTRS)

Leon, Gloria R. (Inventor); Koscheyev, Victor S. (Inventor); Dancisak, Michael J. (Inventor)

2006-01-01

A thermodynamically efficient garment for cooling and/or heating a human body. The thermodynamic efficiency is provided in part by targeting the heat exchange capabilities of the garment to specific areas and/or structures of the human body. The heat exchange garment includes heat exchange zones and one or more non-heat exchange zones, where the heat exchange zones are configured to correspond to one or more high density tissue areas of the human body when the garment is worn. A system including the garment can be used to exchange heat with the adjacent HD tissue areas under the control of a feedback control system. Sensed physiological parameters received by the feedback control system can be used to adjust the characteristics of heat exchange fluid moving within the heat exchange garment.

Aging changes in the kidneys and bladder

MedlinePlus

... fluid from the body. The kidneys also help control the body's chemical balance. The kidneys are part of the urinary system, which also includes the ureters, bladder, and urethra. Muscle ... bladder control. AGING CHANGES AND THEIR EFFECTS ON THE KIDNEYS ...

HFL-10 lifting body flight control system characteristics and operational experience

NASA Technical Reports Server (NTRS)

Painter, W. D.; Sitterle, G. J.

1974-01-01

A flight evaluation was made of the mechanical hydraulic flight control system and the electrohydraulic stability augmentation system installed in the HL-10 lifting body research vehicle. Flight tests performed in the speed range from landing to a Mach number of 1.86 and the altitude range from 697 meters (2300 feet) to 27,550 meters (90,300 feet) were supplemented by ground tests to identify and correct structural resonance and limit-cycle problems. Severe limit-cycle and control sensitivity problems were encountered during the first flight. Stability augmentation system structural resonance electronic filters were modified to correct the limit-cycle problem. Several changes were made to control stick gearing to solve the control sensitivity problem. Satisfactory controllability was achieved by using a nonlinear system. A limit-cycle problem due to hydraulic fluid contamination was encountered during the first powered flight, but the problem did not recur after preflight operations were improved.

Modeling the Multi-Body System Dynamics of a Flexible Solar Sail Spacecraft

NASA Technical Reports Server (NTRS)

Kim, Young; Stough, Robert; Whorton, Mark

2005-01-01

Solar sail propulsion systems enable a wide range of space missions that are not feasible with current propulsion technology. Hardware concepts and analytical methods have matured through ground development to the point that a flight validation mission is now realizable. Much attention has been given to modeling the structural dynamics of the constituent elements, but to date an integrated system level dynamics analysis has been lacking. Using a multi-body dynamics and control analysis tool called TREETOPS, the coupled dynamics of the sailcraft bus, sail membranes, flexible booms, and control system sensors and actuators of a representative solar sail spacecraft are investigated to assess system level dynamics and control issues. With this tool, scaling issues and parametric trade studies can be performed to study achievable performance, control authority requirements, and control/structure interaction assessments.

Pulse combustor with controllable oscillations

DOEpatents

Richards, George A.; Welter, Michael J.; Morris, Gary J.

1992-01-01

A pulse combustor having thermally induced pulse combustion in a continuously flowing system is described. The pulse combustor is fitted with at lease one elongated ceramic body which significantly increases the heat transfer area in the combustion chamber of the combustor. The ceramic body or bodies possess sufficient mass and heat capacity to ignite the fuel-air charge once the ceramic body or bodies are heated by conventional spark plug initiated combustion so as to provide repetitive ignition and combustion of sequentially introduced fuel-air charges without the assistance of the spark plug and the rapid quenching of the flame after each ignition in a controlled manner so as to provide a selective control over the oscillation frequency and amplitude. Additional control over the heat transfer in the combustion chamber is provided by employing heat exchange mechanisms for selectively heating or cooling the elongated ceramic body or bodies and/or the walls of the combustion chamber.

The evolution of contralateral control of the body by the brain: is it a protective mechanism?

PubMed

Whitehead, Lorne; Banihani, Saleh

2014-01-01

Contralateral control, the arrangement whereby most of the human motor and sensory fibres cross the midline in order to provide control for contralateral portions of the body, presents a puzzle from an evolutionary perspective. What caused such a counterintuitive and complex arrangement to become dominant? In this paper we offer a new perspective on this question by showing that in a complex interactive control system there could be a significant net survival advantage with contralateral control, associated with the effect of injuries of intermediate severity. In such cases an advantage could arise from a combination of non-linear system response combined with correlations between injuries on the same side of the head and body. We show that a simple mathematical model of these ideas emulates such an advantage. Based on this model, we conclude that effects of this kind are a plausible driving force for the evolution of contralateral control.

Many-body coherent destruction of tunneling in photonic lattices

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

Longhi, Stefano

2011-03-15

An optical realization of the phenomenon of many-body coherent destruction of tunneling, recently predicted for interacting many-boson systems by Gong, Molina, and Haenggi [Phys. Rev. Lett. 103, 133002 (2009)], is proposed for light transport in engineered waveguide arrays. The optical system enables a direct visualization in Fock space of the many-body tunneling control process.

Self-propulsion of a body with rigid surface and variable coefficient of lift in a perfect fluid

NASA Astrophysics Data System (ADS)

Ramodanov, Sergey M.; Tenenev, Valentin A.; Treschev, Dmitry V.

2012-11-01

We study the system of a 2D rigid body moving in an unbounded volume of incompressible, vortex-free perfect fluid which is at rest at infinity. The body is equipped with a gyrostat and a so-called Flettner rotor. Due to the latter the body is subject to a lifting force (Magnus effect). The rotational velocities of the gyrostat and the rotor are assumed to be known functions of time (control inputs). The equations of motion are presented in the form of the Kirchhoff equations. The integrals of motion are given in the case of piecewise continuous control. Using these integrals we obtain a (reduced) system of first-order differential equations on the configuration space. Then an optimal control problem for several types of the inputs is solved using genetic algorithms.

Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot

PubMed Central

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot’s body was confirmed when operators controlled the robot either by performing the desired motion with their body (motion-control) or by employing a brain-computer interface (BCI) that translated motor imagery commands to robot movement (BCI-control). The interesting observation during BCI-control was that the illusion could be induced even with a noticeable delay in the BCI system. Temporal discrepancy has always shown critical weakening effects on body ownership illusions. However the delay-robustness of BOT during BCI-control raised a question about the interaction between the proprioceptive inputs and delayed visual feedback in agency-driven illusions. In this work, we compared the intensity of BOT illusion for operators in two conditions; motion-control and BCI-control. Our results revealed a significantly stronger BOT illusion for the case of BCI-control. This finding highlights BCI’s potential in inducing stronger agency-driven illusions by building a direct communication between the brain and controlled body, and therefore removing awareness from the subject’s own body. PMID:27654174

A model of neuro-musculo-skeletal system for human locomotion under position constraint condition.

PubMed

Ni, Jiangsheng; Hiramatsu, Seiji; Kato, Atsuo

2003-08-01

The human locomotion was studied on the basis of the interaction of the musculo-skeletal system, the neural system and the environment. A mathematical model of human locomotion under position constraint condition was established. Besides the neural rhythm generator, the posture controller and the sensory system, the environment feedback controller and the stability controller were taken into account in the model. The environment feedback controller was proposed for two purposes, obstacle avoidance and target position control of the swing foot. The stability controller was proposed to imitate the self-balancing ability of a human body and improve the stability of the model. In the stability controller, the ankle torque was used to control the velocity of the body gravity center. A prediction control algorithm was applied to calculate the torque magnitude of the stability controller. As an example, human stairs climbing movement was simulated and the results were given. The simulation result proved that the mathematical modeling of the task was successful.

Generalized Predictive Control of Dynamic Systems with Rigid-Body Modes

NASA Technical Reports Server (NTRS)

Kvaternik, Raymond G.

2013-01-01

Numerical simulations to assess the effectiveness of Generalized Predictive Control (GPC) for active control of dynamic systems having rigid-body modes are presented. GPC is a linear, time-invariant, multi-input/multi-output predictive control method that uses an ARX model to characterize the system and to design the controller. Although the method can accommodate both embedded (implicit) and explicit feedforward paths for incorporation of disturbance effects, only the case of embedded feedforward in which the disturbances are assumed to be unknown is considered here. Results from numerical simulations using mathematical models of both a free-free three-degree-of-freedom mass-spring-dashpot system and the XV-15 tiltrotor research aircraft are presented. In regulation mode operation, which calls for zero system response in the presence of disturbances, the simulations showed reductions of nearly 100%. In tracking mode operations, where the system is commanded to follow a specified path, the GPC controllers produced the desired responses, even in the presence of disturbances.

Mesofluidic two stage digital valve

DOEpatents

Jansen, John F; Love, Lonnie J; Lind, Randall F; Richardson, Bradley S

2013-12-31

A mesofluidic scale digital valve system includes a first mesofluidic scale valve having a valve body including a bore, wherein the valve body is configured to cooperate with a solenoid disposed substantially adjacent to the valve body to translate a poppet carried within the bore. The mesofluidic scale digital valve system also includes a second mesofluidic scale valve disposed substantially perpendicular to the first mesofluidic scale valve. The mesofluidic scale digital valve system further includes a control element in communication with the solenoid, wherein the control element is configured to maintain the solenoid in an energized state for a fixed period of time to provide a desired flow rate through an orifice of the second mesofluidic valve.

Distributed digital signal processors for multi-body flexible structures

NASA Technical Reports Server (NTRS)

Lee, Gordon K. F.

1992-01-01

Multi-body flexible structures, such as those currently under investigation in spacecraft design, are large scale (high-order) dimensional systems. Controlling and filtering such structures is a computationally complex problem. This is particularly important when many sensors and actuators are located along the structure and need to be processed in real time. This report summarizes research activity focused on solving the signal processing (that is, information processing) issues of multi-body structures. A distributed architecture is developed in which single loop processors are employed for local filtering and control. By implementing such a philosophy with an embedded controller configuration, a supervising controller may be used to process global data and make global decisions as the local devices are processing local information. A hardware testbed, a position controller system for a servo motor, is employed to illustrate the capabilities of the embedded controller structure. Several filtering and control structures which can be modeled as rational functions can be implemented on the system developed in this research effort. Thus the results of the study provide a support tool for many Control/Structure Interaction (CSI) NASA testbeds such as the Evolutionary model and the nine-bay truss structure.

Dynamically Stable Legged Locomotion.

DTIC Science & Technology

1983-01-27

sweeps the leg during stance, and the third places the foot during flight and controls body attitude during stance. Each of the three methods elucidates...secondary strategy has been to examine systems with springy legs, so that the role of resonant oscillatory leg behavior might be better understood. ’ The ...body attitude : I lopping _leit: ’ The control system rcgulate:; hopping height by manlil)Lulating hopping energy. The leg is springy, so hopping is a

Synthesis of a controller for stabilizing the motion of a rigid body about a fixed point

NASA Astrophysics Data System (ADS)

Zabolotnov, Yu. M.; Lobanov, A. A.

2017-05-01

A method for the approximate design of an optimal controller for stabilizing the motion of a rigid body about a fixed point is considered. It is assumed that rigid body motion is nearly the motion in the classical Lagrange case. The method is based on the common use of the Bellman dynamic programming principle and the averagingmethod. The latter is used to solve theHamilton-Jacobi-Bellman equation approximately, which permits synthesizing the controller. The proposed method for controller design can be used in many problems close to the problem of motion of the Lagrange top (the motion of a rigid body in the atmosphere, the motion of a rigid body fastened to a cable in deployment of the orbital cable system, etc.).

Fuel-efficient feedback control of orbital motion around irregular-shaped asteroids

NASA Astrophysics Data System (ADS)

Winkler, Timothy Michael

Unmanned probes are the primary technologies used when exploring celestial bodies in our solar system. As these deep space exploration missions are becoming more and more complex, there is a need for advanced autonomous operation capabilities in order to meet mission objectives. These autonomous capabilities are required as ground-based guidance and navigation commands will not be able to be issued in real time due to the large distance from the Earth. For long-duration asteroid exploration missions, this also entails how to keep the spacecraft around or on the body in order for the mission to be successfully completed. Unlike with larger bodies such as planets, though, the dynamical environment around these smaller bodies can be difficult to characterize. The weak gravitational fields are not uniform due to irregular shapes and non-homogeneous mass distribution, especially when orbiting in close-proximity to the body. On top of that, small perturbation forces such as solar radiation pressure can be strong enough to destabilize an orbit around an asteroid. The best solution for keeping a spacecraft in orbit about a small body is to implement some form of control technique. With conventional propulsion thrusters, active control algorithms tend to have a higher than acceptable propellant requirements for long-duration asteroid exploration missions, which has led to much research being devoted to finding open-loop solutions to long-term stable orbits about small bodies. These solutions can prove to be highly sensitive to the orbit's initial conditions, making them potentially unreliable in the presence of orbit injection errors. This research investigates a fuel-efficient, active control scheme to safely control a spacecraft's orbit in close-proximity to an asteroid. First, three different gravitational models capable of simulating the non-homogeneous gravity fields of asteroids are presented: the polyhedron gravity shape model, a spherical harmonics expansion, and an inertia dyadic gravity model. Then a simple feedback controller augmented by a disturbance-accommodating filter is employed to ensure orbital stability. Using these models and controller, several orbiting cases as well as body-frame hovering are investigated to test the viability and fuel-efficiency of the proposed control system. The ultimate goal is to design an active orbit control system with minimum DeltaV expenditure.

Precision Pointing Control System (PPCS) system design and analysis. [for gimbaled experiment platforms

NASA Technical Reports Server (NTRS)

Frew, A. M.; Eisenhut, D. F.; Farrenkopf, R. L.; Gates, R. F.; Iwens, R. P.; Kirby, D. K.; Mann, R. J.; Spencer, D. J.; Tsou, H. S.; Zaremba, J. G.

1972-01-01

The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target.

45 CFR 1304.51 - Management systems and procedures.

Code of Federal Regulations, 2013 CFR

2013-10-01

... control program quality, maintain program accountability, and advise governing bodies, policy groups, and... DELEGATE AGENCIES Program Design and Management § 1304.51 Management systems and procedures. (a) Program... program planning that includes consultation with the program's governing body, policy groups, and program...

F-15 Intelligent Flight Control System and Aeronautics Research at NASA Dryden

NASA Technical Reports Server (NTRS)

Brown, Nelson A.

2009-01-01

This viewgraph presentation reviews the F-15 Intelligent Flight Control System and Aeronautics including Autonomous Aerial Refueling Demonstrations, X-48B Blended Wing Body, F-15 Quiet Spike, and NF-15 Intelligent Flight Controls.

Simulation capability for dynamics of two-body flexible satellites

NASA Technical Reports Server (NTRS)

Austin, F.; Zetkov, G.

1973-01-01

An analysis and computer program were prepared to realistically simulate the dynamic behavior of a class of satellites consisting of two end bodies separated by a connecting structure. The shape and mass distribution of the flexible end bodies are arbitrary; the connecting structure is flexible but massless and is capable of deployment and retraction. Fluid flowing in a piping system and rigid moving masses, representing a cargo elevator or crew members, have been modeled. Connecting structure characteristics, control systems, and externally applied loads are modeled in easily replaced subroutines. Subroutines currently available include a telescopic beam-type connecting structure as well as attitude, deployment, spin and wobble control. In addition, a unique mass balance control system was developed to sense and balance mass shifts due to the motion of a cargo elevator. The mass of the cargo may vary through a large range. Numerical results are discussed for various types of runs.

A generic multi-flex-body dynamics, controls simulation tool for space station

NASA Technical Reports Server (NTRS)

London, Ken W.; Lee, John F.; Singh, Ramen P.; Schubele, Buddy

1991-01-01

An order (n) multiflex body Space Station simulation tool is introduced. The flex multibody modeling is generic enough to model all phases of Space Station from build up through to Assembly Complete configuration and beyond. Multibody subsystems such as the Mobile Servicing System (MSS) undergoing a prescribed translation and rotation are also allowed. The software includes aerodynamic, gravity gradient, and magnetic field models. User defined controllers can be discrete or continuous. Extensive preprocessing of 'body by body' NASTRAN flex data is built in. A significant aspect, too, is the integrated controls design capability which includes model reduction and analytic linearization.

Control method for prosthetic devices

NASA Technical Reports Server (NTRS)

Bozeman, Richard J., Jr. (Inventor)

1995-01-01

A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the moveable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the moveable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective moveable prosthesis device and its sub-prosthesis.

The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

NASA Technical Reports Server (NTRS)

Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

2010-01-01

Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in the body load-regulating mechanisms that included increased head movement amplitude, increased knee and ankle flexion, and increased stance, stride, and double support time, with no change in the performance of the task with respect to that measured before exposure to BWS. These changes in locomotor control are opposite to that reported during 40% BWS exposure and indicative of an after-effect after removal of the adaptive stimulus. Therefore, it is evident that just 30 minutes of 40% BWS during locomotion was sufficient to induce adaptive modifications in the body load sensing systems that contribute to reorganization of sensory contributions to stable locomotor control.

Simulation of spacecraft attitude dynamics using TREETOPS and model-specific computer Codes

NASA Technical Reports Server (NTRS)

Cochran, John E.; No, T. S.; Fitz-Coy, Norman G.

1989-01-01

The simulation of spacecraft attitude dynamics and control using the generic, multi-body code called TREETOPS and other codes written especially to simulate particular systems is discussed. Differences in the methods used to derive equations of motion--Kane's method for TREETOPS and the Lagrangian and Newton-Euler methods, respectively, for the other two codes--are considered. Simulation results from the TREETOPS code are compared with those from the other two codes for two example systems. One system is a chain of rigid bodies; the other consists of two rigid bodies attached to a flexible base body. Since the computer codes were developed independently, consistent results serve as a verification of the correctness of all the programs. Differences in the results are discussed. Results for the two-rigid-body, one-flexible-body system are useful also as information on multi-body, flexible, pointing payload dynamics.

Utilization of simulation tools in the HL-20 conceptual design process. [passenger-carrying lifting body portion of Personnel Launch System

NASA Technical Reports Server (NTRS)

Jackson, E. B.; Powell, Richard W.; Ragsdale, W. A.

1991-01-01

The role of simulations in the design of the HL-20, the crew-carrying unpowered lifting-body component of the NASA Personnel Launch System, is reviewed and illustrated with drawings and diagrams. Detailed consideration is given to the overall implementation of a real-time simulation of the HL-20 approach and landing phase, the baseline and experimental control laws used in the flight-control system, autoland guidance and control laws (vertical and lateral steering), the control-surface mixer and actuator model, and simulation results. The simulations allowed identification and correction of design problems with respect to the position of the landing gear and the original maximum L/D ratio of 3.2.

Crosstalk between gastrointestinal neurons and the brain in the control of food intake.

PubMed

Mithieux, Gilles

2014-10-01

Recent data have emphasized that the gastrointestinal nervous system is preponderant in the sensing of nutrients and hormones and its translation in terms of control of food intake by the central nervous system. More specifically, the gastrointestinal neural system participates in the control of hunger via the sensing of at least two major macronutrients, e.g. glucose and protein, which may control hunger sensations from the portal vein. Protein are first sensed by mu-opioid receptors present in the portal vein walls to induce intestinal gluconeogenesis-via a reflex arc and next portal glucose sensing. The gastrointestinal nervous system may also account for the rapid benefits of gastric bypass surgeries on energy homeostasis (hunger and body weight) and glucose homeostasis (insulin sensitivity). This knowledge provides novel mechanisms of control of body weight, which might be useful to envision future approaches of prevention or treatment of obesity. Copyright © 2014 Elsevier Ltd. All rights reserved.

Autonomous Landing and Smart Anchoring for In-Situ Exploration of Small Bodies

NASA Technical Reports Server (NTRS)

Ghavimi, Ali R.; Serricchio, Frederick; Hadaegh, Fred Y.; Dolgin, Ben

2000-01-01

Future NASA missions include in-situ scientific explorations of small interplanetary objects like comets and asteroids. Sample acquisition systems are envisioned to operate directly from the landers that are anchored to the surface. Landing and anchoring proves to be challenging in the absence of an attitude control system and in the presence of nearly zero-gravity environments with uncertain surface terrain and unknown mechanical properties. This paper presents recent advancements in developing a novel landing and anchoring control system for the exploration of small bodies.

Responses of sympathetic nervous system to cold exposure in vibration syndrome subjects and age-matched healthy controls.

PubMed

Nakamoto, M

1990-01-01

Plasma norepinephrine and epinephrine in vibration syndrome subjects and age-matched healthy controls were measured for the purpose of estimating the responsibility of the sympathetic nervous system to cold exposure. In preliminary experiment, it was confirmed that cold air exposure of the whole body was more suitable than one-hand immersion in cold water. In the main experiment, 195 subjects were examined. Sixty-five subjects had vibration syndrome with vibration-induced white finger (VWF + group) and 65 subjects had vibration syndrome without VWF (VWF- group) and 65 controls had no symptoms (control group). In the three groups, plasma norepinephrine levels increased during cold air exposure of whole body at 7 degrees +/- 1.5 degrees C. Blood pressure increased and skin temperature decreased during cold exposure. Percent increase of norepinephrine in the VWF+ group was the highest while that in VWF- group followed and that in the control group was the lowest. This whole-body response of the sympathetic nervous system to cold conditions reflected the VWF which are characteristic symptoms of vibration syndrome. Excluding the effects of shivering and a cold feeling under cold conditions, it was confirmed that the sympathetic nervous system in vibration syndrome is activated more than in the controls. These results suggest that vibration exposure to hand and arm affects the sympathetic nervous system.

Avatar - a multi-sensory system for real time body position monitoring.

PubMed

Jovanov, E; Hanish, N; Courson, V; Stidham, J; Stinson, H; Webb, C; Denny, K

2009-01-01

Virtual reality and computer assisted physical rehabilitation applications require an unobtrusive and inexpensive real time monitoring systems. Existing systems are usually complex and expensive and based on infrared monitoring. In this paper we propose Avatar, a hybrid system consisting of off-the-shelf components and sensors. Absolute positioning of a few reference points is determined using infrared diode on subject's body and a set of Wii Remotes as optical sensors. Individual body segments are monitored by intelligent inertial sensor nodes iSense. A network of inertial nodes is controlled by a master node that serves as a gateway for communication with a capture device. Each sensor features a 3D accelerometer and a 2 axis gyroscope. Avatar system is used for control of avatars in Virtual Reality applications, but could be used in a variety of augmented reality, gaming, and computer assisted physical rehabilitation applications.

A Homing Missile Control System to Reduce the Effects of Radome Diffraction

NASA Technical Reports Server (NTRS)

Smith, Gerald L.

1960-01-01

The problem of radome diffraction in radar-controlled homing missiles at high speeds and high altitudes is considered from the point of view of developing a control system configuration which will alleviate the deleterious effects of the diffraction. It is shown that radome diffraction is in essence a kinematic feedback of body angular velocities which causes the radar to sense large apparent line-of-sight angular velocities. The normal control system cannot distinguish between the erroneous and actual line-of-sight rates, and entirely wrong maneuvers are produced which result in large miss distances. The problem is resolved by adding to the control system a special-purpose computer which utilizes measured body angular velocity to extract from the radar output true line-of-sight information for use in steering the missile. The computer operates on the principle of sampling and storing the radar output at instants when the body angular velocity is low and using this stored information for maneuvering commands. In addition, when the angular velocity is not low the computer determines a radome diffraction compensation which is subtracted from the radar output to reduce the error in the sampled information. Analog simulation results for the proposed control system operating in a coplanar (vertical plane) attack indicate a potential decrease in miss distance to an order of magnitude below that for a conventional system. Effects of glint noise, random target maneuvers, initial heading errors, and missile maneuverability are considered in the investigation.

Fully-automated, high-throughput micro-computed tomography analysis of body composition enables therapeutic efficacy monitoring in preclinical models.

PubMed

Wyatt, S K; Barck, K H; Kates, L; Zavala-Solorio, J; Ross, J; Kolumam, G; Sonoda, J; Carano, R A D

2015-11-01

The ability to non-invasively measure body composition in mouse models of obesity and obesity-related disorders is essential for elucidating mechanisms of metabolic regulation and monitoring the effects of novel treatments. These studies aimed to develop a fully automated, high-throughput micro-computed tomography (micro-CT)-based image analysis technique for longitudinal quantitation of adipose, non-adipose and lean tissue as well as bone and demonstrate utility for assessing the effects of two distinct treatments. An initial validation study was performed in diet-induced obesity (DIO) and control mice on a vivaCT 75 micro-CT system. Subsequently, four groups of DIO mice were imaged pre- and post-treatment with an experimental agonistic antibody specific for anti-fibroblast growth factor receptor 1 (anti-FGFR1, R1MAb1), control immunoglobulin G antibody, a known anorectic antiobesity drug (rimonabant, SR141716), or solvent control. The body composition analysis technique was then ported to a faster micro-CT system (CT120) to markedly increase throughput as well as to evaluate the use of micro-CT image intensity for hepatic lipid content in DIO and control mice. Ex vivo chemical analysis and colorimetric analysis of the liver triglycerides were performed as the standard metrics for correlation with body composition and hepatic lipid status, respectively. Micro-CT-based body composition measures correlate with ex vivo chemical analysis metrics and enable distinction between DIO and control mice. R1MAb1 and rimonabant have differing effects on body composition as assessed by micro-CT. High-throughput body composition imaging is possible using a modified CT120 system. Micro-CT also provides a non-invasive assessment of hepatic lipid content. This work describes, validates and demonstrates utility of a fully automated image analysis technique to quantify in vivo micro-CT-derived measures of adipose, non-adipose and lean tissue, as well as bone. These body composition metrics highly correlate with standard ex vivo chemical analysis and enable longitudinal evaluation of body composition and therapeutic efficacy monitoring.

PEO Ammunition Systems Portfolio Book 2012-2013

DTIC Science & Technology

2011-02-02

assembly. Aluminum ogive contains firing pin, a rubber anti-creep spring and M550 fuze escapement assembly and is threaded to projectile body...51 The Mortar Weapons and Fire Control Family M95/M96 Mortar Fire Control System (MFCS) – Mounted...52 M150/M151 Mortar Fire Control System Dismounted (MFCS-D

Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies. [NASA NIAC Phase I Study

NASA Technical Reports Server (NTRS)

Pavone, Marco; Castillo-Rogez, Julie C.; Hoffman, Jeffrey A.; Nesnas, Issa A. D.

2012-01-01

This study investigated a novel mission architecture for the systematic and affordable in-situ exploration of small Solar System bodies. Specifically, a mother spacecraft would deploy over the surface of a small body one, or several, spacecraft/rover hybrids, which are small, multi-faceted enclosed robots with internal actuation and external spikes. They would be capable of 1) long excursions (by hopping), 2) short traverses to specific locations (through a sequence of controlled tumbles), and 3) high-altitude, attitude-controlled ballistic flight (akin to spacecraft flight). Their control would rely on synergistic operations with the mother spacecraft (where most of hybrids' perception and localization functionalities would be hosted), which would make the platforms minimalistic and, in turn, the entire mission architecture affordable.

Mind-Body Practice Changes Fractional Amplitude of Low Frequency Fluctuations in Intrinsic Control Networks.

PubMed

Wei, Gao-Xia; Gong, Zhu-Qing; Yang, Zhi; Zuo, Xi-Nian

2017-01-01

Cognitive control impairment is a typical symptom largely reported in populations with neurological disorders. Previous studies have provided evidence about the changes in cognitive control induced by mind-body training. However, the neural correlates underlying the effect of extensive mind-body practice on cognitive control remain largely unknown. Using resting-state functional magnetic resonance imaging, we characterized dynamic fluctuations in large-scale intrinsic connectivity networks associated with mind-body practice, and examined their differences between healthy controls and Tai Chi Chuan (TCC) practitioners. Compared with a control group, the TCC group revealed significantly decreased fractional Amplitude of Low Frequency Fluctuations (fALFF) in the bilateral frontoparietal network, default mode network and dorsal prefrontal-angular gyri network. Furthermore, we detected a significant association between mind-body practice experience and fALFF in the default mode network, as well as an association between cognitive control performance and fALFF of the frontoparietal network. This provides the first evidence of large-scale functional connectivity in brain networks associated with mind-body practice, shedding light on the neural network changes that accompany intensive mind-body training. It also highlights the functionally plastic role of the frontoparietal network in the context of the "immune system" of mental health recently developed in relation to flexible hub theory.

Control of large space structures

NASA Technical Reports Server (NTRS)

Gran, R.; Rossi, M.; Moyer, H. G.; Austin, F.

1979-01-01

The control of large space structures was studied to determine what, if any, limitations are imposed on the size of spacecraft which may be controlled using current control system design technology. Using a typical structure in the 35 to 70 meter size category, a control system design that used actuators that are currently available was designed. The amount of control power required to maintain the vehicle in a stabilized gravity gradient pointing orientation that also damped various structural motions was determined. The moment of inertia and mass properties of this structure were varied to verify that stability and performance were maintained. The study concludes that the structure's size is required to change by at least a factor of two before any stability problems arise. The stability margin that is lost is due to the scaling of the gravity gradient torques (the rigid body control) and as such can easily be corrected by changing the control gains associated with the rigid body control. A secondary conclusion from the study is that the control design that accommodates the structural motions (to damp them) is a little more sensitive than the design that works on attitude control of the rigid body only.

Kinematid Parameters of Corrective Postural Responses Differ between Upper and Lower Body Perturbations

NASA Technical Reports Server (NTRS)

Sayenko, G.

2004-01-01

Balance control is disrupted following prolonged microgravity exposure, and to better understand this, both upper and lower body perturbations have been used to study postural control in space flight crewmembers. However, differences between several postural response indicators observed using the two techniques suggest that different sensory systems may be involved in organizing responses to these different perturbation approaches. The present study sought to compare differences in parameters of corrective postural responses between upper body perturbations (pushes to the chest) and forward translations of the support surface. Nine subjects participated in this study. Forward translations were performed using a NeuroCom EquiTest(TM) CDP system, which was synchronized with a Northern Digital OptoTrak motion tracking system (3 subjects). Chest pushes were applied using a hand-held force transducer device and were performed using a stabilometric system (6 subjects). Analysis of EMG has shown that: i) the earliest response of the leg muscles was registered significantly later during forward translation of the support surface than during chest pushes, and ii) there was a tendency for the different order of leg muscles activation during the translation tests. Analysis of the kinematic data showed a significant difference in the subject's body segments inclinations during corrective postural responses to upper and lower body perturbations. It appears that upper body perturbations likely engage the vestibular system more rapidly, while lower body perturbations likely engage somatosensory systems more rapidly. These differences must be taken into account when choosing the type of perturbation for testing postural function.

Exploiting short-term memory in soft body dynamics as a computational resource

PubMed Central

Nakajima, K.; Li, T.; Hauser, H.; Pfeifer, R.

2014-01-01

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems. PMID:25185579

The control effect of histamine on body temperature and respiratory function in IgE-dependent systemic anaphylaxis.

PubMed

Makabe-Kobayashi, Yoko; Hori, Yoshio; Adachi, Tetsuya; Ishigaki-Suzuki, Satsuki; Kikuchi, Yoshihiro; Kagaya, Yutaka; Shirato, Kunio; Nagy, András; Ujike, Azusa; Takai, Toshiyuki; Watanabe, Takehiko; Ohtsu, Hiroshi

2002-08-01

The systemic anaphylaxis reaction comprises various symptoms, including hypotension, changes in respiration pattern, and hypothermia. To elucidate the role of histamine in each of these symptoms, we induced the passive systemic anaphylaxis reaction in histidine decarboxylase gene knockout (HDC [-/-]) mice, which lack histamine. HDC(-/-) mice were generated by knocking out the HDC gene, which codes for the unique histamine-synthesizing enzyme. Twenty-four hours after the injection of IgE, HDC(+/+) and HDC(-/-) mice were injected with allergen and body temperature, blood pressure, and respiratory function were monitored in each mouse. Blood pressure dropped in both the HDC(-/-) mice and the HDC(+/+) mice. In contrast, respiratory frequency dropped and the expiratory respiration time was elongated only in the HDC(+/+) mice. Body temperature was decreased in the HDC(+/+) mice and was practically unchanged in the HDC(-/-) mice. Histamine receptor antagonists blocked the body temperature drop in the HDC(+/+) mice. Intravenous histamine induced similar patterns of body temperature decrease in the HDC(+/+) mice and the HDC(-/-) mice. Mast cell-deficient W/W (v) mice did not show the decrease in body temperature; this suggests that the histamine that contributed to the decrease in body temperature was derived from mast cells. According to the results of this investigation, in the passive systemic anaphylaxis reaction, respiratory frequency, expiratory time, and body temperature are shown to be controlled by the activity of histamine, but its contribution to blood pressure is negligible.

Computer vision for foreign body detection and removal in the food industry

USDA-ARS?s Scientific Manuscript database

Computer vision inspection systems are often used for quality control, product grading, defect detection and other product evaluation issues. This chapter focuses on the use of computer vision inspection systems that detect foreign bodies and remove them from the product stream. Specifically, we wi...

From instinct to intellect: the challenge of maintaining healthy weight in the modern world.

PubMed

Peters, J C; Wyatt, H R; Donahoo, W T; Hill, J O

2002-05-01

The global obesity epidemic is being driven in large part by a mismatch between our environment and our metabolism. Human physiology developed to function within an environment where high levels of physical activity were needed in daily life and food was inconsistently available. For most of mankind's history, physical activity has 'pulled' appetite so that the primary challenge to the physiological system for body weight control was to obtain sufficient energy intake to prevent negative energy balance and body energy loss. The current environment is characterized by a situation whereby minimal physical activity is required for daily life and food is abundant, inexpensive, high in energy density and widely available. Within this environment, food intake 'pushes' the system, and the challenge to the control system becomes to increase physical activity sufficiently to prevent positive energy balance. There does not appear to be a strong drive to increase physical activity in response to excess energy intake and there appears to be only a weak adaptive increase in resting energy expenditure in response to excess energy intake. In the modern world, the prevailing environment constitutes a constant background pressure that promotes weight gain. We propose that the modern environment has taken body weight control from an instinctual (unconscious) process to one that requires substantial cognitive effort. In the current environment, people who are not devoting substantial conscious effort to managing body weight are probably gaining weight. It is unlikely that we would be able to build the political will to undo our modern lifestyle, to change the environment back to one in which body weight control again becomes instinctual. In order to combat the growing epidemic we should focus our efforts on providing the knowledge, cognitive skills and incentives for controlling body weight and at the same time begin creating a supportive environment to allow better management of body weight.

Analysis and Preliminary Design of an Advanced Technology Transport Flight Control System

NASA Technical Reports Server (NTRS)

Frazzini, R.; Vaughn, D.

1975-01-01

The analysis and preliminary design of an advanced technology transport aircraft flight control system using avionics and flight control concepts appropriate to the 1980-1985 time period are discussed. Specifically, the techniques and requirements of the flight control system were established, a number of candidate configurations were defined, and an evaluation of these configurations was performed to establish a recommended approach. Candidate configurations based on redundant integration of various sensor types, computational methods, servo actuator arrangements and data-transfer techniques were defined to the functional module and piece-part level. Life-cycle costs, for the flight control configurations, as determined in an operational environment model for 200 aircraft over a 15-year service life, were the basis of the optimum configuration selection tradeoff. The recommended system concept is a quad digital computer configuration utilizing a small microprocessor for input/output control, a hexad skewed set of conventional sensors for body rate and body acceleration, and triple integrated actuators.

Opioid, cannabinoid, and transient receptor potential (TRP) systems: effects on body temperature

PubMed Central

Rawls, Scott M.; Benamar, Khalid

2014-01-01

Cannabinoid and opioid drugs produce marked changes in body temperature. Recent findings have extended our knowledge about the thermoregulatory effects of cannabinoids and opioids, particularly as related to delta opioid receptors, endogenous systems, and transient receptor potential (TRP) channels. Although delta opioid receptors were originally thought to play only a minor role in thermoregulation compared to mu and kappa opioid receptors, their activation has been shown to produce hypothermia in multiple species. Endogenous opioids and cannabinoids also regulate body temperature. Mu and kappa opioid receptors are thought to be in tonic balance, with mu and kappa receptor activation producing hyperthermia and hypothermia, respectively. Endocannabinoids participate in the febrile response, but more studies are needed to determine if a cannabinoid CB1 receptor tone exerts control over basal body temperature. A particularly intense research focus is TRP channels, where TRPV1 channel activation produces hypothermia whereas TRPA1 and TRPM8 channel activation causes hyperthermia. The marked hyperthermia produced by TRPV1 channel antagonists suggests these warm channels tonically control body temperature. A better understanding of the roles of cannabinoid, opioid, and TRP systems in thermoregulation may have broad clinical implications and provide insights into interactions among neurotransmitter systems involved in thermoregulation. PMID:21622235

Modular design attitude control system

NASA Technical Reports Server (NTRS)

Chichester, F. D.

1982-01-01

A hybrid multilevel linear quadratic regulator (ML-LQR) approach was developed and applied to the attitude control of models of the rotational dynamics of a prototype flexible spacecraft and of a typical space platform. Three axis rigid body flexible suspension models were developed for both the spacecraft and the space platform utilizing augmented body methods. Models of the spacecraft with hybrid ML-LQR attitude control and with LQR attitude control were simulated and their response with the two different types of control were compared.

Comparative analysis of the operation efficiency of the continuous and relay control systems of a multi-axle wheeled vehicle suspension

NASA Astrophysics Data System (ADS)

Zhileykin, M. M.; Kotiev, G. O.; Nagatsev, M. V.

2018-02-01

In order to improve the efficiency of the multi-axle wheeled vehicles (MWV) automotive engineers are increasing their cruising speed. One of the promising ways to improve ride comfort of the MWV is the development of the dynamic active suspension systems and control laws for such systems. Here, by the dynamic control systems we mean the systems operating in real time mode and using current (instantaneous) values of the state variables. The aim of the work is to develop the MWV suspension optimal control laws that would reduce vibrations on the driver’s seat at kinematic excitation. The authors have developed the optimal control laws for damping the oscillations of the MWV body. The developed laws allow reduction of the vibrations on the driver’s seat and increase in the maximum speed of the vehicle. The laws are characterized in that they allow generating the control inputs in real time mode. The authors have demonstrated the efficiency of the proposed control laws by means of mathematical simulation of the MWV driving over unpaved road with kinematic excitation. The proposed optimal control laws can be used in the MWV suspension control systems with magnetorheological shock absorbers or controlled hydropneumatic springs. Further evolution of the research line can be the development of the energy-efficient MWV suspension control systems with continuous control input on the vehicle body.

Asymmetrical booster ascent guidance and control system design study. Volume 1: Summary. [space shuttle development

NASA Technical Reports Server (NTRS)

Williams, F. E.; Lemon, R. S.; Jaggers, R. F.; Wilson, J. L.

1974-01-01

Dynamics and control, stability, and guidance analyses are summarized for the asymmetrical booster ascent guidance and control system design studies, performed in conjunction with space shuttle planning. The mathematical models developed for use in rigid body and flexible body versions of the NASA JSC space shuttle functional simulator are briefly discussed, along with information on the following: (1) space shuttle stability analysis using equations of motion for both pitch and lateral axes; (2) the computer program used to obtain stability margin; and (3) the guidance equations developed for the space shuttle powered flight phases.

Effectiveness of a passive-active vibration isolation system with actuator constraints

NASA Astrophysics Data System (ADS)

Sun, Lingling; Sun, Wei; Song, Kongjie; Hansen, Colin H.

2014-05-01

In the prediction of active vibration isolation performance, control force requirements were ignored in previous work. This may limit the realization of theoretically predicted isolation performance if control force of large magnitude cannot be supplied by actuators. The behavior of a feed-forward active isolation system subjected to actuator output constraints is investigated. Distributed parameter models are developed to analyze the system response, and to produce a transfer matrix for the design of an integrated passive-active isolation system. Cost functions comprising a combination of the vibration transmission energy and the sum of the squared control forces are proposed. The example system considered is a rigid body connected to a simply supported plate via two passive-active isolation mounts. Vertical and transverse forces as well as a rotational moment are applied at the rigid body, and resonances excited in elastic mounts and the supporting plate are analyzed. The overall isolation performance is evaluated by numerical simulation. The simulation results are then compared with those obtained using unconstrained control strategies. In addition, the effects of waves in elastic mounts are analyzed. It is shown that the control strategies which rely on unconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range, but also require large control force amplitudes to control excited vibration modes of the system. Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs. In the frequency range in which rigid body modes are present, the control strategies can only achieve 5-10 dB power transmission reduction, when control forces are constrained to be the same order of the magnitude as the primary vertical force. The resonances of the elastic mounts result in a notable increase of power transmission in high frequency range and cannot be attenuated by active control. The investigation provides a guideline for design and evaluation of active vibration isolation systems.

Ares I Flight Control System Design

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedrossian, Nazareth; Hall, Charles; Ryan, Stephen; Jackson, Mark

2010-01-01

The Ares I launch vehicle represents a challenging flex-body structural environment for flight control system design. This paper presents a design methodology for employing numerical optimization to develop the Ares I flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares I time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time launch control systems in the presence of parametric uncertainty. Flex filters in the flight control system are designed to minimize the flex components in the error signals before they are sent to the attitude controller. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constraints minimizes performance degradation caused by the addition of the flex filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The flight control system designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC 6DOF nonlinear time domain simulation.

A case study in nonlinear dynamics and control of articulated spacecraft: The Space Station Freedom with a mobile remote manipulator system

NASA Technical Reports Server (NTRS)

Bennett, William H.; Kwatny, Harry G.; Lavigna, Chris; Blankenship, Gilmer

1994-01-01

The following topics are discussed: (1) modeling of articulated spacecraft as multi-flex-body systems; (2) nonlinear attitude control by adaptive partial feedback linearizing (PFL) control; (3) attitude dynamics and control for SSF/MRMS; and (4) performance analysis results for attitude control of SSF/MRMS.

Structural Technology Evaluation and Analysis Program (STEAP). Delivery Order 0037: Prognosis-Based Control Reconfiguration for an Aircraft with Faulty Actuator to Enable Performance in a Degraded State

DTIC Science & Technology

2010-12-01

computers in 1953. HIL motion simulators were also built for the dynamic testing of vehicle com- ponents (e.g. suspensions, bodies ) with hydraulic or...complex, comprehensive mechanical systems can be simulated in real-time by parallel computers; examples include multi- body sys- tems, brake systems...hard constraints in a multivariable control framework. And the third aspect is the ability to perform online optimization. These aspects results in

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-04

AND MULTI-BODY DYNAMICS Jayakumar , Smith, Ross, Jategaonkar, Konarzewski 4 August 2011 UNCLASSIFIED: Distribution Statement A. Approved for public...Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Cannot neglect vehicle dynamics 4 August 2011 3 UNCLASSIFIED Importance of Simulation Fidelity • Performance evaluation requires entire system

Design, fabrication and control of soft robots.

PubMed

Rus, Daniela; Tolley, Michael T

2015-05-28

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

Flexible body stability analysis of Space Shuttle ascent flight control system by using lambda matrix solution techniques

NASA Technical Reports Server (NTRS)

Bown, R. L.; Christofferson, A.; Lardas, M.; Flanders, H.

1980-01-01

A lambda matrix solution technique is being developed to perform an open loop frequency analysis of a high order dynamic system. The procedure evaluates the right and left latent vectors corresponding to the respective latent roots. The latent vectors are used to evaluate the partial fraction expansion formulation required to compute the flexible body open loop feedback gains for the Space Shuttle Digital Ascent Flight Control System. The algorithm is in the final stages of development and will be used to insure that the feedback gains meet the design specification.

A movable-mass attitude stabilization system for cable-connected artificial-g space stations

NASA Technical Reports Server (NTRS)

Childs, D. W.; Hardison, T. L.

1974-01-01

The development of an active, momentum-exchange system to be used for attitude stabilization of a class of cable-connected artificial-g space stations is studied. A system which employs a single movable control mass is examined for the control of a space station which has the physical appearance of two cylinders connected axially by cables. The dynamic model for the space station includes its aggregate rigid body rotation and relative torsional rotation between the bodies. A zero torsional stiffness design (one cable) and a maximum torsional stiffness design (eight cables) are examined in various stages of deployment, for selected spin velocities ranging from 4 rpm upwards. A linear, time-invariant, feed-back control system is employed, with gains calculated via a root-specification procedure. The movable mass controller provides critical wobble-damping capability for the crew quarters for all configurations and spin velocity.

Spray Sprinkler Bodies

EPA Pesticide Factsheets

Landscape irrigation sprinklers are often installed at sites where the system pressure is higher than what is recommended for the sprinkler nozzle, which can lead to water waste. WaterSense labeled sprinkler bodies help control pressure.

SPS antenna pointing control

NASA Technical Reports Server (NTRS)

Hung, J. C.

1980-01-01

The pointing control of a microwave antenna of the Satellite Power System was investigated emphasizing: (1) the SPS antenna pointing error sensing method; (2) a rigid body pointing control design; and (3) approaches for modeling the flexible body characteristics of the solar collector. Accuracy requirements for the antenna pointing control consist of a mechanical pointing control accuracy of three arc-minutes and an electronic phased array pointing accuracy of three arc-seconds. Results based on the factors considered in current analysis, show that the three arc-minute overall pointing control accuracy can be achieved in practice.

Generating Spatiotemporal Joint Torque Patterns from Dynamical Synchronization of Distributed Pattern Generators

PubMed Central

Pitti, Alexandre; Lungarella, Max; Kuniyoshi, Yasuo

2009-01-01

Pattern generators found in the spinal cord are no more seen as simple rhythmic oscillators for motion control. Indeed, they achieve flexible and dynamical coordination in interaction with the body and the environment dynamics giving to rise motor synergies. Discovering the mechanisms underlying the control of motor synergies constitutes an important research question not only for neuroscience but also for robotics: the motors coordination of high dimensional robotic systems is still a drawback and new control methods based on biological solutions may reduce their overall complexity. We propose to model the flexible combination of motor synergies in embodied systems via partial phase synchronization of distributed chaotic systems; for specific coupling strength, chaotic systems are able to phase synchronize their dynamics to the resonant frequencies of one external force. We take advantage of this property to explore and exploit the intrinsic dynamics of one specified embodied system. In two experiments with bipedal walkers, we show how motor synergies emerge when the controllers phase synchronize to the body's dynamics, entraining it to its intrinsic behavioral patterns. This stage is characterized by directed information flow from the sensors to the motors exhibiting the optimal situation when the body dynamics drive the controllers (mutual entrainment). Based on our results, we discuss the relevance of our findings for modeling the modular control of distributed pattern generators exhibited in the spinal cord, and for exploring the motor synergies in robots. PMID:20011216

Distinguishing Long-Term Controls on Fluvial Architecture in the Lance Formation, Bighorn Basin, Wyoming

NASA Astrophysics Data System (ADS)

McHarge, J. L.; Hajek, E. A.; Heller, P. L.

2007-12-01

Allogenic processes are considered a prime control on the stratigraphic distribution of channel bodies, however, recent studies have indicated that autogenic stratigraphic organization may occur within fluvial systems on basin- filling time scales (105-106 years). Groupings or clusters of closely-spaced channel bodies can be produced by several different mechanisms, including both allogenic and autogenic processes. Commonly, sand- dominated intervals in stratigraphic successions are interpreted as incised-valley fills produced by base-level changes. In contrast, long-timescale organization of river avulsion can generate similar stratigraphic patterns. For example, sand-dominated intervals in the fluvial Lance Formation (Maastrichtian; Bighorn Basin, WY) have been interpreted as incised-valley fills formed during sea-level lowstand. However, closely-spaced sand bodies in the Ferris Formation (Lance equivalent; Hanna Basin, WY) are interpreted as aggradational in origin, and have been compared to autogenic avulsion stratigraphy produced in experimental basins. We evaluate the Lance Formation in the southern Bighorn Basin in an effort to determine whether these sand-dominated intervals are truly incised- valley fills resulting from sea-level changes, or if they were generated by autogenic processes. The Lance Formation crops out in the western and southern margins of the basin, exposing relatively proximal and distal portions of the system. By comparing alluvial architecture between exposures, we evaluate similarities and differences from upstream to downstream and look for evidence of intrinsic and extrinsic controls on deposition. In both localities, the Lance Formation comprises multi-story sheet sandstones and smaller, single-story sandstones. Observed changes from upstream to downstream in the system include: 1) increasing paleoflow depths (from ~30-60 cm to ~70-120 cm); 2) decreasing preservation of fine-grained material within channel bodies; 3) increasing proportion of amalgamated, multi-story sand bodies; and 4) increasing lateral continuity of multi-story sand bodies. These results indicate that upstream, channel-body spacing is dominantly controlled by aggradational processes and may be the result of autogenic avulsion clustering, whereas downstream, evidence of incision and amalgamation indicate that base-level may have limited and controlled sand-body architecture.

A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm.

PubMed

Nakajima, Kohei; Hauser, Helmut; Kang, Rongjie; Guglielmino, Emanuele; Caldwell, Darwin G; Pfeifer, Rolf

2013-01-01

The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constructed robots, in particular from the field of "soft robotics". Soft robots are made of a soft material introducing high-dimensionality, non-linearity, and elasticity, which often makes the robots difficult to control. Biological systems such as the octopus are mastering their complex bodies in highly sophisticated manners by capitalizing on their body dynamics. We will demonstrate that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource. By using a soft robotic arm inspired by the octopus we show in a number of experiments how control is partially incorporated into the physical arm's dynamics and how the arm's dynamics can be exploited to approximate non-linear dynamical systems and embed non-linear limit cycles. Future application scenarios as well as the implications of the results for the octopus biology are also discussed.

A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm

PubMed Central

Nakajima, Kohei; Hauser, Helmut; Kang, Rongjie; Guglielmino, Emanuele; Caldwell, Darwin G.; Pfeifer, Rolf

2013-01-01

The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constructed robots, in particular from the field of “soft robotics”. Soft robots are made of a soft material introducing high-dimensionality, non-linearity, and elasticity, which often makes the robots difficult to control. Biological systems such as the octopus are mastering their complex bodies in highly sophisticated manners by capitalizing on their body dynamics. We will demonstrate that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource. By using a soft robotic arm inspired by the octopus we show in a number of experiments how control is partially incorporated into the physical arm's dynamics and how the arm's dynamics can be exploited to approximate non-linear dynamical systems and embed non-linear limit cycles. Future application scenarios as well as the implications of the results for the octopus biology are also discussed. PMID:23847526

New ligands for melanocortin receptors.

PubMed

Kaelin, C B; Candille, S I; Yu, B; Jackson, P; Thompson, D A; Nix, M A; Binkley, J; Millhauser, G L; Barsh, G S

2008-12-01

Named originally for their effects on peripheral end organs, the melanocortin system controls a diverse set of physiological processes through a series of five G-protein-coupled receptors and several sets of small peptide ligands. The central melanocortin system plays an essential role in homeostatic regulation of body weight, in which two alternative ligands, alpha-melanocyte-stimulating hormone and agouti-related protein, stimulate and inhibit receptor signaling in several key brain regions that ultimately affect food intake and energy expenditure. Much of what we know about the relationship between central melanocortin signaling and body weight regulation stems from genetic studies. Comparative genomic studies indicate that melanocortin receptors used for controlling pigmentation and body weight regulation existed more than 500 million years ago in primitive vertebrates, but that fine-grained control of melanocortin receptors through neuropeptides and endogenous antagonists developed more recently. Recent studies based on dog coat-color genetics revealed a new class of melanocortin ligands, the beta-defensins, which reveal the potential for cross talk between the melanocortin and the immune systems.

Exercise and Diet in Obesity Treatment: An Integrative System Dynamics Perspective.

ERIC Educational Resources Information Center

Abdel-Hamid, Tarek K.

2003-01-01

Examined the utility of System Dynamics modeling as a vehicle for controlled experimentation to study and gain insight into the impacts of physical activity and diet on body weight and composition. Results underscored the significant interaction effects between physical activity, diet, and body composition and demonstrated the utility of…

Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures

DTIC Science & Technology

2010-01-01

and N. Zhang, 2008. “Robust stability control of vehicle rollover subject to actuator time delay”. Proc. IMechE Part I: J. of systems and control ...Dynamic Systems and Control Conference, Boston, MA, Sept 2010 R.K. Yedavalli,”Robust Stability of Linear Interval Parameter Matrix Family Problem...for control coupled output regulation for a class of systems is presented. In section 2.1.7, the control design algorithm developed in section

21 CFR 892.5700 - Remote controlled radionuclide applicator system.

Code of Federal Regulations, 2011 CFR

2011-04-01

... source into the body or to the surface of the body for radiation therapy. This generic type of device may include patient and equipment supports, component parts, treatment planning computer programs, and...

An evaluation system for characterization of polysaccharides from the fruiting body of Hericium erinaceus and identification of its commercial product.

PubMed

Wu, Ding-Tao; Li, Wen-Zhi; Chen, Jun; Zhong, Qian-Xia; Ju, Yao-Jun; Zhao, Jing; Bzhelyansky, Anton; Li, Shao-Ping

2015-06-25

An evaluation system including colorimetric assay with iodine and potassium iodide, HPSEC-MALLS-RID analysis, GC-MS analysis, and saccharide mapping based on PACE analysis was proposed for the identification and discrimination of commercial product of Hericium erinaceus based on the chemical characters of polysaccharides in H. erinaceus fruiting body collected from different regions of China. The results showed that the molecular weights, the compositional monosaccharides and the glycosidic linkages of polysaccharides in H. erinaceus collected from different regions of China were similar, respectively. However, polysaccharides in the widely consumed product of H. erinaceus in China were significantly different from those of H. erinaceus fruiting body. The implications from these results were found to be beneficial to improve the quality control of polysaccharides from the H. erinaceus fruiting body, and suggest that the proposed evaluation system could be used as a routine approach for the quality control of polysaccharides in other edible and medicinal mushrooms. Copyright © 2015 Elsevier Ltd. All rights reserved.

Reducing the pressure drag of a D-shaped bluff body using linear feedback control

NASA Astrophysics Data System (ADS)

Dalla Longa, L.; Morgans, A. S.; Dahan, J. A.

2017-12-01

The pressure drag of blunt bluff bodies is highly relevant in many practical applications, including to the aerodynamic drag of road vehicles. This paper presents theory revealing that a mean drag reduction can be achieved by manipulating wake flow fluctuations. A linear feedback control strategy then exploits this idea, targeting attenuation of the spatially integrated base (back face) pressure fluctuations. Large-eddy simulations of the flow over a D-shaped blunt bluff body are used as a test-bed for this control strategy. The flow response to synthetic jet actuation is characterised using system identification, and controller design is via shaping of the frequency response to achieve fluctuation attenuation. The designed controller successfully attenuates integrated base pressure fluctuations, increasing the time-averaged pressure on the body base by 38%. The effect on the flow field is to push the roll-up of vortices further downstream and increase the extent of the recirculation bubble. This control approach uses only body-mounted sensing/actuation and input-output model identification, meaning that it could be applied experimentally.

Modular design attitude control system

NASA Technical Reports Server (NTRS)

Chichester, F. D.

1984-01-01

A sequence of single axismodels and a series of reduced state linear observers of minimum order are used to reconstruct inaccessible variables pertaining to the modular attitude control of a rigid body flexible suspension model of a flexible spacecraft. The single axis models consist of two, three, four, and five rigid bodies, each interconnected by a flexible shaft passing through the mass centers of the bodies. Modal damping is added to each model. Reduced state linear observers are developed for synthesizing the inaccessible modal state variables for each modal model.

Attitude dynamics simulation subroutines for systems of hinge-connected rigid bodies

NASA Technical Reports Server (NTRS)

Fleischer, G. E.; Likins, P. W.

1974-01-01

Several computer subroutines are designed to provide the solution to minimum-dimension sets of discrete-coordinate equations of motion for systems consisting of an arbitrary number of hinge-connected rigid bodies assembled in a tree topology. In particular, these routines may be applied to: (1) the case of completely unrestricted hinge rotations, (2) the totally linearized case (all system rotations are small), and (3) the mixed, or partially linearized, case. The use of the programs in each case is demonstrated using a five-body spacecraft and attitude control system configuration. The ability of the subroutines to accommodate prescribed motions of system bodies is also demonstrated. Complete listings and user instructions are included for these routines (written in FORTRAN V) which are intended as multi- and general-purpose tools in the simulation of spacecraft and other complex electromechanical systems.

A Robust Control of Two-Wheeled Mobile Manipulator with Underactuated Joint by Nonlinear Backstepping Method

NASA Astrophysics Data System (ADS)

Acar, Cihan; Murakami, Toshiyuki

In this paper, a robust control of two-wheeled mobile manipulator with underactuated joint is considered. Two-wheeled mobile manipulators are dynamically balanced two-wheeled driven systems that do not have any caster or extra wheels to stabilize their body. Two-wheeled mobile manipulators mainly have an important feature that makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system due to its two-wheeled structure. Therefore, it is required to stabilize the underactuated passive body and, at the same time, control the position of the center of gravity (CoG) of the manipulator in this system. To realize this, nonlinear backstepping based control method with virtual double inverted pendulum model is proposed in this paper. Backstepping is used with sliding mode to increase the robustness of the system against modeling errors and other perturbations. Then robust acceleration control is also achieved by utilizing disturbance observer. Performance of the proposed method is evaluated by several experiments.

A new active variable stiffness suspension system using a nonlinear energy sink-based controller

NASA Astrophysics Data System (ADS)

Anubi, Olugbenga Moses; Crane, Carl D.

2013-10-01

This paper presents the active case of a variable stiffness suspension system. The central concept is based on a recently designed variable stiffness mechanism which consists of a horizontal control strut and a vertical strut. The horizontal strut is used to vary the load transfer ratio by actively controlling the location of the point of attachment of the vertical strut to the car body. The control algorithm, effected by a hydraulic actuator, uses the concept of nonlinear energy sink (NES) to effectively transfer the vibrational energy in the sprung mass to a control mass, thereby reducing the transfer of energy from road disturbance to the car body at a relatively lower cost compared to the traditional active suspension using the skyhook concept. The analyses and simulation results show that a better performance can be achieved by subjecting the point of attachment of a suspension system, to the chassis, to the influence of a horizontal NES system.

Validation of a robotic balance system for investigations in the control of human standing balance.

PubMed

Luu, Billy L; Huryn, Thomas P; Van der Loos, H F Machiel; Croft, Elizabeth A; Blouin, Jean-Sébastien

2011-08-01

Previous studies have shown that human body sway during standing approximates the mechanics of an inverted pendulum pivoted at the ankle joints. In this study, a robotic balance system incorporating a Stewart platform base was developed to provide a new technique to investigate the neural mechanisms involved in standing balance. The robotic system, programmed with the mechanics of an inverted pendulum, controlled the motion of the body in response to a change in applied ankle torque. The ability of the robotic system to replicate the load properties of standing was validated by comparing the load stiffness generated when subjects balanced their own body to the robot's mechanical load programmed with a low (concentrated-mass model) or high (distributed-mass model) inertia. The results show that static load stiffness was not significantly (p > 0.05) different for standing and the robotic system. Dynamic load stiffness for the robotic system increased with the frequency of sway, as predicted by the mechanics of an inverted pendulum, with the higher inertia being accurately matched to the load properties of the human body. This robotic balance system accurately replicated the physical model of standing and represents a useful tool to simulate the dynamics of a standing person. © 2011 IEEE

Embedded Control System for Smart Walking Assistance Device.

PubMed

Bosnak, Matevz; Skrjanc, Igor

2017-03-01

This paper presents the design and implementation of a unique control system for a smart hoist, a therapeutic device that is used in rehabilitation of walking. The control system features a unique human-machine interface that allows the human to intuitively control the system just by moving or rotating its body. The paper contains an overview of the complete system, including the design and implementation of custom sensors, dc servo motor controllers, communication interfaces and embedded-system based central control system. The prototype of the complete system was tested by conducting a 6-runs experiment on 11 subjects and results are showing that the proposed control system interface is indeed intuitive and simple to adopt by the user.

Distributed control system in a car-body inspection station

NASA Astrophysics Data System (ADS)

Yang, Xueyou; Ren, Dahai; Ye, Shenghua; Lu, Hongbo; Duan, Jilin

1997-06-01

In this paper, a distributed control network in autocar-body visual inspection station is presented in which PC is used as the host processor and single-chip microcomputers are employed as slave controllers. The physical interface of the control network and the relevant hardware are introduced in this paper. Meanwhile, a minute research on data communication is performed, relevant protocols on data framing, instruction codes and channel access methods have been laid down and part of related software is presented.

Apparatus for monitoring crystal growth

DOEpatents

Sachs, Emanual M.

1981-01-01

A system and method are disclosed for monitoring the growth of a crystalline body from a liquid meniscus in a furnace. The system provides an improved human/machine interface so as to reduce operator stress, strain and fatigue while improving the conditions for observation and control of the growing process. The system comprises suitable optics for forming an image of the meniscus and body wherein the image is anamorphic so that the entire meniscus can be viewed with good resolution in both the width and height dimensions. The system also comprises a video display for displaying the anamorphic image. The video display includes means for enhancing the contrast between any two contrasting points in the image. The video display also comprises a signal averager for averaging the intensity of at least one preselected portions of the image. The value of the average intensity, can in turn be utilized to control the growth of the body. The system and method are also capable of observing and monitoring multiple processes.

Method of monitoring crystal growth

DOEpatents

Sachs, Emanual M.

1982-01-01

A system and method are disclosed for monitoring the growth of a crystalline body from a liquid meniscus in a furnace. The system provides an improved human/machine interface so as to reduce operator stress, strain and fatigue while improving the conditions for observation and control of the growing process. The system comprises suitable optics for forming an image of the meniscus and body wherein the image is anamorphic so that the entire meniscus can be viewed with good resolution in both the width and height dimensions. The system also comprises a video display for displaying the anamorphic image. The video display includes means for enhancing the contrast between any two contrasting points in the image. The video display also comprises a signal averager for averaging the intensity of at least one preselected portions of the image. The value of the average intensity, can in turn be utilized to control the growth of the body. The system and method are also capable of observing and monitoring multiple processes.

The Brain in its Body: Motor Control and Sensing in a Biomechanical Context

PubMed Central

Chiel, Hillel J.; Ting, Lena H.; Ekeberg, Orjan; Hartmann, Mitra J. Z.

2009-01-01

Although it is widely recognized that adaptive behavior emerges from the ongoing interactions among the nervous system, the body, and the environment, it has only become possible in recent years to experimentally study and to simulate these interacting systems. We briefly review work on molluscan feeding, maintenance of postural control in cats and humans, simulations of locomotion in lamprey, insect, cat and salamander, and active vibrissal sensing in rats to illustrate the insights that can be derived from studies of neural control and sensing within a biomechanical context. These studies illustrate that control may be shared between the nervous system and the periphery, that neural activity organizes degrees of freedom into biomechanically meaningful subsets, that mechanics alone may play crucial roles in enforcing gait patterns, and that mechanics of sensors is crucial for their function. PMID:19828793

Experimental Verification of Fully Decentralized Control Inspired by Plasmodium of True Slime Mold

NASA Astrophysics Data System (ADS)

Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio

This paper presents a fully decentralized control inspired by plasmodium of true slime mold and its validity using a soft-bodied amoeboid robot. The notable features of this paper are twofold: (1) the robot has truly soft and deformable body stemming from real-time tunable springs and a balloon, the former is utilized as an outer skin of the body and the latter serves as protoplasm; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts induced by the law of conservation of protoplasmic mass. Experimental results show that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control system.

The effect of height and BMI on computer dynamic posturography parameters in women.

PubMed

Olchowik, Grażyna; Tomaszewski, Marek; Olejarz, Piotr; Warchoł, Jan; Różańska-Boczula, Monika

2014-01-01

The human body's posture control is a complex system of organs and mechanisms which controls the body's centre of gravity (COG) over its base of support (BOS). Computerised Dynamic Posturography (CDP) allows for the quantitative and objective assessment of the sensory and motor components of the body's posture control system as well as of the integration and adaptation mechanisms in the central nervous system. The aim of this study was to assess the relationships between the body's height and BMI on CDP results in a group of young healthy women without any clinical symptoms of balance disorders. It was found that the MS depended significantly on the height and BMI of the subjects as well as on the SOT conditions. As the height and BMI increased the MS value decreased. The postural response latency (LC) in the MCT statistically significantly depended only on height and showed a positive correlation. The postural response latency increased with height. The postural response amplitude for both right and left lower limbs significantly depended on height and BMI, but only for the backward movement of the platform. The response amplitude for all platform translations under all MCT conditions increased with height and BMI. The body's resultant imbalance caused by the platform perturbations in the ADT was greater in shorter people and those with a lower BMI.

Measuring entanglement entropy of a generic many-body system with a quantum switch.

PubMed

Abanin, Dmitry A; Demler, Eugene

2012-07-13

Entanglement entropy has become an important theoretical concept in condensed matter physics because it provides a unique tool for characterizing quantum mechanical many-body phases and new kinds of quantum order. However, the experimental measurement of entanglement entropy in a many-body system is widely believed to be unfeasible, owing to the nonlocal character of this quantity. Here, we propose a general method to measure the entanglement entropy. The method is based on a quantum switch (a two-level system) coupled to a composite system consisting of several copies of the original many-body system. The state of the switch controls how different parts of the composite system connect to each other. We show that, by studying the dynamics of the quantum switch only, the Rényi entanglement entropy of the many-body system can be extracted. We propose a possible design of the quantum switch, which can be realized in cold atomic systems. Our work provides a route towards testing the scaling of entanglement in critical systems as well as a method for a direct experimental detection of topological order.

Uncovering many-body correlations in nanoscale nuclear spin baths by central spin decoherence

PubMed Central

Ma, Wen-Long; Wolfowicz, Gary; Zhao, Nan; Li, Shu-Shen; Morton, John J.L.; Liu, Ren-Bao

2014-01-01

Central spin decoherence caused by nuclear spin baths is often a critical issue in various quantum computing schemes, and it has also been used for sensing single-nuclear spins. Recent theoretical studies suggest that central spin decoherence can act as a probe of many-body physics in spin baths; however, identification and detection of many-body correlations of nuclear spins in nanoscale systems are highly challenging. Here, taking a phosphorus donor electron spin in a 29Si nuclear spin bath as our model system, we discover both theoretically and experimentally that many-body correlations in nanoscale nuclear spin baths produce identifiable signatures in decoherence of the central spin under multiple-pulse dynamical decoupling control. We demonstrate that under control by an odd or even number of pulses, the central spin decoherence is principally caused by second- or fourth-order nuclear spin correlations, respectively. This study marks an important step toward studying many-body physics using spin qubits. PMID:25205440

Overview of the Autonomic Nervous System

MedlinePlus

... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

Manipulator interactive design with interconnected flexible elements

NASA Technical Reports Server (NTRS)

Singh, R. P.; Likins, P. W.

1983-01-01

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.

Neuro-prosthetic interplay. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by M. Santello et al.

NASA Astrophysics Data System (ADS)

Schieber, Marc H.

2016-07-01

Control of the human hand has been both difficult to understand scientifically and difficult to emulate technologically. The article by Santello and colleagues in the current issue of Physics of Life Reviews[1] highlights the accelerating pace of interaction between the neuroscience of controlling body movement and the engineering of robotic hands that can be used either autonomously or as part of a motor neuroprosthesis, an artificial body part that moves under control from a human subject's own nervous system. Motor neuroprostheses typically involve a brain-computer interface (BCI) that takes signals from the subject's nervous system or muscles, interprets those signals through a decoding algorithm, and then applies the resulting output to control the artificial device.

An innovative exercise method to simulate orbital EVA work - Applications to PLSS automatic controls

NASA Technical Reports Server (NTRS)

Lantz, Renee; Vykukal, H.; Webbon, Bruce

1987-01-01

An exercise method has been proposed which may satisfy the current need for a laboratory simulation representative of muscular, cardiovascular, respiratory, and thermoregulatory responses to work during orbital extravehicular activity (EVA). The simulation incorporates arm crank ergometry with a unique body support mechanism that allows all body position stabilization forces to be reacted at the feet. By instituting this exercise method in laboratory experimentation, an advanced portable life support system (PLSS) thermoregulatory control system can be designed to more accurately reflect the specific work requirements of orbital EVA.

Computer program system for dynamic simulation and stability analysis of passive and actively controlled spacecraft. Volume 1. Theory

NASA Technical Reports Server (NTRS)

Bodley, C. S.; Devers, D. A.; Park, C. A.

1975-01-01

A theoretical development and associated digital computer program system is presented. The dynamic system (spacecraft) is modeled as an assembly of rigid and/or flexible bodies not necessarily in a topological tree configuration. The computer program system may be used to investigate total system dynamic characteristics including interaction effects between rigid and/or flexible bodies, control systems, and a wide range of environmental loadings. Additionally, the program system may be used for design of attitude control systems and for evaluation of total dynamic system performance including time domain response and frequency domain stability analyses. Volume 1 presents the theoretical developments including a description of the physical system, the equations of dynamic equilibrium, discussion of kinematics and system topology, a complete treatment of momentum wheel coupling, and a discussion of gravity gradient and environmental effects. Volume 2, is a program users' guide and includes a description of the overall digital program code, individual subroutines and a description of required program input and generated program output. Volume 3 presents the results of selected demonstration problems that illustrate all program system capabilities.

Modeling, Simulation, and Control of a Solar Electric Propulsion Vehicle in Near-Earth Vicinity Including Solar Array Degradation

NASA Technical Reports Server (NTRS)

Witzberger, Kevin (Inventor); Hojnicki, Jeffery (Inventor); Manzella, David (Inventor)

2016-01-01

Modeling and control software that integrates the complexities of solar array models, a space environment, and an electric propulsion system into a rigid body vehicle simulation and control model is provided. A rigid body vehicle simulation of a solar electric propulsion (SEP) vehicle may be created using at least one solar array model, at least one model of a space environment, and at least one model of a SEP propulsion system. Power availability and thrust profiles may be determined based on the rigid body vehicle simulation as the SEP vehicle transitions from a low Earth orbit (LEO) to a higher orbit or trajectory. The power availability and thrust profiles may be displayed such that a user can use the displayed power availability and thrust profiles to determine design parameters for an SEP vehicle mission.

Exploiting short-term memory in soft body dynamics as a computational resource.

PubMed

Nakajima, K; Li, T; Hauser, H; Pfeifer, R

2014-11-06

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Shape memory system with integrated actuation using embedded particles

DOEpatents

Buckley, Patrick R [New York, NY; Maitland, Duncan J [Pleasant Hill, CA

2009-09-22

A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

Shape memory system with integrated actuation using embedded particles

DOEpatents

Buckley, Patrick R [New York, NY; Maitland, Duncan J [Pleasant Hill, CA

2012-05-29

A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

Shape memory system with integrated actuation using embedded particles

DOEpatents

Buckley, Patrick R.; Maitland, Duncan J.

2014-04-01

A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

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

Unseren, M.A.

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

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

Unseren, M.A.

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

NASA Langley Distributed Propulsion VTOL Tilt-Wing Aircraft Testing, Modeling, Simulation, Control, and Flight Test Development

NASA Technical Reports Server (NTRS)

Rothhaar, Paul M.; Murphy, Patrick C.; Bacon, Barton J.; Gregory, Irene M.; Grauer, Jared A.; Busan, Ronald C.; Croom, Mark A.

2014-01-01

Control of complex Vertical Take-Off and Landing (VTOL) aircraft traversing from hovering to wing born flight mode and back poses notoriously difficult modeling, simulation, control, and flight-testing challenges. This paper provides an overview of the techniques and advances required to develop the GL-10 tilt-wing, tilt-tail, long endurance, VTOL aircraft control system. The GL-10 prototype's unusual and complex configuration requires application of state-of-the-art techniques and some significant advances in wind tunnel infrastructure automation, efficient Design Of Experiments (DOE) tunnel test techniques, modeling, multi-body equations of motion, multi-body actuator models, simulation, control algorithm design, and flight test avionics, testing, and analysis. The following compendium surveys key disciplines required to develop an effective control system for this challenging vehicle in this on-going effort.

Method and System for Physiologically Modulating Videogames and Simulations which Use Gesture and Body Image Sensing Control Input Devices

NASA Technical Reports Server (NTRS)

Pope, Alan T. (Inventor); Stephens, Chad L. (Inventor); Habowski, Tyler (Inventor)

2017-01-01

Method for physiologically modulating videogames and simulations includes utilizing input from a motion-sensing video game system and input from a physiological signal acquisition device. The inputs from the physiological signal sensors are utilized to change the response of a user's avatar to inputs from the motion-sensing sensors. The motion-sensing system comprises a 3D sensor system having full-body 3D motion capture of a user's body. This arrangement encourages health-enhancing physiological self-regulation skills or therapeutic amplification of healthful physiological characteristics. The system provides increased motivation for users to utilize biofeedback as may be desired for treatment of various conditions.

Body surface mounted biomedical monitoring system using Bluetooth.

PubMed

Nambu, Masayuki

2007-01-01

Continuous monitoring in daily life is important for the health condition control of the elderly. However, portable or wearable devices need to carry by user on their own will. On the other hand, implantation sensors are not adoptable, because of generic users dislike to insert the any object in the body for monitoring. Therefore, another monitoring system of the health condition to carry it easily is necessary. In addition, ID system is necessary even if the subject live with few families. Furthermore, every measurement system should be wireless system, because not to obstruct the daily life of the user. In this paper, we propose the monitoring system, which is mounted on the body surface. This system will not obstruct the action or behavior of user in daily life, because this system attached the body surface on the back of the user. In addition, this system has wireless communication system, using Bluetooth, and acquired data transfer to the outside of the house via the Internet.

Evaluation of the performance of a passive-active vibration isolation system

NASA Astrophysics Data System (ADS)

Sun, L. L.; Hansen, C. H.; Doolan, C.

2015-01-01

The behavior of a feedforward active isolation system subjected to actuator output constraints is investigated. Distributed parameter models are developed to analyze the system response, and to produce a transfer matrix for the design of an integrated passive-active isolation system. Cost functions considered here comprise a combination of the vibration transmission energy and the sum of the squared control forces. The example system considered is a rigid body connected to a simply supported plate via two isolation mounts. The overall isolation performance is evaluated by numerical simulation. The results show that the control strategies which rely on unconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range, but also require large control force amplitudes to control excited vibration modes of the system. Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs. The active system with constrained control force outputs is shown to be more effective at the resonance frequencies of the supporting plate. However, in the frequency range in which rigid body modes are present, the control strategies employed using constrained actuator outputs can only achieve 5-10 dB power transmission reduction, while at off-resonance frequencies, little or no power transmission reduction can be obtained with realistic control forces. Analysis of the wave effects in the passive mounts is also presented.

Remotely controlling of mobile robots using gesture captured by the Kinect and recognized by machine learning method

NASA Astrophysics Data System (ADS)

Hsu, Roy CHaoming; Jian, Jhih-Wei; Lin, Chih-Chuan; Lai, Chien-Hung; Liu, Cheng-Ting

2013-01-01

The main purpose of this paper is to use machine learning method and Kinect and its body sensation technology to design a simple, convenient, yet effective robot remote control system. In this study, a Kinect sensor is used to capture the human body skeleton with depth information, and a gesture training and identification method is designed using the back propagation neural network to remotely command a mobile robot for certain actions via the Bluetooth. The experimental results show that the designed mobile robots remote control system can achieve, on an average, more than 96% of accurate identification of 7 types of gestures and can effectively control a real e-puck robot for the designed commands.

Control mechanisms of circadian rhythms in body composition: Implications for manned spaceflight

NASA Technical Reports Server (NTRS)

Ede, M. C. M.

1975-01-01

The mechanisms that underlie the circadian variations in electrolyte content in body fluid compartments were investigated, and the mechanisms that control the oscillations were studied in order to investigate what effects internal desynchronization in such a system would have during manned space flight. The studies were performed using volunteer human subjects and squirrel monkeys. The intercompartmental distribution of potassium was examined when dietary intake, activity, and posture are held constant throughout each 24-hour day. A net flux of potassium was observed out of the body cell mass during the day and a reverse flux from the extracellular fluid into the body cell mass during the night, counterbalanced by changes in urinary potassium excretion. Experiments with monkeys provided evidence for the synchronization of renal potassium excretion by the rhythm of cortisol secretion with the light-dark cycle. Three models of the circadian timing system were formalized.

Robot and robot system

NASA Technical Reports Server (NTRS)

Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

2011-01-01

A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

Body composition phenotypes in systemic lupus erythematosus and rheumatoid arthritis: a comparative study of Caucasian female patients.

PubMed

Santos, M J; Vinagre, F; Canas da Silva, J; Gil, V; Fonseca, J E

2011-01-01

The amount and distribution of fat and lean mass have important implications for health and systemic inflammation may represent a risk for altered body composition. The aim of this study was to analyse whether changes in body composition are similarly associated with systemic lupus erythematosus (SLE) and rheumatoid arthritis (RA), two inflammatory conditions of different pathogenesis. Body mass index (BMI), waist circumference, fat mass (FM) and fat-free mass (FFM) were measured in 92 women with SLE, 89 with RA and 107 controls. Results were compared among the 3 groups and correlations of FM percentage were explored within SLE and RA. Abnormal body composition was more frequent in women with SLE and RA than in non-inflammatory controls, despite having a similar BMI. RA diagnosis was significantly associated with overfat (OR=2.782, 95%CI 1.470-5.264; p=0.002) and central obesity (OR=2.998, 95%CI 1.016-8.841; p=0.04), while sarcopenia was more common among SLE (OR=3.003; 95%CI 1.178-7.676; p=0.01). Sarcopenic obesity, i.e. the coexistence of overfat with sarcopenia, was present in 6.5% of SLE and 5.6% of RA women, but no controls. Independent correlations of FM percentage in women with SLE included smoking, disease activity and CRP. In RA, education, disease activity and cumulative corticosteroid dose were identified as independent predictors of FM percentage. Women with SLE or RA diagnosis are more likely to have abnormal body composition phenotype, with some differences existing between these two conditions. Changes in body composition are partly explained by the inflammatory burden of disease and its treatment.

The Motion and Control of a Chaplygin Sleigh with Internal Shape in an Ideal Fluid

NASA Astrophysics Data System (ADS)

Barot, Christopher

In this dissertation we will examine a nonholonomic system with Lie group symmetry: the Chaplygin sleigh coupled to an oscillator moving through a potential fluid in two dimensions. This example is chosen to illustrate several general features. The sleigh system in the plane has SE(2) symmetry. This group symmetry will be used to separate the dynamics of the system into those along the group directions and those not. The oscillator motion is not along the group and so acts as an additional configuration space coordinate that plays the role of internal "shape". The potential fluid serves as an interactive environment for the sleigh. The interaction between the fluid and sleigh depends not only on the sleigh body shape and size but also on its motion. The motion of the sleigh causes motion in the surrounding fluid and vice-versa. Since the sleigh body is coupled to the oscillator, the oscillator will have indirect interaction with the fluid. This oscillator serves as internal shape and interacts with the external environment of the sleigh through its coupling to the sleigh body and the nonholonomic constraint; it will be shown that this interaction can produce a variety of types of motion depending on the sleigh geometry. In particular, when the internal shape of the system is actively controlled, it will be proven that the sleigh can be steered through the plane towards any desired position. In this way the sleigh-fluid-oscillator system will demonstrate how a rigid body can be steered through an interactive environment by controlling things wholly within the body itself and without use of external thrust.

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

NASA Technical Reports Server (NTRS)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

EMG and EPP-integrated human-machine interface between the paralyzed and rehabilitation exoskeleton.

PubMed

Yin, Yue H; Fan, Yuan J; Xu, Li D

2012-07-01

Although a lower extremity exoskeleton shows great prospect in the rehabilitation of the lower limb, it has not yet been widely applied to the clinical rehabilitation of the paralyzed. This is partly caused by insufficient information interactions between the paralyzed and existing exoskeleton that cannot meet the requirements of harmonious control. In this research, a bidirectional human-machine interface including a neurofuzzy controller and an extended physiological proprioception (EPP) feedback system is developed by imitating the biological closed-loop control system of human body. The neurofuzzy controller is built to decode human motion in advance by the fusion of the fuzzy electromyographic signals reflecting human motion intention and the precise proprioception providing joint angular feedback information. It transmits control information from human to exoskeleton, while the EPP feedback system based on haptic stimuli transmits motion information of the exoskeleton back to the human. Joint angle and torque information are transmitted in the form of air pressure to the human body. The real-time bidirectional human-machine interface can help a patient with lower limb paralysis to control the exoskeleton with his/her healthy side and simultaneously perceive motion on the paralyzed side by EPP. The interface rebuilds a closed-loop motion control system for paralyzed patients and realizes harmonious control of the human-machine system.

Determination of poles and zeros of transfer functions for flexible spacecraft attitude control

NASA Technical Reports Server (NTRS)

Ohkami, Y.; Likins, P. W.

1976-01-01

The transfer function matrix is obtained for a three-input and three-output model of minimum sensors and actuators for the attitude control system of flexible spacecraft, and a method is described for determining the poles and zeros of this transfer function. Three cases are considered: (1) the actuators and the sensors are all attached to the primary body, (2) the actuators are on the primary body and the sensors are on the sub-body, and (3) the actuators are on the sub-body and the sensors are on the primary body. The zero-determination problem is shown to reduce to eigenvalue calculations of a matrix which is constructed from the inertial and modal matrices in a simple fashion.

A new kind of universal smart home security safety monitoring system

NASA Astrophysics Data System (ADS)

Li, Biqing; Li, Zhao

2018-04-01

With the current level of social development, improved quality of life, existence and security issues of law and order has become an important issue. This graduation project adopts the form of wireless transmission, to STC89C52 microcontroller as the host control human infrared induction anti-theft monitoring system. The system mainly consists of main control circuit, power supply circuit, activities of the human body detection module, sound and light alarm circuit, record and display circuit. The main function is to achieve exploration activities on the human body, then the information is transmitted to the control panel, according to the system microcontroller program control sound and light alarm circuit, while recording the alarm location and time, and always check the record as required, and ultimately achieve the purpose of monitoring. The advantage of using pyroelectric infrared sensor can be installed in a hidden place, not easy to find, and low cost, good detection results, and has broad prospects for development.

A wireless body measurement system to study fatigue in multiple sclerosis.

PubMed

Yu, Fei; Bilberg, Arne; Stenager, Egon; Rabotti, Chiara; Zhang, Bin; Mischi, Massimo

2012-12-01

Fatigue is reported as the most common symptom by patients with multiple sclerosis (MS). The physiological and functional parameters related to fatigue in MS patients are currently not well established. A new wearable wireless body measurement system, named Fatigue Monitoring System (FAMOS), was developed to study fatigue in MS. It can continuously measure electrocardiogram, body-skin temperature, electromyogram and motions of feet. The goal of this study is to test the ability of distinguishing fatigued MS patients from healthy subjects by the use of FAMOS. This paper presents the realization of the measurement system including the design of both hardware and dedicated signal processing algorithms. Twenty-six participants including 17 MS patients with fatigue and 9 sex- and age-matched healthy controls were included in the study for continuous 24 h monitoring. The preliminary results show significant differences between fatigued MS patients and healthy controls. In conclusion, the FAMOS enables continuous data acquisition and estimation of multiple physiological and functional parameters. It provides a new, flexible and objective approach to study fatigue in MS, which can distinguish between fatigued MS patients and healthy controls. The usability and reliability of the FAMOS should however be further improved and validated through larger clinical trials.

Review on modeling heat transfer and thermoregulatory responses in human body.

PubMed

Fu, Ming; Weng, Wenguo; Chen, Weiwang; Luo, Na

2016-12-01

Several mathematical models of human thermoregulation have been developed, contributing to a deep understanding of thermal responses in different thermal conditions and applications. In these models, the human body is represented by two interacting systems of thermoregulation: the controlling active system and the controlled passive system. This paper reviews the recent research of human thermoregulation models. The accuracy and scope of the thermal models are improved, for the consideration of individual differences, integration to clothing models, exposure to cold and hot conditions, and the changes of physiological responses for the elders. The experimental validated methods for human subjects and manikin are compared. The coupled method is provided for the manikin, controlled by the thermal model as an active system. Computational Fluid Dynamics (CFD) is also used along with the manikin or/and the thermal model, to evaluate the thermal responses of human body in various applications, such as evaluation of thermal comfort to increase the energy efficiency, prediction of tolerance limits and thermal acceptability exposed to hostile environments, indoor air quality assessment in the car and aerospace industry, and design protective equipment to improve function of the human activities. Copyright © 2016 Elsevier Ltd. All rights reserved.

Fuel management system for cruise performance optimization on a large blended wing body airliner

NASA Astrophysics Data System (ADS)

Wildschek, A.; Stroscher, F.; Haniš, T.; Belschner, T.

2013-12-01

Blended Wing Body (BWB) aircraft configurations have been proposed for significant fuel efficiency improvement on commercial transport. In order to fly with the optimum lift-to-drag ratio throughout most of the mission, an adaptation of the center of gravity (CG) by fuel redistribution is proposed. The most aft location of the CG which still is controllable is mainly limited by actuator bandwidth whereas the front CG location is limited by control authority of the trailing edge control surfaces. This paper provides an optimization of the CG position with regards to minimization of fuel consumption. Layout of the fuel tank system is illustrated. Moreover, active stabilization of faulty CG positions is discussed.

Closed-Loop System Identification Experience for Flight Control Law and Flying Qualities Evaluation of a High Performance Fighter Aircraft

NASA Technical Reports Server (NTRS)

Murphy, Patrick C.

1996-01-01

This paper highlights some of the results and issues associated with estimating models to evaluate control law design methods and design criteria for advanced high performance aircraft. Experimental fighter aircraft such as the NASA-High Alpha Research Vehicle (HARV) have the capability to maneuver at very high angles of attack where nonlinear aerodynamics often predominate. HARV is an experimental F/A-18, configured with thrust vectoring and conformal actuated nose strakes. Identifying closed-loop models for this type of aircraft can be made difficult by nonlinearities and high order characteristics of the system. In this paper, only lateral-directional axes are considered since the lateral-directional control law was specifically designed to produce classical airplane responses normally expected with low-order, rigid-body systems. Evaluation of the control design methodology was made using low-order equivalent systems determined from flight and simulation. This allowed comparison of the closed-loop rigid-body dynamics achieved in flight with that designed in simulation. In flight, the On Board Excitation System was used to apply optimal inputs to lateral stick and pedals at five angles at attack : 5, 20, 30, 45, and 60 degrees. Data analysis and closed-loop model identification were done using frequency domain maximum likelihood. The structure of identified models was a linear state-space model reflecting classical 4th-order airplane dynamics. Input time delays associated with the high-order controller and aircraft system were accounted for in data preprocessing. A comparison of flight estimated models with small perturbation linear design models highlighted nonlinearities in the system and indicated that the closed-loop rigid-body dynamics were sensitive to input amplitudes at 20 and 30 degrees angle of attack.

Closed-Loop System Identification Experience for Flight Control Law and Flying Qualities Evaluation of a High Performance Fighter Aircraft

NASA Technical Reports Server (NTRS)

Murphy, Patrick C.

1999-01-01

This paper highlights some of the results and issues associated with estimating models to evaluate control law design methods and design criteria for advanced high performance aircraft. Experimental fighter aircraft such as the NASA High Alpha Research Vehicle (HARV) have the capability to maneuver at very high angles of attack where nonlinear aerodynamics often predominate. HARV is an experimental F/A-18, configured with thrust vectoring and conformal actuated nose strakes. Identifying closed-loop models for this type of aircraft can be made difficult by nonlinearities and high-order characteristics of the system. In this paper only lateral-directional axes are considered since the lateral-directional control law was specifically designed to produce classical airplane responses normally expected with low-order, rigid-body systems. Evaluation of the control design methodology was made using low-order equivalent systems determined from flight and simulation. This allowed comparison of the closed-loop rigid-body dynamics achieved in flight with that designed in simulation. In flight, the On Board Excitation System was used to apply optimal inputs to lateral stick and pedals at five angles of attack: 5, 20, 30, 45, and 60 degrees. Data analysis and closed-loop model identification were done using frequency domain maximum likelihood. The structure of the identified models was a linear state-space model reflecting classical 4th-order airplane dynamics. Input time delays associated with the high-order controller and aircraft system were accounted for in data preprocessing. A comparison of flight estimated models with small perturbation linear design models highlighted nonlinearities in the system and indicated that the estimated closed-loop rigid-body dynamics were sensitive to input amplitudes at 20 and 30 degrees angle of attack.

Implementation and performance evaluation open-source controller for precision control of gripper

NASA Astrophysics Data System (ADS)

Lee, Seung-Yong; Ham, Un-Hyeong; Park, Young-Woo; Jung, Hak-Sang; Jung, Il-Kyun; Lim, Sun

2017-12-01

This paper proposes integrating gripper embedded operating system, which consist of external interface structure for sophisticated gripper control. This system has multiple functions that control the gripping module and measure the pose of the gripper body with respect to contact environment. A controller based on open source only for the gripper is developed and an external communication interface between robot controller and gripper controller is designed. An experimental environment for the fixed-cycle test consists of integrating magic gripper software system and hardware on commercial business. As a result, a deviation is measured approximately 2% and the system were verified for gripper control.

Central nervous system

MedlinePlus

The central nervous system is composed of the brain and spinal cord. Your brain and spinal cord serve as the main "processing center" for your entire nervous system. They control all the workings of your body.

A trajectory generation and system characterization model for cislunar low-thrust spacecraft. Volume 2: Technical manual

NASA Technical Reports Server (NTRS)

Korsmeyer, David J.; Pinon, Elfego, III; Oconnor, Brendan M.; Bilby, Curt R.

1990-01-01

The documentation of the Trajectory Generation and System Characterization Model for the Cislunar Low-Thrust Spacecraft is presented in Technical and User's Manuals. The system characteristics and trajectories of low thrust nuclear electric propulsion spacecraft can be generated through the use of multiple system technology models coupled with a high fidelity trajectory generation routine. The Earth to Moon trajectories utilize near Earth orbital plane alignment, midcourse control dependent upon the spacecraft's Jacobian constant, and capture to target orbit utilizing velocity matching algorithms. The trajectory generation is performed in a perturbed two-body equinoctial formulation and the restricted three-body formulation. A single control is determined by the user for the interactive midcourse portion of the trajectory. The full spacecraft system characteristics and trajectory are provided as output.

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation.

PubMed

Tan, John F; Masani, Kei; Vette, Albert H; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing.

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

PubMed Central

Tan, John F.; Masani, Kei; Vette, Albert H.; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R.

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing. PMID:27350992

Quantum droplet of one-dimensional bosons with a three-body attraction

NASA Astrophysics Data System (ADS)

Sekino, Yuta; Nishida, Yusuke

2018-01-01

Ultracold atoms offer valuable opportunities where interparticle interactions can be controlled at will. In particular, by extinguishing the two-body interaction, one can realize unique systems governed by the three-body interaction, which is otherwise hidden behind the two-body interaction. Here we study one-dimensional bosons with a weak three-body attraction and show that they form few-body bound states as well as a many-body droplet stabilized by the quantum mechanical effect. Their binding energies relative to that of three bosons are all universal and the ground-state energy of the dilute droplet is found to grow exponentially as EN/E3→exp(8 N2/√{3 }π ) with increasing particle number N ≫1 . The realization of our system with coupled two-component bosons in an optical lattice is also discussed.

Determination and Control of Optical and X-Ray Wave Fronts

NASA Technical Reports Server (NTRS)

Kim, Young K.

1997-01-01

A successful design of a space-based or ground optical system requires an iterative procedure which includes the kinematics and dynamics of the system in operating environment, control synthesis and verification. To facilitate the task of designing optical wave front control systems being developed at NASA/MSFC, a multi-discipline dynamics and control tool has been developed by utilizing TREETOPS, a multi-body dynamics and control simulation, NASTRAN and MATLAB. Dynamics and control models of STABLE and ARIS were developed for TREETOPS simulation, and their simulation results are documented in this report.

Design and analysis of a magnetorheological damper for train suspension

NASA Astrophysics Data System (ADS)

Lau, Yiu-Kee; Liao, Wei-Hsin

2004-07-01

The development of high-speed railway vehicles has been a great interest of many countries because high-speed trains have been proven as an efficient and economical transportation means while minimizing air pollution. However, the high speed of the train would cause significant car body vibrations. Thus effective vibration control of the car body is needed to improve the ride comfort and safety of the railway vehicle. Various kinds of railway vehicle suspensions such as passive, active, and semi-active systems could be used to cushion passengers from vibrations. Among them, semi-active suspensions are believed to achieve high performance while maintaining system stable and fail-safe. In this paper, it is aimed to design a magnetorheological (MR) fluid damper, which is suitable for semi-active train suspension system in order to improve the ride quality. A double-ended MR damper is designed, fabricated, and tested. Then a model for the double-ended MR damper is integrated in the secondary suspension of a full-scale railway vehicle model. A semi-active on-off control strategy based on the absolute velocity measurement of the car body is adopted. The controlled performances are compared with other types of suspension systems. The results show the feasibility and effectiveness of the semi-active train suspension system with the developed MR dampers.

Structure, function, and control of the human musculoskeletal network

PubMed Central

Murphy, Andrew C.; Muldoon, Sarah F.; Baker, David; Lastowka, Adam; Bennett, Brittany; Yang, Muzhi

2018-01-01

The human body is a complex organism, the gross mechanical properties of which are enabled by an interconnected musculoskeletal network controlled by the nervous system. The nature of musculoskeletal interconnection facilitates stability, voluntary movement, and robustness to injury. However, a fundamental understanding of this network and its control by neural systems has remained elusive. Here we address this gap in knowledge by utilizing medical databases and mathematical modeling to reveal the organizational structure, predicted function, and neural control of the musculoskeletal system. We constructed a highly simplified whole-body musculoskeletal network in which single muscles connect to multiple bones via both origin and insertion points. We demonstrated that, using this simplified model, a muscle’s role in this network could offer a theoretical prediction of the susceptibility of surrounding components to secondary injury. Finally, we illustrated that sets of muscles cluster into network communities that mimic the organization of control modules in primary motor cortex. This novel formalism for describing interactions between the muscular and skeletal systems serves as a foundation to develop and test therapeutic responses to injury, inspiring future advances in clinical treatments. PMID:29346370

Genetics Home Reference: multiple system atrophy

MedlinePlus

... inability to hold the body upright and balanced (postural instability). The other type of multiple system atrophy , ... cells in parts of the nervous system that control movement, balance and coordination, and autonomic functioning. The ...

LPV H-infinity Control for the Longitudinal Dynamics of a Flexible Air-Breathing Hypersonic Vehicle

NASA Astrophysics Data System (ADS)

Hughes, Hunter Douglas

This dissertation establishes the method needed to synthesize and simulate an Hinfinity Linear Parameter-Varying (LPV) controller for a flexible air-breathing hypersonic vehicle model. A study was conducted to gain the understanding of the elastic effects on the open loop system. It was determined that three modes of vibration would be suitable for the hypersonic vehicle model. It was also discovered from the open loop study that there is strong coupling in the hypersonic vehicle states, especially between the angle of attack, pitch rate, pitch attitude, and the exible modes of the vehicle. This dissertation outlines the procedure for synthesizing a full state feedback Hinfinity LPV controller for the hypersonic vehicle. The full state feedback study looked at both velocity and altitude tracking for the exible vehicle. A parametric study was conducted on each of these controllers to see the effects of changing the number of gridding points in the parameter space and changing the parameter variation rate limits in the system on the robust performance of the controller. As a result of the parametric study, a 7 x 7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.5 200]T was used for both the velocity tracking and altitude tracking cases. The resulting Hinfinity robust performances were gamma = 2.2224 for the velocity tracking case and = 1:7582 for the altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. This was conducted for the velocity tracking and altitude tracking cases. The results of linear analysis show that there is a slight difference in the response of the Hinfinity LPV controller and the fixed point H infinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the H infinity LPV controller was simulated using the nonlinear flexible hypersonic model for both the velocity tracking and altitude tracking cases. Both of these cases were subject to a ramp input and a multi-step input both with and without perturbation in the model. The results of the simulation show that the tracking state follows the command signal successfully though the perturbed system does show some higher frequency characteristics in the non-tracking states. It was discovered that there is an issue with integral windup when switching takes place in the controller, so an algorithm was implemented to reset the integration of the error on the tracking state when the switch takes place. It was also seen that there was a decline in altitude when tracking velocity, and a large change in velocity that occurred during altitude tracking. These results lead to the decision to include a unity gain regulation state on velocity for the altitude tracking and the altitude for the velocity tracking during the output feedback control synthesis. The procedure for synthesizing an output feedback H infinity LPV controller for the hypersonic vehicle is also discussed in this dissertation. The output feedback design looked at velocity tracking and altitude tracking with rigid body motion variables for both the exible and rigid body hypersonic vehicle models. As with the full state feedback controller, a parametric study was conducted on each of these controllers to determine the number of gridding points in the parameter space and the parameter variation rate limits in the system. The parametric study reveals a 7x7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.1 200]T is preferable for both the velocity tracking and altitude tracking cases with both the exible and rigid body assumptions. The resulting Hinfinity robust performances were gamma = 113:2146 for the exible body velocity tracking case, gamma = 83.6931 for the rigid body velocity tracking case, gamma = 107:2043 for the exible body altitude tracking case, and gamma = 97:7403 for the rigid body altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. The results of this analysis show that there is a larger difference in the response of the Hinfinity LPV controller and the Hinfinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the Hinfinity LPV controller was applied to the exible nonlinear plant model. The rigid body controllers were applied to the exible plant model to see if the exible nature of the vehicle could be treated as a perturbation to the system. Additionally, there were simulations run both with and without sensor noise and parametric uncertainty. The results of simulation show that the rigid body controller is able to successfully apply to the exible body model for the velocity tracking case, but is unable to stabilize the altitude tracking case. It was also seen that the system is able to track the command signal while minimizing the variations seen in the altitude for the velocity tracking case and in the velocity during the altitude tracking case. Additionally, there was no obvious effect of perturbations in the system on the tracking state or secondary regulation state. There were high frequency responses associated with the other perturbed states.

Flexible body control of the airborne telescope SOFIA

NASA Astrophysics Data System (ADS)

Kaercher, Hans J.

2002-07-01

Airborne telescopes have, compared with earthbound or space telescopes, by far the most worse environment during operations. They must not only deal with aircraft vibrations, but also with large temperature differences and aero-acoustic loads including standing waves. System simulations are particularly useful for verifying the design performance in this environment. They should include the behavior of the overall opto-mechanical system, the environmental loads and the pointing control system itself. SOFIA - the "Stratospheric Observatory for Infrared Astronomy" - is a 2,7 m infrared telescope in an open cavity of a Boeing 747 aircraft. At present the telescope is under construction in the MAN premises in Augsburg. Simulations during the design phase of the telescope showed, that there are resonance effects in the telescope excited by the cavity acoustics. The excitations disturb the pointing behavior above the allowances. This paper describes, how the overall system was simulated, how the resonance modes will be compensated by "flexible body control", and how the pointing control system will be finally optimized during test flights in an pointing improvement phase.

Analytical formulation of selected activities of the remote manipulator system

NASA Technical Reports Server (NTRS)

Zimmerman, K. J.

1977-01-01

Existing analysis of Orbiter-RMS-Payload kinematics were surveyed, including equations dealing with the two body kinematics in the presence of a massless RMS and compares analytical explicit solutions with numerical solutions. For the following operational phases of the RMS numerical demonstration, problems are provided: (1) payload capture; (2) payload stowage and removal from cargo bay; and (3) payload deployment. The equation of motion provided accounted for RMS control forces and torque moments and could be extended to RMS flexibility and control loop simulation without increasing the degrees of freedom of the two body system.

Development of Skylab experiment T-013 crew/vehicle disturbances

NASA Technical Reports Server (NTRS)

Conway, B. A.; Woolley, C. T.; Kurzhals, P. R.; Reynolds, R. B.

1972-01-01

A Skylab experiment to determine the characteristics and effects of crew-motion disturbances was developed. The experiment will correlate data from histories of specified astronaut body motions, the disturbance forces and torques produced by these motions, and the resultant spacecraft control system response to the disturbances. Primary application of crew-motion disturbance data will be to the sizing and design of future manned spacecraft control and stabilization systems. The development of the crew/vehicle disturbances experiment is described, and a mathematical model of human body motion which may be used for analysis of a variety of man-motion activities is derived.

Autonomic nervous system activation mediates the increase in whole-body glucose uptake in response to electroacupuncture.

PubMed

Benrick, Anna; Kokosar, Milana; Hu, Min; Larsson, Martin; Maliqueo, Manuel; Marcondes, Rodrigo Rodrigues; Soligo, Marzia; Protto, Virginia; Jerlhag, Elisabet; Sazonova, Antonina; Behre, Carl Johan; Højlund, Kurt; Thorén, Peter; Stener-Victorin, Elisabet

2017-08-01

A single bout of low-frequency electroacupuncture (EA) causing muscle contractions increases whole-body glucose uptake in insulin-resistant rats. We explored the underlying mechanism of this finding and whether it can be translated into clinical settings. Changes in glucose infusion rate (GIR) were measured by euglycemic-hyperinsulinemic clamp during and after 45 min of low-frequency EA in 21 overweight/obese women with polycystic ovary syndrome (PCOS) and 21 controls matched for age, weight, and body mass index (experiment 1) and in rats receiving autonomic receptor blockers (experiment 2). GIR was higher after EA in controls and women with PCOS. Plasma serotonin levels and homovanillic acid, markers of vagal activity, decreased in both controls and patients with PCOS. Adipose tissue expression of pro-nerve growth factor (proNGF) decreased, and the mature NGF/proNGF ratio increased after EA in PCOS, but not in controls, suggesting increased sympathetic-driven adipose tissue metabolism. Administration of α-/β-adrenergic receptor blockers in rats blocked the increase in GIR in response to EA. Muscarinic and dopamine receptor antagonist also blocked the response but with slower onset. In conclusion, a single bout of EA increases whole-body glucose uptake by activation of the sympathetic and partly the parasympathetic nervous systems, which could have important clinical implications for the treatment of insulin resistance.-Benrick, A., Kokosar, M., Hu, M., Larsson, M., Maliqueo, M., Marcondes, R. R., Soligo, M., Protto, V., Jerlhag, E., Sazonova, A., Behre, C. J., Højlund, K., Thorén, P., Stener-Victorin, E. Autonomic nervous system activation mediates the increase in whole-body glucose uptake in response to electroacupuncture. © FASEB.

System properties, feedback control and effector coordination of human temperature regulation.

PubMed

Werner, Jürgen

2010-05-01

The aim of human temperature regulation is to protect body processes by establishing a relative constancy of deep body temperature (regulated variable), in spite of external and internal influences on it. This is basically achieved by a distributed multi-sensor, multi-processor, multi-effector proportional feedback control system. The paper explains why proportional control implies inherent deviations of the regulated variable from the value in the thermoneutral zone. The concept of feedback of the thermal state of the body, conveniently represented by a high-weighted core temperature (T (c)) and low-weighted peripheral temperatures (T (s)) is equivalent to the control concept of "auxiliary feedback control", using a main (regulated) variable (T (c)), supported by an auxiliary variable (T (s)). This concept implies neither regulation of T (s) nor feedforward control. Steady-states result in the closed control-loop, when the open-loop properties of the (heat transfer) process are compatible with those of the thermoregulatory processors. They are called operating points or balance points and are achieved due to the inherent property of dynamical stability of the thermoregulatory feedback loop. No set-point and no comparison of signals (e.g. actual-set value) are necessary. Metabolic heat production and sweat production, though receiving the same information about the thermal state of the body, are independent effectors with different thresholds and gains. Coordination between one of these effectors and the vasomotor effector is achieved by the fact that changes in the (heat transfer) process evoked by vasomotor control are taken into account by the metabolic/sweat processor.

Body representations in the human brain revealed by kinesthetic illusions and their essential contributions to motor control and corporeal awareness.

PubMed

Naito, Eiichi; Morita, Tomoyo; Amemiya, Kaoru

2016-03-01

The human brain can generate a continuously changing postural model of our body. Somatic (proprioceptive) signals from skeletal muscles and joints contribute to the formation of the body representation. Recent neuroimaging studies of proprioceptive bodily illusions have elucidated the importance of three brain systems (motor network, specialized parietal systems, right inferior fronto-parietal network) in the formation of the human body representation. The motor network, especially the primary motor cortex, processes afferent input from skeletal muscles. Such information may contribute to the formation of kinematic/dynamic postural models of limbs, thereby enabling fast online feedback control. Distinct parietal regions appear to play specialized roles in the transformation/integration of information across different coordinate systems, which may subserve the adaptability and flexibility of the body representation. Finally, the right inferior fronto-parietal network, connected by the inferior branch of the superior longitudinal fasciculus, is consistently recruited when an individual experiences various types of bodily illusions and its possible roles relate to corporeal awareness, which is likely elicited through a series of neuronal processes of monitoring and accumulating bodily information and updating the body representation. Because this network is also recruited when identifying one's own features, the network activity could be a neuronal basis for self-consciousness. Copyright © 2015 Elsevier Ireland Ltd and the Japan Neuroscience Society. All rights reserved.

Reduction of low frequency vibration of truck driver and seating system through system parameter identification, sensitivity analysis and active control

NASA Astrophysics Data System (ADS)

Wang, Xu; Bi, Fengrong; Du, Haiping

2018-05-01

This paper aims to develop an 5-degree-of-freedom driver and seating system model for optimal vibration control. A new method for identification of the driver seating system parameters from experimental vibration measurement has been developed. The parameter sensitivity analysis has been conducted considering the random excitation frequency and system parameter uncertainty. The most and least sensitive system parameters for the transmissibility ratio have been identified. The optimised PID controllers have been developed to reduce the driver's body vibration.

Accuracy analysis of pointing control system of solar power station

NASA Technical Reports Server (NTRS)

Hung, J. C.; Peebles, P. Z., Jr.

1978-01-01

The first-phase effort concentrated on defining the minimum basic functions that the retrodirective array must perform, identifying circuits that are capable of satisfying the basic functions, and looking at some of the error sources in the system and how they affect accuracy. The initial effort also examined three methods for generating torques for mechanical antenna control, performed a rough analysis of the flexible body characteristics of the solar collector, and defined a control system configuration for mechanical pointing control of the array.

A design of endoscopic imaging system for hyper long pipeline based on wheeled pipe robot

NASA Astrophysics Data System (ADS)

Zheng, Dongtian; Tan, Haishu; Zhou, Fuqiang

2017-03-01

An endoscopic imaging system of hyper long pipeline is designed to acquire the inner surface image in advance for the hyper long pipeline detects measurement. The system consists of structured light sensors, pipe robots and control system. The pipe robot is in the form of wheel structure, with the sensor which is at the front of the vehicle body. The control system is at the tail of the vehicle body in the form of upper and lower computer. The sensor can be translated and scanned in three steps: walking, lifting and scanning, then the inner surface image can be acquired at a plurality of positions and different angles. The results of imaging experiments show that the system's transmission distance is longer, the acquisition angle is more diverse and the result is more comprehensive than the traditional imaging system, which lays an important foundation for later inner surface vision measurement.

Biofluid mechanics of special organs and the issue of system control. Sixth International Bio-Fluid Mechanics Symposium and Workshop, March 28-30, 2008 Pasadena, California.

PubMed

Zamir, Mair; Moore, James E; Fujioka, Hideki; Gaver, Donald P

2010-03-01

In the field of fluid flow within the human body, focus has been placed on the transportation of blood in the systemic circulation since the discovery of that system; but, other fluids and fluid flow phenomena pervade the body. Some of the most fascinating fluid flow phenomena within the human body involve fluids other than blood and a service other than transport--the lymphatic and pulmonary systems are two striking examples. While transport is still involved in both cases, this is not the only service which they provide and blood is not the only fluid involved. In both systems, filtration, extraction, enrichment, and in general some "treatment" of the fluid itself is the primary function. The study of the systemic circulation has also been conventionally limited to treating the system as if it were an open-loop system governed by the laws of fluid mechanics alone, independent of physiological controls and regulations. This implies that system failures can be explained fully in terms of the laws of fluid mechanics, which of course is not the case. In this paper we examine the clinical implications of these issues and of the special biofluid mechanics issues involved in the lymphatic and pulmonary systems.

Is there evidence for a set point that regulates human body weight?

PubMed

Müller, Manfred J; Bosy-Westphal, Anja; Heymsfield, Steven B

2010-08-09

There is evidence for the idea that there is biological (active) control of body weight at a given set point. Body weight is the product of genetic effects (DNA), epigenetic effects (heritable traits that do not involve changes in DNA), and the environment. Regulation of body weight is asymmetric, being more effective in response to weight loss than to weight gain. However, regulation may be lost or camouflaged by Western diets, suggesting that the failure of biological control is due mainly to external factors. In this situation, the body's 'set point' (i.e., a constant 'body-inherent' weight regulated by a proportional feedback control system) is replaced by various 'settling points' that are influenced by energy and macronutrient intake in order for the body to achieve a zero energy balance. In a world of abundance, a prudent lifestyle and thus cognitive control are preconditions of effective biological control and a stable body weight. This idea also impacts future genetic research on body weight regulation. Searching for the genetic background of excess weight gain in a world of abundance is misleading since the possible biological control is widely overshadowed by the effect of the environment. In regard to clinical practice, dietary approaches to both weight loss and weight gain have to be reconsidered. In underweight patients (e.g., patients with anorexia nervosa), weight gain is supported by biological mechanisms that may or may not be suppressed by hyperalimentation. To overcome weight loss-induced counter-regulation in the overweight, biological signals have to be taken into account. Computational modeling of weight changes based on metabolic flux and its regulation will provide future strategies for clinical nutrition.

Control of spin ambiguity during reorientation of an energy dissipating body

NASA Technical Reports Server (NTRS)

Kaplan, M. H.; Cenker, R. J.

1973-01-01

A quasi-rigid body initially spinning about its minor principal axis and experiencing energy dissipation will enter a tumbling mode and eventually reorient itself such that stable spin about its major principal axis is achieved. However, in this final state the body may be spinning in a positive or negative sense with respect to its major axis and aligned in a positive or negative sense with the inertially fixed angular momentum vector. This ambiguity can be controlled only through an active system. The associated dynamical formulations and simulations of uncontrolled reorientations are presented. Three control schemes are discussed and results offered for specific examples. These schemes include displacement of internal masses, spinning up of internal inertia, and reaction jets, all of which have demonstrated the ability to control spin ambiguity.

Toward a whole-body neuroprosthetic.

PubMed

Lebedev, Mikhail A; Nicolelis, Miguel A L

2011-01-01

Brain-machine interfaces (BMIs) hold promise for the restoration of body mobility in patients suffering from devastating motor deficits caused by brain injury, neurological diseases, and limb loss. Considerable progress has been achieved in BMIs that enact arm movements, and initial work has been done on BMIs for lower limb and trunk control. These developments put Duke University Center for Neuroengineering in the position to develop the first BMI for whole-body control. This whole-body BMI will incorporate very large-scale brain recordings, advanced decoding algorithms, artificial sensory feedback based on electrical stimulation of somatosensory areas, virtual environment representations, and a whole-body exoskeleton. This system will be first tested in nonhuman primates and then transferred to clinical trials in humans. Copyright © 2011 Elsevier B.V. All rights reserved.

Arm coordination in octopus crawling involves unique motor control strategies.

PubMed

Levy, Guy; Flash, Tamar; Hochner, Binyamin

2015-05-04

To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus. Copyright © 2015 Elsevier Ltd. All rights reserved.

G-DYN Multibody Dynamics Engine

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Blackmore, James C.; Broderick, Daniel

2011-01-01

G-DYN is a multi-body dynamic simulation software engine that automatically assembles and integrates equations of motion for arbitrarily connected multibody dynamic systems. The algorithm behind G-DYN is based on a primal-dual formulation of the dynamics that captures the position and velocity vectors (primal variables) of each body and the interaction forces (dual variables) between bodies, which are particularly useful for control and estimation analysis and synthesis. It also takes full advantage of the spare matrix structure resulting from the system dynamics to numerically integrate the equations of motion efficiently. Furthermore, the dynamic model for each body can easily be replaced without re-deriving the overall equations of motion, and the assembly of the equations of motion is done automatically. G-DYN proved an essential software tool in the simulation of spacecraft systems used for small celestial body surface sampling, specifically in simulating touch-and-go (TAG) maneuvers of a robotic sampling system from a comet and asteroid. It is used extensively in validating mission concepts for small body sample return, such as Comet Odyssey and Galahad New Frontiers proposals.

Probe Scanning Support System by a Parallel Mechanism for Robotic Echography

NASA Astrophysics Data System (ADS)

Aoki, Yusuke; Kaneko, Kenta; Oyamada, Masami; Takachi, Yuuki; Masuda, Kohji

We propose a probe scanning support system based on force/visual servoing control for robotic echography. First, we have designed and formulated its inverse kinematics the construction of mechanism. Next, we have developed a scanning method of the ultrasound probe on body surface to construct visual servo system based on acquired echogram by the standalone medical robot to move the ultrasound probe on patient abdomen in three-dimension. The visual servo system detects local change of brightness in time series echogram, which is stabilized the position of the probe by conventional force servo system in the robot, to compensate not only periodical respiration motion but also body motion. Then we integrated control method of the visual servo with the force servo as a hybrid control in both of position and force. To confirm the ability to apply for actual abdomen, we experimented the total system to follow the gallbladder as a moving target to keep its position in the echogram by minimizing variation of reaction force on abdomen. As the result, the system has a potential to be applied to automatic detection of human internal organ.

Current evaluation of hydraulics to replace the cable force transmission system for body-powered upper-limb prostheses.

PubMed

LeBlanc, M

1990-01-01

Present body-powered upper-limb prostheses use a cable control system employing World War II aircraft technology to transmit force from the body to the prosthesis for operation. The cable and associated hardware are located outside the prosthesis. Because individuals with arm amputations want prostheses that are natural looking with a smooth, soft outer surface, a design and development project was undertaken to replace the cable system with hydraulics located inside the prosthesis. Three different hydraulic transmission systems were built for evaluation, and other possibilities were explored. Results indicate that a hydraulic force transmission system remains an unmet challenge as a practical replacement for the cable system. The author was unable to develop a hydraulic system that meets the necessary dynamic requirements and is acceptable in size and appearance.

Delay-based signal shapers and acfa 2020 blended wing body flight control system

NASA Astrophysics Data System (ADS)

Kucera, V.; Hromčík, M.

2013-12-01

The purpose of this paper is twofold. First: results related to application of signal shapers, imposed on pilot's commands, in cooperation with feedback flight control system (FCS) are reported for the case of ACFA2020 (Active Control for Flexible 2020 Aircraft) blended-wingbody (BWB) design. The results suggest that signal shapers can cooperate nicely both with FCS focused on the rigid-body dynamics only, as well as with an implemented and properly working active damping system. In both cases, the amount of vibrations due to pilot's inputs (manoeuvres) can be substantially reduced. Second: combination of signal shapers and rate-limiters is discussed in detail. Rate-limiters, representing finite achievable rates of servos for control surfaces, deteriorate considerably performance of the delay-based shapers. Configuration proposes only open-loop response of the free aircraft (without controller) for shaped reference respect to nonlinearities at action surface. Standard versions of the shapers cannot be therefore directly applied, especially for higher control surfaces deflections. Instead, two efficient alternatives can be used, suggested in the paper, that take the rate limitations into account at the design stage already.

Investigation on pitch system loads by means of an integral multi body simulation approach

NASA Astrophysics Data System (ADS)

Berroth, J.; Jacobs, G.; Kroll, T.; Schelenz, R.

2016-09-01

In modern horizontal axis wind turbines the rotor blades are adjusted by three individual pitch systems to control power output. The pitch system consists of either a hydraulic or an electrical actuator, the blade bearing, the rotor blade itself and the control. In case of an electrical drive a gearbox is used to transmit the high torques that are required for blade pitch angle adjustment. In this contribution a new integral multi body simulation approach is presented that enables detailed assessment of dynamic pitch system loads. The simulation results presented are compared and evaluated with measurement data of a 2 MW-class reference wind turbine. Major focus of this contribution is on the assessment of non linear tooth contact behaviour incorporating tooth backlash for the single gear stages and the impact on dynamic pitch system loads.

Multi-flexible-body analysis for application to wind turbine control design

NASA Astrophysics Data System (ADS)

Lee, Donghoon

The objective of the present research is to build a theoretical and computational framework for the aeroelastic analysis of flexible rotating systems, more specifically with special application to a wind turbine control design. The methodology is based on the integration of Kane's approach for the analysis of the multi-rigid-body subsystem and a mixed finite element method for the analysis of the flexible-body subsystem. The combined analysis is then strongly coupled with an aerodynamic model based on Blade Element Momentum theory for inflow model. The unified framework from the analysis of subsystems is represented as, in a symbolic manner, a set of nonlinear ordinary differential equations with time-variant, periodic coefficients, which describe the aeroelastic behavior of whole system. The framework can be directly applied to control design due to its symbolic characteristics. The solution procedures for the equations are presented for the study of nonlinear simulation, periodic steady-state solution, and Floquet stability of the linearized system about the steady-state solution. Finally the linear periodic system equation can be obtained with both system and control matrices as explicit functions of time, which can be directly applicable to control design. The structural model is validated by comparison of its results with those from software, some of which is commercial. The stability of the linearized system about periodic steady-state solution is different from that obtained about a constant steady-state solution, which have been conventional in the field of wind turbine dynamics. Parametric studies are performed on a wind turbine model with various pitch angles, precone angles, and rotor speeds. Combined with composite material, their effects on wind turbine aeroelastic stability are investigated. Finally it is suggested that the aeroelastic stability analysis and control design for the whole system is crucial for the design of wind turbines, and the present research breaks new ground in the ability to treat the issue.

Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators.

PubMed

Marchese, Andrew D; Onal, Cagdas D; Rus, Daniela

2014-03-01

In this work we describe an autonomous soft-bodied robot that is both self-contained and capable of rapid, continuum-body motion. We detail the design, modeling, fabrication, and control of the soft fish, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot onboard: power, actuation, processing, and control. At the core of the fish's soft body is an array of fluidic elastomer actuators. We design the fish to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum-body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared with studies on biological fish. We show that during escape responses, the soft-bodied robot has similar input-output relationships to those observed in biological fish. The major implication of this work is that we show soft robots can be both self-contained and capable of rapid body motion.

Atomic Bose-Hubbard Systems with Single-Particle Control

NASA Astrophysics Data System (ADS)

Preiss, Philipp Moritz

Experiments with ultracold atoms in optical lattices provide outstanding opportunities to realize exotic quantum states due to a high degree of tunability and control. In this thesis, I present experiments that extend this control from global parameters to the level of individual particles. Using a quantum gas microscope for 87Rb, we have developed a single-site addressing scheme based on digital amplitude holograms. The system self-corrects for aberrations in the imaging setup and creates arbitrary beam profiles. We are thus able to shape optical potentials on the scale of single lattice sites and control the dynamics of individual atoms. We study the role of quantum statistics and interactions in the Bose-Hubbard model on the fundamental level of two particles. Bosonic quantum statistics are apparent in the Hong-Ou-Mandel interference of massive particles, which we observe in tailored double-well potentials. These underlying statistics, in combination with tunable repulsive interactions, dominate the dynamics in single- and two-particle quantum walks. We observe highly coherent position-space Bloch oscillations, bosonic bunching in Hanbury Brown-Twiss interference and the fermionization of strongly interacting bosons. Many-body states of indistinguishable quantum particles are characterized by large-scale spatial entanglement, which is difficult to detect in itinerant systems. Here, we extend the concept of Hong-Ou-Mandel interference from individual particles to many-body states to directly quantify entanglement entropy. We perform collective measurements on two copies of a quantum state and detect entanglement entropy through many-body interference. We measure the second order Renyi entropy in small Bose-Hubbard systems and detect the buildup of spatial entanglement across the superfluid-insulator transition. Our experiments open new opportunities for the single-particle-resolved preparation and characterization of many-body quantum states.

Effect of modifying the information and training structure on the occupational safety of health care workers in exposure to blood and body fluids: A quasi-experimental study.

PubMed

Sarbaz, Masoumeh; Kimiafar, Khalil; Taherzadeh, Zhila; Naderi, HamidReza; Eslami, Saeid

2017-01-01

This study was a quasi-experimental design to assess the effect of a Web-based information system on the occupational exposure to blood and body fluids (BBFs) among health care workers (HCWs). The outcome was the number of exposure incidents with BBFs among HCWs in both hospital A (intervention) and hospital B (control). The findings showed that the implementation of the Web-based information system about infection prevention and control in hospital A decreased exposure incidents with BBFs among the HCWs (P < .001). Copyright © 2017 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

Embodied prosthetic arm stabilizes body posture, while unembodied one perturbs it.

PubMed

Imaizumi, Shu; Asai, Tomohisa; Koyama, Shinichi

2016-10-01

Senses of ownership (this arm belongs to me) and agency (I am controlling this arm) originate from sensorimotor system. External objects can be integrated into the sensorimotor system following long-term use, and recognized as one's own body. We examined how an (un)embodied prosthetic arm modulates whole-body control, and assessed the components of prosthetic embodiment. Nine unilateral upper-limb amputees participated. Four frequently used their prosthetic arm, while the others rarely did. Their postural sway was measured during quiet standing with or without their prosthesis. The frequent users showed greater sway when they removed the prosthesis, while the rare users showed greater sway when they fitted the prosthesis. Frequent users reported greater everyday feelings of postural stabilization by prosthesis and a larger sense of agency over the prosthesis. We suggest that a prosthetic arm maintains or perturbs postural control, depending on the prosthetic embodiment, which involves sense of agency rather than ownership. Copyright © 2016 Elsevier Inc. All rights reserved.

Spin Stabilized Impulsively Controlled Missile (SSICM)

NASA Astrophysics Data System (ADS)

Crawford, J. I.; Howell, W. M.

1985-12-01

This patent is for the Spin Stabilized Impulsively Controlled Missile (SSICM). SSICM is a missile configuration which employs spin stabilization, nutational motion, and impulsive thrusting, and a body mounted passive or semiactive sensor to achieve very small miss distances against a high speed moving target. SSICM does not contain an autopilot, control surfaces, a control actuation system, nor sensor stabilization gimbals. SSICM spins at a rate sufficient to provide frequency separation between body motions and inertial target motion. Its impulsive thrusters provide near instantaneous changes in lateral velocity, whereas conventional missiles require a significant time delay to achieve lateral acceleration.

Attitude control system testing on SCOLE

NASA Technical Reports Server (NTRS)

Shenhar, J.; Sparks, D., Jr.; Williams, J. P.; Montgomery, R. C.

1988-01-01

This paper presents implementation of two control policies on SCOLE (Space Control Laboratory Experiment), a laboratory apparatus representing an offset-feed antenna attached to the Space Shuttle by a flexible mast. In the first case, the flexible mast was restrained by cables, permitting modeling of SCOLE as a rigid-body. Starting from an arbitrary state, SCOLE was maneuvered to a specified terminal state using rigid-body minimum-time control law. In the second case, the so called single step optimal control (SSOC) theory is applied to suppress vibrations of the flexible mast mounted as a cantilever beam. Based on the SSOC theory, two parameter optimization algorithms were developed.

Thrusting maneuver control of a small spacecraft via only gimbaled-thruster scheme

NASA Astrophysics Data System (ADS)

Kabganian, Mansour; Kouhi, Hamed; Shahravi, Morteza; Fani Saberi, Farhad

2018-05-01

The thrust vector control (TVC) scheme is a powerful method in spacecraft attitude control. Since the control of a small spacecraft is being studied here, a solid rocket motor (SRM) should be used instead of a liquid propellant motor. Among the TVC methods, gimbaled-TVC as an efficient method is employed in this paper. The spacecraft structure is composed of a body and a gimbaled-SRM where common attitude control systems such as reaction control system (RCS) and spin-stabilization are not presented. A nonlinear two-body model is considered for the characterization of the gimbaled-thruster spacecraft where, the only control input is provided by a gimbal actuator. The attitude of the spacecraft is affected by a large exogenous disturbance torque which is generated by a thrust vector misalignment from the center of mass (C.M). A linear control law is designed to stabilize the spacecraft attitude while rejecting the mentioned disturbance torque. A semi-analytical formulation of the region of attraction (RoA) is developed to ensure the local stability and fast convergence of the nonlinear closed-loop system. Simulation results of the 3D maneuvers are included to show the applicability of this method for use in a small spacecraft.

Controller evaluation of initial data link en route air traffic control services : mini study 3

DOT National Transportation Integrated Search

1991-06-01

This report documents a Federal Aviation Administration controller evaluation of air traffic control (ATC) Data Link services planned for implementation in the en route ATC system. The main body of the report includes a detailed description of the ob...

AnimatLab: a 3D graphics environment for neuromechanical simulations.

PubMed

Cofer, David; Cymbalyuk, Gennady; Reid, James; Zhu, Ying; Heitler, William J; Edwards, Donald H

2010-03-30

The nervous systems of animals evolved to exert dynamic control of behavior in response to the needs of the animal and changing signals from the environment. To understand the mechanisms of dynamic control requires a means of predicting how individual neural and body elements will interact to produce the performance of the entire system. AnimatLab is a software tool that provides an approach to this problem through computer simulation. AnimatLab enables a computational model of an animal's body to be constructed from simple building blocks, situated in a virtual 3D world subject to the laws of physics, and controlled by the activity of a multicellular, multicompartment neural circuit. Sensor receptors on the body surface and inside the body respond to external and internal signals and then excite central neurons, while motor neurons activate Hill muscle models that span the joints and generate movement. AnimatLab provides a common neuromechanical simulation environment in which to construct and test models of any skeletal animal, vertebrate or invertebrate. The use of AnimatLab is demonstrated in a neuromechanical simulation of human arm flexion and the myotactic and contact-withdrawal reflexes. Copyright (c) 2010 Elsevier B.V. All rights reserved.

Bayesian inference of physiologically meaningful parameters from body sway measurements.

PubMed

Tietäväinen, A; Gutmann, M U; Keski-Vakkuri, E; Corander, J; Hæggström, E

2017-06-19

The control of the human body sway by the central nervous system, muscles, and conscious brain is of interest since body sway carries information about the physiological status of a person. Several models have been proposed to describe body sway in an upright standing position, however, due to the statistical intractability of the more realistic models, no formal parameter inference has previously been conducted and the expressive power of such models for real human subjects remains unknown. Using the latest advances in Bayesian statistical inference for intractable models, we fitted a nonlinear control model to posturographic measurements, and we showed that it can accurately predict the sway characteristics of both simulated and real subjects. Our method provides a full statistical characterization of the uncertainty related to all model parameters as quantified by posterior probability density functions, which is useful for comparisons across subjects and test settings. The ability to infer intractable control models from sensor data opens new possibilities for monitoring and predicting body status in health applications.

Measuring entanglement entropy in a quantum many-body system.

PubMed

Islam, Rajibul; Ma, Ruichao; Preiss, Philipp M; Tai, M Eric; Lukin, Alexander; Rispoli, Matthew; Greiner, Markus

2015-12-03

Entanglement is one of the most intriguing features of quantum mechanics. It describes non-local correlations between quantum objects, and is at the heart of quantum information sciences. Entanglement is now being studied in diverse fields ranging from condensed matter to quantum gravity. However, measuring entanglement remains a challenge. This is especially so in systems of interacting delocalized particles, for which a direct experimental measurement of spatial entanglement has been elusive. Here, we measure entanglement in such a system of itinerant particles using quantum interference of many-body twins. Making use of our single-site-resolved control of ultracold bosonic atoms in optical lattices, we prepare two identical copies of a many-body state and interfere them. This enables us to directly measure quantum purity, Rényi entanglement entropy, and mutual information. These experiments pave the way for using entanglement to characterize quantum phases and dynamics of strongly correlated many-body systems.

Body-Based Gender Recognition Using Images from Visible and Thermal Cameras

PubMed Central

Nguyen, Dat Tien; Park, Kang Ryoung

2016-01-01

Gender information has many useful applications in computer vision systems, such as surveillance systems, counting the number of males and females in a shopping mall, accessing control systems in restricted areas, or any human-computer interaction system. In most previous studies, researchers attempted to recognize gender by using visible light images of the human face or body. However, shadow, illumination, and time of day greatly affect the performance of these methods. To overcome this problem, we propose a new gender recognition method based on the combination of visible light and thermal camera images of the human body. Experimental results, through various kinds of feature extraction and fusion methods, show that our approach is efficient for gender recognition through a comparison of recognition rates with conventional systems. PMID:26828487

Body-Based Gender Recognition Using Images from Visible and Thermal Cameras.

PubMed

Nguyen, Dat Tien; Park, Kang Ryoung

2016-01-27

Gender information has many useful applications in computer vision systems, such as surveillance systems, counting the number of males and females in a shopping mall, accessing control systems in restricted areas, or any human-computer interaction system. In most previous studies, researchers attempted to recognize gender by using visible light images of the human face or body. However, shadow, illumination, and time of day greatly affect the performance of these methods. To overcome this problem, we propose a new gender recognition method based on the combination of visible light and thermal camera images of the human body. Experimental results, through various kinds of feature extraction and fusion methods, show that our approach is efficient for gender recognition through a comparison of recognition rates with conventional systems.

Microminiaturized minimally invasive intravascular micro-mechanical systems powered and controlled via fiber-optic cable

DOEpatents

Fitch, Joseph P.; Hagans, Karla; Clough, Robert; Matthews, Dennis L.; Lee, Abraham P.; Krulevitch, Peter A.; Benett, William J.; Da Silva, Luiz; Celliers, Peter M.

1998-01-01

A micro-mechanical system for medical procedures is constructed in the basic form of a catheter having a distal end for insertion into and manipulation within a body and a near end providing for a user to control the manipulation of the distal end within the body. A fiberoptic cable is disposed within the catheter and having a distal end proximate to the distal end of the catheter and a near end for external coupling of laser light energy. A microgripper is attached to the distal end of the catheter and providing for the gripping or releasing of an object within the body. A laser-light-to-mechanical-power converter is connected to receive laser light from the distal end of the fiberoptic cable and connected to mechanically actuate the microgripper.

Microminiaturized minimally invasive intravascular micro-mechanical systems powered and controlled via fiber-optic cable

DOEpatents

Fitch, J.P.; Hagans, K.; Clough, R.; Matthews, D.L.; Lee, A.P.; Krulevitch, P.A.; Benett, W.J.; Silva, L. Da; Celliers, P.M.

1998-03-03

A micro-mechanical system for medical procedures is constructed in the basic form of a catheter having a distal end for insertion into and manipulation within a body and a near end providing for a user to control the manipulation of the distal end within the body. A fiber-optic cable is disposed within the catheter and having a distal end proximate to the distal end of the catheter and a near end for external coupling of laser light energy. A microgripper is attached to the distal end of the catheter and providing for the gripping or releasing of an object within the body. A laser-light-to-mechanical-power converter is connected to receive laser light from the distal end of the fiber-optic cable and connected to mechanically actuate the microgripper. 22 figs.

Integrated Locomotor Function Tests for Countermeasure Evaluation

NASA Technical Reports Server (NTRS)

Bloomberg, J. J.; Mulavara, A. P.; Peters, B. T.; Cohen, H. S.; Landsness, E. C.; Black, F. O.

2005-01-01

Following spaceflight crewmembers experience locomotor dysfunction due to inflight adaptive alterations in sensorimotor function. Countermeasures designed to mitigate these postflight gait alterations need to be assessed with a new generation of tests that evaluate the interaction of various sensorimotor sub-systems central to locomotor control. The goal of the present study was to develop new functional tests of locomotor control that could be used to test the efficacy of countermeasures. These tests were designed to simultaneously examine the function of multiple sensorimotor systems underlying the control of locomotion and be operationally relevant to the astronaut population. Traditionally, gaze stabilization has been studied almost exclusively in seated subjects performing target acquisition tasks requiring only the involvement of coordinated eye-head movements. However, activities like walking involve full-body movement and require coordination between lower limbs and the eye-head-trunk complex to achieve stabilized gaze during locomotion. Therefore the first goal of this study was to determine how the multiple, interdependent, full-body sensorimotor gaze stabilization subsystems are functionally coordinated during locomotion. In an earlier study we investigated how alteration in gaze tasking changes full-body locomotor control strategies. Subjects walked on a treadmill and either focused on a central point target or read numeral characters. We measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. In comparison to the point target fixation condition, the results of the number reading task showed that compensatory head pitch movements increased, peak head acceleration was reduced and knee flexion at heel-strike was increased. In a more recent study we investigated the adaptive remodeling of the full-body gaze control systems following exposure to visual-vestibular conflict. Subjects walked on a treadmill before and after a 30- minute exposure to 0.5X minifying during which self-generated sinusoidal vertical head rotations were performed while seated. Following exposure to visual-vestibular conflict subjects showed a restriction in compensatory head movements, increased knee and ankle flexion after heel-strike and a decrease in the rate of body loading during the rapid weight transfer phase after the heel strike event. Taken together, results from both studies provide evidence that the full body contributes to gaze stabilization during locomotion, and that different functional elements are responsive to changes in visual task constraints and are subject to adaptive alterations following exposure to visual-vestibular conflict. This information provides the basis for the design of a new generation of integrative tests that incorporate the evaluation of multiple neural control systems relevant to astronaut operational performance.

Outsourcing neural active control to passive composite mechanics: a tissue engineered cyborg ray

NASA Astrophysics Data System (ADS)

Gazzola, Mattia; Park, Sung Jin; Park, Kyung Soo; Park, Shirley; di Santo, Valentina; Deisseroth, Karl; Lauder, George V.; Mahadevan, L.; Parker, Kevin Kit

2016-11-01

Translating the blueprint that stingrays and skates provide, we create a cyborg swimming ray capable of orchestrating adaptive maneuvering and phototactic navigation. The impossibility of replicating the neural system of batoids fish is bypassed by outsourcing algorithmic functionalities to the body composite mechanics, hence casting the active control problem into a design, passive one. We present a first step in engineering multilevel "brain-body-flow" systems that couple sensory information to motor coordination and movement, leading to behavior. This work paves the way for the development of autonomous and adaptive artificial creatures able to process multiple sensory inputs and produce complex behaviors in distributed systems and may represent a path toward soft-robotic "embodied cognition".

Magnetic bearing momentum wheels with magnetic gimballing capability for 3-axis active attitude control and energy storage

NASA Technical Reports Server (NTRS)

Sindlinger, R. S.

1977-01-01

A 3-axis active attitude control system with only one rotating part was developed using a momentum wheel with magnetic gimballing capability as a torque actuator for all three body axes. A brief description of magnetic bearing technology is given. It is concluded that based on this technology an integrated energy storage/attitude control system with one air of counterrotating rings could reduce the complexity and weight of conventional systems.

The sympathetic nervous system is controlled by transient receptor potential vanilloid 1 in the regulation of body temperature

PubMed Central

Alawi, Khadija M.; Aubdool, Aisah A.; Liang, Lihuan; Wilde, Elena; Vepa, Abhinav; Psefteli, Maria-Paraskevi; Brain, Susan D.; Keeble, Julie E.

2015-01-01

Transient receptor potential vanilloid 1 (TRPV1) is involved in sensory nerve nociceptive signaling. Recently, it has been discovered that TRPV1 receptors also regulate basal body temperature in multiple species from mice to humans. In the present study, we investigated whether TRPV1 modulates basal sympathetic nervous system (SNS) activity. C57BL6/J wild-type (WT) mice and TRPV1 knockout (KO) mice were implanted with radiotelemetry probes for measurement of core body temperature. AMG9810 (50 mg/kg) or vehicle (2% DMSO/5% Tween 80/10 ml/kg saline) was injected intraperitoneally. Adrenoceptor antagonists or vehicle (5 ml/kg saline) was injected subcutaneously. In WT mice, the TRPV1 antagonist, AMG9810, caused significant hyperthermia, associated with increased noradrenaline concentrations in brown adipose tissue. The hyperthermia was significantly attenuated by the β-adrenoceptor antagonist propranolol, the mixed α-/β-adrenoceptor antagonist labetalol, and the α1-adrenoceptor antagonist prazosin. TRPV1 KO mice have a normal basal body temperature, indicative of developmental compensation. d-Amphetamine (potent sympathomimetic) caused hyperthermia in WT mice, which was reduced in TRPV1 KO mice, suggesting a decreased sympathetic drive in KOs. This study provides new evidence that TRPV1 controls thermoregulation upstream of the SNS, providing a potential therapeutic target for sympathetic hyperactivity thermoregulatory disorders.—Alawi, K. M., Aubdool, A. A., Liang, L., Wilde, E., Vepa, A., Psefteli, M.-P., Brain, S. D., Keeble, J. E. The sympathetic nervous system is controlled by transient receptor potential vanilloid 1 in the regulation of body temperature. PMID:26136480

Childhood Astrocytomas Treatment

MedlinePlus

... symptoms and almost all need treatment. The central nervous system controls many important body functions. Astrocytomas are most common in these parts of the central nervous system (CNS): Cerebrum : The largest part of the brain, ...

Reward-Modulated Hebbian Plasticity as Leverage for Partially Embodied Control in Compliant Robotics

PubMed Central

Burms, Jeroen; Caluwaerts, Ken; Dambre, Joni

2015-01-01

In embodied computation (or morphological computation), part of the complexity of motor control is offloaded to the body dynamics. We demonstrate that a simple Hebbian-like learning rule can be used to train systems with (partial) embodiment, and can be extended outside of the scope of traditional neural networks. To this end, we apply the learning rule to optimize the connection weights of recurrent neural networks with different topologies and for various tasks. We then apply this learning rule to a simulated compliant tensegrity robot by optimizing static feedback controllers that directly exploit the dynamics of the robot body. This leads to partially embodied controllers, i.e., hybrid controllers that naturally integrate the computations that are performed by the robot body into a neural network architecture. Our results demonstrate the universal applicability of reward-modulated Hebbian learning. Furthermore, they demonstrate the robustness of systems trained with the learning rule. This study strengthens our belief that compliant robots should or can be seen as computational units, instead of dumb hardware that needs a complex controller. This link between compliant robotics and neural networks is also the main reason for our search for simple universal learning rules for both neural networks and robotics. PMID:26347645

Initial Ares I Bending Filter Design

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Bedrossian, Nazareth; Hall, Robert; Norris, H. Lee; Hall, Charles; Jackson, Mark

2007-01-01

The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output will be required to ensure control system stability and adequate performance. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The filter design methodology was based on a numerical constrained optimization approach to maximize stability margins while meeting performance requirements. The resulting bending filter designs achieved stability by adding lag to the first structural frequency and hence phase stabilizing the first Ares-I flex mode. To minimize rigid body performance impacts, a priority was placed via constraints in the optimization algorithm to minimize bandwidth decrease with the addition of the bending filters. The bending filters provided here have been demonstrated to provide a stable first stage control system in both the frequency domain and the MSFC MAVERIC time domain simulation.

21 CFR 58.120 - Protocol.

Code of Federal Regulations, 2014 CFR

2014-04-01

... FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES GENERAL GOOD LABORATORY PRACTICE..., body weight range, sex, source of supply, species, strain, substrain, and age of the test system. (5... kilogram of body weight or other appropriate units, of the test or control article to be administered and...

Simulation of a steady-state integrated human thermal system.

NASA Technical Reports Server (NTRS)

Hsu, F. T.; Fan, L. T.; Hwang, C. L.

1972-01-01

The mathematical model of an integrated human thermal system is formulated. The system consists of an external thermal regulation device on the human body. The purpose of the device (a network of cooling tubes held in contact with the surface of the skin) is to maintain the human body in a state of thermoneutrality. The device is controlled by varying the inlet coolant temperature and coolant mass flow rate. The differential equations of the model are approximated by a set of algebraic equations which result from the application of the explicit forward finite difference method to the differential equations. The integrated human thermal system is simulated for a variety of combinations of the inlet coolant temperature, coolant mass flow rate, and metabolic rates. Two specific cases are considered: (1) the external thermal regulation device is placed only on the head and (2) the devices are placed on the head and the torso. The results of the simulation indicate that when the human body is exposed to hot environment, thermoneutrality can be attained by localized cooling if the operating variables of the external regulation device(s) are properly controlled.

Influence of benzodiazepines on body weight and food intake in obese and lean Zucker rats.

PubMed

Blasi, C

2000-05-01

1. The gamma-aminobutyric acid (GABA)-ergic system, which is functionally altered in obese (fa/fa) Zucker rats, plays an important role in controlling energy balance within the central nervous system. 2. GABA receptors seem to be involved in the dysfunction of the hypothalamic energy homeostasis-controlling mechanisms in these animals due to a genetically-induced defect of the leptin-neuropeptide Y system. 3. To shed further light on the possible role played by the GABA system in the pathogenesis of this rat model, two benzodiazepine (BDZ) receptor agonists (diazepam and clonazepam) and one BDZ antagonist (flumazenil) were administered intraperitoneally in obese and lean Zucker rats. 4. Body weight gain was reduced by the BDZ agonists in both phenotypes, and one receptor-agonist (diazepam) lowered insulin concentration in obese rats. In GABA-antagonist-treated obese rats, the daily amount of body weight gain and food intake acquired an oscillatory rhythm similar to that of normal rodents. 5. By demonstrating the role of BDZ receptors, these findings may help clarify the pathophysiology of obesity and insulin resistance in fatty Zucker rats.

Sudomotor, skin vasomotor, and cardiovascular reflexes in 3 clinical forms of Lewy body disease.

PubMed

Akaogi, Y; Asahina, M; Yamanaka, Y; Koyama, Y; Hattori, T

2009-07-07

To elucidate the differences among dementia with Lewy bodies (DLB), Parkinson disease with dementia (PDD), and Parkinson disease without dementia (PD), with respect to the involvement of the autonomic nervous system, we clinically investigated the cutaneous and cardiovascular autonomic functions in patients with Lewy body disease. We studied 36 patients with Lewy body disorders, including 12 patients with DLB (age, 75.4 +/- 5.9 years), 12 patients with PDD (71.0 +/- 6.8 years), and 12 patients with PD (70.9 +/- 4.2 years), and 12 healthy control subjects (69.9 +/- 5.3 years). Sympathetic sweat response (SSwR) and skin vasomotor reflex (SkVR) on the palm were recorded to estimate the cutaneous sympathetic function, and the head-up tilt test was performed and coefficient of variation of R-R intervals (CV(R-R)) was studied to estimate the cardiovascular function. The patients with DLB, patients with PDD, and patients with PD showed severely reduced SSwR amplitudes, significantly lower than that in the controls. The mean SkVR amplitudes in the patients with DLB and patients with PDD were significantly lower than that in the controls, but not in the patients with PD. The mean decreases in the systolic blood pressure during the head-up tilt test in the patients with DLB and patients with PDD were less than that in the controls. The mean CV(R-R) value was significantly lower in the patients with DLB. Sudomotor function on the palm may be severely affected in Lewy body disorders, while skin vasomotor function and the cardiovascular system may be more severely affected in dementia with Lewy bodies and Parkinson disease with dementia than in Parkinson disease.

Control and dynamics of a flexible spacecraft during stationkeeping maneuvers

NASA Technical Reports Server (NTRS)

Liu, D.; Yocum, J.; Kang, D. S.

1991-01-01

A case study of a spacecraft having flexible solar arrays is presented. A stationkeeping attitude control mode using both earth and rate gyro reference signals and a flexible vehicle dynamics modeling and implementation is discussed. The control system is designed to achieve both pointing accuracy and structural mode stability during stationkeeping maneuvers. Reduction of structural mode interactions over the entire mode duration is presented. The control mode using a discrete time observer structure is described to show the convergence of the spacecraft attitude transients during Delta-V thrusting maneuvers without preloading thrusting bias to the onboard control processor. The simulation performance using the three axis, body stabilized nonlinear dynamics is provided. The details of a five body dynamics model are discussed. The spacecraft is modeled as a central rigid body having cantilevered flexible antennas, a pair of flexible articulated solar arrays, and to gimballed momentum wheels. The vehicle is free to undergo unrestricted rotations and translations relative to inertial space. A direct implementation of the equations of motion is compared to an indirect implementation that uses a symbolic manipulation software to generate rigid body equations.

Internally supported flexible duct joint. [device for conducting fluids in high pressure systems

NASA Technical Reports Server (NTRS)

Kuhn, R. F., Jr. (Inventor)

1975-01-01

An internally supported, flexible duct joint for use in conducting fluids under relatively high pressures in systems where relatively large deflection angles must be accommodated is presented. The joint includes a flexible tubular bellows and an elongated base disposed within the bellows. The base is connected through radiating struts to the bellows near mid-portion and to each of the opposite end portions of the bellows through a pivotal connecting body. A motion-controlling linkage is provided for linking the connecting bodies, whereby angular displacement of the joint is controlled and uniformity in the instantaneous bend radius of the duct is achieved as deflection is imposed.

Space Solar Power Multi-body Dynamics and Controls, Concepts for the Integrated Symmetrical Concentrator Configuration

NASA Technical Reports Server (NTRS)

Glaese, John R.; McDonald, Emmett J.

2000-01-01

Orbiting space solar power systems are currently being investigated for possible flight in the time frame of 2015-2020 and later. Such space solar power (SSP) satellites are required to be extremely large in order to make practical the process of collection, conversion to microwave radiation, and reconversion to electrical power at earth stations or at remote locations in space. These large structures are expected to be very flexible presenting unique problems associated with their dynamics and control. The purpose of this project is to apply the expanded TREETOPS multi-body dynamics analysis computer simulation program (with expanded capabilities developed in the previous activity) to investigate the control problems associated with the integrated symmetrical concentrator (ISC) conceptual SSP system. SSP satellites are, as noted, large orbital systems having many bodies (perhaps hundreds) with flexible arrays operating in an orbiting environment where the non-uniform gravitational forces may be the major load producers on the structure so that a high fidelity gravity model is required. The current activity arises from our NRA8-23 SERT proposal. Funding, as a supplemental selection, has been provided by NASA with reduced scope from that originally proposed.

Effects of weightlessness on body composition in the rat

NASA Technical Reports Server (NTRS)

Pitts, G. C.; Ushakov, A. S.; Pace, N.; Smith, A. H.; Rahlmann, D. F.; Smirnova, T. A.

1983-01-01

The effects of weightlessness on the body composition of rats were investigated using 5 male rats exposed to 18.5 days of weightlessness on the COSMOS 1129 biosatellite and killed after reentry. The animals were immediately dissected and the three major body divisions (musculoskeletal system, skin, and pooled viscera) were analyzed for fat, water, solids, and six elements. These results were determined as percentages of the fat-free body or its components and then compared with two groups of terrestrial controls, one of which was subjected to a flight simulation in a spacecraft mock-up while the other was under standard vivarium conditions. Compared with the control groups, the flight group was found to exhibit a reduced fraction of total body water, a net shift of body water from skin to viscera, a marked diminution in the fraction of extracellular water in the fat-free body, a marked reduction in the fraction of bone mineral, no change in the quantity of stored fat or adrenal masses, and a net increase in total muscle mass as indicated by total body creatine, protein, and body cell mass.

The Flostation - an Immersive Cyberspace System

NASA Technical Reports Server (NTRS)

Park, Brian

2006-01-01

A flostation is a computer-controlled apparatus that, along with one or more computer(s) and other computer-controlled equipment, is part of an immersive cyberspace system. The system is said to be immersive in two senses of the word: (1) It supports the body in a modified form neutral posture experienced in zero gravity and (2) it is equipped with computer-controlled display equipment that helps to give the occupant of the chair a feeling of immersion in an environment that the system is designed to simulate. Neutral immersion was conceived during the Gemini program as a means of training astronauts for working in a zerogravity environment. Current derivatives include neutral-buoyancy tanks and the KC-135 airplane, each of which mimics the effects of zero gravity. While these have performed well in simulating the shorter-duration flights typical of the space program to date, a training device that can take astronauts to the next level will be needed for simulating longer-duration flights such as that of the International Space Station. The flostation is expected to satisfy this need. The flostation could also be adapted and replicated for use in commercial ventures ranging from home entertainment to medical treatment. The use of neutral immersion in the flostation enables the occupant to recline in an optimal posture of rest and meditation. This posture, combines savasana (known to practitioners of yoga) and a modified form of the neutral posture assumed by astronauts in outer space. As the occupant relaxes, awareness of the physical body is reduced. The neutral body posture, which can be maintained for hours without discomfort, is extended to the eyes, ears, and hands. The occupant can be surrounded with a full-field-of-view visual display and nearphone sound, and can be stimulated with full-body vibration and motion cueing. Once fully immersed, the occupant can use neutral hand controllers (that is, hand-posture sensors) to control various aspects of the simulated environment.

Brain and nervous system (image)

MedlinePlus

The nervous system controls the many complicated and interconnected functions of the body and mind. Motor, sensory cognitive and autonomic function are all coordinated and driven by the brain and nerves. As people age, ...

Computer optimization techniques for NASA Langley's CSI evolutionary model's real-time control system

NASA Technical Reports Server (NTRS)

Elliott, Kenny B.; Ugoletti, Roberto; Sulla, Jeff

1992-01-01

The evolution and optimization of a real-time digital control system is presented. The control system is part of a testbed used to perform focused technology research on the interactions of spacecraft platform and instrument controllers with the flexible-body dynamics of the platform and platform appendages. The control system consists of Computer Automated Measurement and Control (CAMAC) standard data acquisition equipment interfaced to a workstation computer. The goal of this work is to optimize the control system's performance to support controls research using controllers with up to 50 states and frame rates above 200 Hz. The original system could support a 16-state controller operating at a rate of 150 Hz. By using simple yet effective software improvements, Input/Output (I/O) latencies and contention problems are reduced or eliminated in the control system. The final configuration can support a 16-state controller operating at 475 Hz. Effectively the control system's performance was increased by a factor of 3.

Telehealth weight management intervention for adults with physical disabilities: a randomized controlled trial.

PubMed

Rimmer, James H; Wang, Edward; Pellegrini, Christine A; Lullo, Carolyn; Gerber, Ben S

2013-12-01

Weight reduction programs are not generally designed or adapted for people with physical disabilities. This study examined the effect of a 9-months remote, telephone-based weight management program for people with physical disabilities using a Web-based system (Personalized Online Weight and Exercise Response System [POWERS]). A total of 102 participants (mean ± SD age, 46.5 ± 12.7 yrs; body mass index, 32.0 ± 5.8 kg/m(2)) with a physical disability (spinal cord injury, multiple sclerosis, spina bifida, cerebral palsy, stroke, or lupus) were randomized to one of three conditions: physical activity only (POWERS), physical activity plus nutrition (POWERS(plus)), and control. The POWERS group received a physical activity tool kit and regular coaching telephone calls. The POWERS(plus) group received an intervention identical to that of the POWERS group plus nutritional information. The control group received the physical activity tool kit and self-guided health promotion resources at the completion of the trial but no coaching. Postintervention differences in body weight were found between the groups. There was a significant group × time interaction (P < 0.01) in postintervention body weight, with both the POWERS and POWERS(plus) groups demonstrating greater reduction in body weight compared with the control group (POWERS: -2.1 ± 5.5 kg, -2.4 ± -5.9%; POWERS(plus): -0.5 ± 5.0 kg, -0.6 ± 4.3%; control: +2.6 ± 5.3 kg, 3.1 ± 7.4%). A low-cost telephone intervention supported with a Web-based remote coaching tool (POWERS) can be an effective strategy for assisting overweight adults with physical disabilities in maintaining or reducing their body weight.

Space construction base control system

NASA Technical Reports Server (NTRS)

1978-01-01

Aspects of an attitude control system were studied and developed for a large space base that is structurally flexible and whose mass properties change rather dramatically during its orbital lifetime. Topics of discussion include the following: (1) space base orbital pointing and maneuvering; (2) angular momentum sizing of actuators; (3) momentum desaturation selection and sizing; (4) multilevel control technique applied to configuration one; (5) one-dimensional model simulation; (6) N-body discrete coordinate simulation; (7) structural analysis math model formulation; and (8) discussion of control problems and control methods.

Large Angle Transient Dynamics (LATDYN) user's manual

NASA Technical Reports Server (NTRS)

Abrahamson, A. Louis; Chang, Che-Wei; Powell, Michael G.; Wu, Shih-Chin; Bingel, Bradford D.; Theophilos, Paula M.

1991-01-01

A computer code for modeling the large angle transient dynamics (LATDYN) of structures was developed to investigate techniques for analyzing flexible deformation and control/structure interaction problems associated with large angular motions of spacecraft. This type of analysis is beyond the routine capability of conventional analytical tools without simplifying assumptions. In some instances, the motion may be sufficiently slow and the spacecraft (or component) sufficiently rigid to simplify analyses of dynamics and controls by making pseudo-static and/or rigid body assumptions. The LATDYN introduces a new approach to the problem by combining finite element structural analysis, multi-body dynamics, and control system analysis in a single tool. It includes a type of finite element that can deform and rotate through large angles at the same time, and which can be connected to other finite elements either rigidly or through mechanical joints. The LATDYN also provides symbolic capabilities for modeling control systems which are interfaced directly with the finite element structural model. Thus, the nonlinear equations representing the structural model are integrated along with the equations representing sensors, processing, and controls as a coupled system.

Model based design of electronic throttle control

NASA Astrophysics Data System (ADS)

Cherian, Fenin; Ranjan, Ashish; Bhowmick, Pathikrit; Rammohan, A.

2017-11-01

With the advent of torque based Engine Management Systems, the precise control and robust performance of the throttle body becomes a key factor in the overall performance of the vehicle. Electronic Throttle Control provides benefits such as improved air-fuel ratio for improving the vehicle performance and lower exhausts emissions to meet the stringent emission norms. Modern vehicles facilitate various features such as Cruise Control, Traction Control, Electronic Stability Program and Pre-crash systems. These systems require control over engine power without driver intervention, which is not possible with conventional mechanical throttle system. Thus these systems are integrated to function with the electronic throttle control. However, due to inherent non-linearities in the throttle body, the control becomes a difficult task. In order to eliminate the influence of this hysteresis at the initial operation of the butterfly valve, a control to compensate the shortage must be added to the duty required for starting throttle operation when the initial operation is detected. Therefore, a lot of work is being done in this field to incorporate the various nonlinearities to achieve robust control. In our present work, the ETB was tested to verify the working of the system. Calibration of the TPS sensors was carried out in order to acquire accurate throttle opening angle. The response of the calibrated system was then plotted against a step input signal. A linear model of the ETB was prepared using Simulink and its response was compared with the experimental data to find out the initial deviation of the model from the actual system. To reduce this deviation, non-linearities from existing literature were introduced to the system and a response analysis was performed to check the deviation from the actual system. Based on this investigation, an introduction of a new nonlinearity parameter can be used in future to reduce the deviation further making the control of the ETB more precise and accurate.

The influence of selenium status on body composition, oxidative DNA damage and total antioxidant capacity in newly diagnosed type 2 diabetes mellitus: A case-control study.

PubMed

Othman, Fatimah Binti; Mohamed, Hamid Jan Bin Jan; Sirajudeen, K N S; Noh, Mohd Fairulnizal B Md; Rajab, Nor Fadilah

2017-09-01

Selenium is involved in the complex system of defense against oxidative stress in diabetes through its biological function of selenoproteins and the antioxidant enzyme. A case-control study was carried out to determine the association of plasma selenium with oxidative stress and body composition status presented in Type 2 Diabetes Mellitus (T2DM) patient and healthy control. This study involved 82 newly diagnosed T2DM patients and 82 healthy controls. Plasma selenium status was determined with Graphite Furnace Atomic Absorption Spectrometry. Body Mass Index, total body fat and visceral fat was assessed for body composition using Body Composition Analyzer (TANITA). Oxidative DNA damage and total antioxidant capacity were determined for oxidative stress biomarker status. In age, gender and BMI adjustment, no significant difference of plasma selenium level between T2DM and healthy controls was observed. There was as a significant difference of Oxidative DNA damage and total antioxidant capacity between T2DM patients and healthy controls with tail DNA% 20.62 [95% CI: 19.71,21.49] (T2DM), 17.67 [95% CI: 16.87,18.56] (control); log tail moment 0.41[95% CI: 0.30,0.52] (T2DM), 0.41[95% CI: 0.30,0.52] (control); total antioxidant capacity 0.56 [95% CI: 0.54,0.58] (T2DM), 0.60 [95% CI: 0.57,0.62] (control). Waist circumference, BMI, visceral fat, body fat and oxidative DNA damage in the T2DM group were significantly lower in the first plasma selenium tertile (38.65-80.90μg/L) compared to the second (80.91-98.20μg/L) and the third selenium tertiles (98.21-158.20μg/L). A similar trend, but not statistically significant, was observed in the control group. Copyright © 2016 Elsevier GmbH. All rights reserved.

Attitude control/momentum management and payload pointing in advanced space vehicles

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Jayasuriya, Suhada

1990-01-01

The design and evaluation of an attitude control/momentum management system for highly asymmetric spacecraft configurations are presented. The preliminary development and application of a nonlinear control system design methodology for tracking control of uncertain systems, such as spacecraft payload pointing systems are also presented. Control issues relevant to both linear and nonlinear rigid-body spacecraft dynamics are addressed, whereas any structural flexibilities are not taken into consideration. Results from the first task indicate that certain commonly used simplifications in the equations of motions result in unstable attitude control systems, when used for highly asymmetric spacecraft configurations. An approach is suggested circumventing this problem. Additionally, even though preliminary results from the second task are encouraging, the proposed nonlinear control system design method requires further investigation prior to its application and use as an effective payload pointing system design technique.

Nonlinear Slewing Spacecraft Control Based on Exergy, Power Flow, and Static and Dynamic Stability

NASA Astrophysics Data System (ADS)

Robinett, Rush D.; Wilson, David G.

2009-10-01

This paper presents a new nonlinear control methodology for slewing spacecraft, which provides both necessary and sufficient conditions for stability by identifying the stability boundaries, rigid body modes, and limit cycles. Conservative Hamiltonian system concepts, which are equivalent to static stability of airplanes, are used to find and deal with the static stability boundaries: rigid body modes. The application of exergy and entropy thermodynamic concepts to the work-rate principle provides a natural partitioning through the second law of thermodynamics of power flows into exergy generator, dissipator, and storage for Hamiltonian systems that is employed to find the dynamic stability boundaries: limit cycles. This partitioning process enables the control system designer to directly evaluate and enhance the stability and performance of the system by balancing the power flowing into versus the power dissipated within the system subject to the Hamiltonian surface (power storage). Relationships are developed between exergy, power flow, static and dynamic stability, and Lyapunov analysis. The methodology is demonstrated with two illustrative examples: (1) a nonlinear oscillator with sinusoidal damping and (2) a multi-input-multi-output three-axis slewing spacecraft that employs proportional-integral-derivative tracking control with numerical simulation results.

Comparison of human and humanoid robot control of upright stance.

PubMed

Peterka, Robert J

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.

Observation of discrete time-crystalline order in a disordered dipolar many-body system

NASA Astrophysics Data System (ADS)

Choi, Soonwon; Choi, Joonhee; Landig, Renate; Kucsko, Georg; Zhou, Hengyun; Isoya, Junichi; Jelezko, Fedor; Onoda, Shinobu; Sumiya, Hitoshi; Khemani, Vedika; von Keyserlingk, Curt; Yao, Norman Y.; Demler, Eugene; Lukin, Mikhail D.

2017-03-01

Understanding quantum dynamics away from equilibrium is an outstanding challenge in the modern physical sciences. Out-of-equilibrium systems can display a rich variety of phenomena, including self-organized synchronization and dynamical phase transitions. More recently, advances in the controlled manipulation of isolated many-body systems have enabled detailed studies of non-equilibrium phases in strongly interacting quantum matter; for example, the interplay between periodic driving, disorder and strong interactions has been predicted to result in exotic ‘time-crystalline’ phases, in which a system exhibits temporal correlations at integer multiples of the fundamental driving period, breaking the discrete time-translational symmetry of the underlying drive. Here we report the experimental observation of such discrete time-crystalline order in a driven, disordered ensemble of about one million dipolar spin impurities in diamond at room temperature. We observe long-lived temporal correlations, experimentally identify the phase boundary and find that the temporal order is protected by strong interactions. This order is remarkably stable to perturbations, even in the presence of slow thermalization. Our work opens the door to exploring dynamical phases of matter and controlling interacting, disordered many-body systems.

Study to eliminate ground resonance using active controls

NASA Technical Reports Server (NTRS)

Straub, F. K.

1984-01-01

The effectiveness of active control blade feathering in increasing rotor body damping and the possibility to eliminate ground resonance instabilities were investigated. An analytical model representing rotor flapping and lead-lag degrees of freedom and body pitch, roll, longitudinal and lateral motion is developed. Active control blade feathering is implemented as state variable feedback through a conventional swashplate. The influence of various feedback states, feedback gain, and weighting between the cyclic controls is studied through stability and response analyses. It is shown that blade cyclic inplane motion, roll rate and roll acceleration feedback can add considerable damping to the system and eliminate ground resonance instabilities, which the feedback phase is also a powerful parameter, if chosen properly, it maximizes augmentation of the inherent regressing lag mode damping. It is shown that rotor configuration parameters, like blade root hinge offset, flapping stiffness, and precone considerably influence the control effectiveness. It is found that active control is particularly powerful for hingeless and bearingless rotor systems.

Alternative forms of axial startle behaviors in fishes.

PubMed

Liu, Yen-Chyi; Hale, Melina E

2014-02-01

For most aquatic vertebrates, axial movements play key roles in the performance of startle responses. In fishes, these axis-based startle behaviors fall into three distinct categories - the C-start, withdrawal, and S-start - defined by patterns of body bending and underlying motor control. Startle behaviors have been widely studied due to their importance for predator evasion. In addition, the neural circuits that control startles are relatively accessible, compared to other vertebrate circuits, and have provided opportunities to understand basic nervous system function. The C-start neural circuit has long been a model in systems neuroscience and considerable work on neural control of withdrawal response has been conducted in the larval lamprey. The S-start response has only recently been explored from a physiological perspective and we focus here on reviewing S-start motor control and movement in the context of the other two responses. Axial elongation has previously been associated with startle behavior in comparisons of C-starts and withdrawal, with extremely elongate animals performing withdrawals. We suggest that the S-start tends to occur with moderate body elongation, complementing the C-start in animals with this body form. As many larval fishes are moderately elongate, we suggest that the S-start may be common in larvae but may be secondarily lost with body shape change through development. Copyright © 2013 Elsevier GmbH. All rights reserved.

Wireless sEMG-Based Body-Machine Interface for Assistive Technology Devices.

PubMed

Fall, Cheikh Latyr; Gagnon-Turcotte, Gabriel; Dube, Jean-Francois; Gagne, Jean Simon; Delisle, Yanick; Campeau-Lecours, Alexandre; Gosselin, Clement; Gosselin, Benoit

2017-07-01

Assistive technology (AT) tools and appliances are being more and more widely used and developed worldwide to improve the autonomy of people living with disabilities and ease the interaction with their environment. This paper describes an intuitive and wireless surface electromyography (sEMG) based body-machine interface for AT tools. Spinal cord injuries at C5-C8 levels affect patients' arms, forearms, hands, and fingers control. Thus, using classical AT control interfaces (keypads, joysticks, etc.) is often difficult or impossible. The proposed system reads the AT users' residual functional capacities through their sEMG activity, and converts them into appropriate commands using a threshold-based control algorithm. It has proven to be suitable as a control alternative for assistive devices and has been tested with the JACO arm, an articulated assistive device of which the vocation is to help people living with upper-body disabilities in their daily life activities. The wireless prototype, the architecture of which is based on a 3-channel sEMG measurement system and a 915-MHz wireless transceiver built around a low-power microcontroller, uses low-cost off-the-shelf commercial components. The embedded controller is compared with JACO's regular joystick-based interface, using combinations of forearm, pectoral, masseter, and trapeze muscles. The measured index of performance values is 0.88, 0.51, and 0.41 bits/s, respectively, for correlation coefficients with the Fitt's model of 0.75, 0.85, and 0.67. These results demonstrate that the proposed controller offers an attractive alternative to conventional interfaces, such as joystick devices, for upper-body disabled people using ATs such as JACO.

Biomechanical basis of wing and haltere coordination in flies

PubMed Central

Deora, Tanvi; Singh, Amit Kumar; Sane, Sanjay P.

2015-01-01

The spectacular success and diversification of insects rests critically on two major evolutionary adaptations. First, the evolution of flight, which enhanced the ability of insects to colonize novel ecological habitats, evade predators, or hunt prey; and second, the miniaturization of their body size, which profoundly influenced all aspects of their biology from development to behavior. However, miniaturization imposes steep demands on the flight system because smaller insects must flap their wings at higher frequencies to generate sufficient aerodynamic forces to stay aloft; it also poses challenges to the sensorimotor system because precise control of wing kinematics and body trajectories requires fast sensory feedback. These tradeoffs are best studied in Dipteran flies in which rapid mechanosensory feedback to wing motor system is provided by halteres, reduced hind wings that evolved into gyroscopic sensors. Halteres oscillate at the same frequency as and precisely antiphase to the wings; they detect body rotations during flight, thus providing feedback that is essential for controlling wing motion during aerial maneuvers. Although tight phase synchrony between halteres and wings is essential for providing proper timing cues, the mechanisms underlying this coordination are not well understood. Here, we identify specific mechanical linkages within the thorax that passively mediate both wing–wing and wing–haltere phase synchronization. We demonstrate that the wing hinge must possess a clutch system that enables flies to independently engage or disengage each wing from the mechanically linked thorax. In concert with a previously described gearbox located within the wing hinge, the clutch system enables independent control of each wing. These biomechanical features are essential for flight control in flies. PMID:25605915

Simulation studies using multibody dynamics code DART

NASA Technical Reports Server (NTRS)

Keat, James E.

1989-01-01

DART is a multibody dynamics code developed by Photon Research Associates for the Air Force Astronautics Laboratory (AFAL). The code is intended primarily to simulate the dynamics of large space structures, particularly during the deployment phase of their missions. DART integrates nonlinear equations of motion numerically. The number of bodies in the system being simulated is arbitrary. The bodies' interconnection joints can have an arbitrary number of degrees of freedom between 0 and 6. Motions across the joints can be large. Provision for simulating on-board control systems is provided. Conservation of energy and momentum, when applicable, are used to evaluate DART's performance. After a brief description of DART, studies made to test the program prior to its delivery to AFAL are described. The first is a large angle reorientating of a flexible spacecraft consisting of a rigid central hub and four flexible booms. Reorientation was accomplished by a single-cycle sine wave shape torque input. In the second study, an appendage, mounted on a spacecraft, was slewed through a large angle. Four closed-loop control systems provided control of this appendage and of the spacecraft's attitude. The third study simulated the deployment of the rim of a bicycle wheel configuration large space structure. This system contained 18 bodies. An interesting and unexpected feature of the dynamics was a pulsing phenomena experienced by the stays whole playout was used to control the deployment. A short description of the current status of DART is given.

Bodies with noncircular cross sections and bank-to-turn missiles

NASA Technical Reports Server (NTRS)

Jackson, C. M., Jr.; Sawyer, W. C.

1992-01-01

A development status evaluation is presented for the aerodynamics of missile configurations with noncircular cross-sections and bank-to-turn maneuvering systems, giving attention to cases with elliptical and square cross-sections, as well as bodies with variable cross-sections. The assessment of bank-to-turn missile performance notes inherent stability/control problems. A summary and index are provided for aerodynamic data on monoplanar configurations, including those which incorporate airbreathing propulsion systems.

Preliminary Design of a Modular Unmanned Research Vehicle. Volume 1. System Design Document

DTIC Science & Technology

1988-12-01

providing con- munications and restraint. 1-5 Tethered unpowered vehicle - an airplane-like body tether-mounted to an automobile , the auto providing...the velocity by towing. Auto-mounted vehicle - an airplane-like body rigidly mounted external to an automobile , the auto providing the velocity. Rail...accordingly. Based on this experiment, the MURV flight control system must be flexible in two ways: it should be reprogrammable for varying experimental

Biomechanical Reconstruction Using the Tacit Learning System: Intuitive Control of Prosthetic Hand Rotation.

PubMed

Oyama, Shintaro; Shimoda, Shingo; Alnajjar, Fady S K; Iwatsuki, Katsuyuki; Hoshiyama, Minoru; Tanaka, Hirotaka; Hirata, Hitoshi

2016-01-01

Background: For mechanically reconstructing human biomechanical function, intuitive proportional control, and robustness to unexpected situations are required. Particularly, creating a functional hand prosthesis is a typical challenge in the reconstruction of lost biomechanical function. Nevertheless, currently available control algorithms are in the development phase. The most advanced algorithms for controlling multifunctional prosthesis are machine learning and pattern recognition of myoelectric signals. Despite the increase in computational speed, these methods cannot avoid the requirement of user consciousness and classified separation errors. "Tacit Learning System" is a simple but novel adaptive control strategy that can self-adapt its posture to environment changes. We introduced the strategy in the prosthesis rotation control to achieve compensatory reduction, as well as evaluated the system and its effects on the user. Methods: We conducted a non-randomized study involving eight prosthesis users to perform a bar relocation task with/without Tacit Learning System support. Hand piece and body motions were recorded continuously with goniometers, videos, and a motion-capture system. Findings: Reduction in the participants' upper extremity rotatory compensation motion was monitored during the relocation task in all participants. The estimated profile of total body energy consumption improved in five out of six participants. Interpretation: Our system rapidly accomplished nearly natural motion without unexpected errors. The Tacit Learning System not only adapts human motions but also enhances the human ability to adapt to the system quickly, while the system amplifies compensation generated by the residual limb. The concept can be extended to various situations for reconstructing lost functions that can be compensated.

Reducing Bits in Electrodeposition Process of Commercial Vehicle - A Case Study

NASA Astrophysics Data System (ADS)

Rahim, Nabiilah Ab; Hamedon, Zamzuri; Mohd Turan, Faiz; Iskandar, Ismed

2016-02-01

Painting process is critical in commercial vehicle manufacturing process for protection and decorative. The good quality on painted body is important to reduce repair cost and achieve customer satisfaction. In order to achieve the good quality, it is important to reduce the defect at the first process in painting process which is electrodeposition process. The Pareto graph and cause and effect diagram in the seven QC tools is utilized to reduce the electrodeposition defects. The main defects in the electrodeposition process in this case study are the bits. The 55% of the bits are iron filings. The iron filings which come from the metal assembly process at the body shop are minimised by controlling the spot welding parameter, defect control and standard body cleaning process. However the iron filings are still remained on the body and carry over to the paint shop. The remained iron filings on the body are settled inside the dipping tank and removed by filtration system and magnetic separation. The implementation of filtration system and magnetic separation improved 27% of bits and reduced 42% of sanding man hour with a total saving of RM38.00 per unit.

Design of Launch Vehicle Flight Control Systems Using Ascent Vehicle Stability Analysis Tool

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedossian, Nazareth; Hall, Charles; Jackson, Mark

2011-01-01

A launch vehicle represents a complicated flex-body structural environment for flight control system design. The Ascent-vehicle Stability Analysis Tool (ASAT) is developed to address the complicity in design and analysis of a launch vehicle. The design objective for the flight control system of a launch vehicle is to best follow guidance commands while robustly maintaining system stability. A constrained optimization approach takes the advantage of modern computational control techniques to simultaneously design multiple control systems in compliance with required design specs. "Tower Clearance" and "Load Relief" designs have been achieved for liftoff and max dynamic pressure flight regions, respectively, in the presence of large wind disturbances. The robustness of the flight control system designs has been verified in the frequency domain Monte Carlo analysis using ASAT.

Comparison of Human and Humanoid Robot Control of Upright Stance

PubMed Central

Peterka, Robert J.

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to ~1 Hz) dynamic characteristics of human stance control. These subsystems are 1) a “sensory integration” mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions, and 2) an “effort control” mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions were humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different. PMID:19665564

Effect of a Single Musical Cakra Activation Manoeuvre on Body Temperature: An Exploratory Study

PubMed Central

Sumathy, Sundar; Parmar, Parin N

2016-01-01

Cakra activation/balancing and music therapy are part of the traditional Indian healing system. Little is known about effect of musical (vocal) technique of cakra activation on body temperature. We conducted a single-session exploratory study to evaluate effects of a single musical (vocal) cakra activation manoeuvre on body temperature in controlled settings. Seven healthy adults performed a single musical (vocal) cakra activation manoeuvre for approximately 12 minutes in controlled environmental conditions. Pre- and post-manoeuvre body temperatures were recorded with a clinical mercury thermometer. After a single manoeuvre, increase in body temperature was recorded in all seven subjects. The range of increase in body temperature was from 0.2°F to 1.4°F; with mean temperature rise being 0.5°F and median temperature rise being 0.4°F. We conclude that a single session of musical (vocal) technique of cakra activation elevated body temperatures in all 7 subjects. Further research is required to study effects of various cakra activation techniques on body temperature and other physiological parameters. PMID:28182030

Effect of a Single Musical Cakra Activation Manoeuvre on Body Temperature: An Exploratory Study.

PubMed

Sumathy, Sundar; Parmar, Parin N

2016-01-01

Cakra activation/balancing and music therapy are part of the traditional Indian healing system. Little is known about effect of musical (vocal) technique of cakra activation on body temperature. We conducted a single-session exploratory study to evaluate effects of a single musical (vocal) cakra activation manoeuvre on body temperature in controlled settings. Seven healthy adults performed a single musical (vocal) cakra activation manoeuvre for approximately 12 minutes in controlled environmental conditions. Pre- and post-manoeuvre body temperatures were recorded with a clinical mercury thermometer. After a single manoeuvre, increase in body temperature was recorded in all seven subjects. The range of increase in body temperature was from 0.2°F to 1.4°F; with mean temperature rise being 0.5°F and median temperature rise being 0.4°F. We conclude that a single session of musical (vocal) technique of cakra activation elevated body temperatures in all 7 subjects. Further research is required to study effects of various cakra activation techniques on body temperature and other physiological parameters.

Attitude and vibration control of a large flexible space-based antenna

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1982-01-01

Control systems synthesis is considered for controlling the rigid body attitude and elastic motion of a large deployable space-based antenna. Two methods for control systems synthesis are considered. The first method utilizes the stability and robustness properties of the controller consisting of torque actuators and collocated attitude and rate sensors. The second method is based on the linear-quadratic-Gaussian control theory. A combination of the two methods, which results in a two level hierarchical control system, is also briefly discussed. The performance of the controllers is analyzed by computing the variances of pointing errors, feed misalignment errors and surface contour errors in the presence of sensor and actuator noise.

Neural Control Mechanisms and Body Fluid Homeostasis

NASA Technical Reports Server (NTRS)

Johnson, Alan Kim

1998-01-01

The goal of the proposed research was to study the nature of afferent signals to the brain that reflect the status of body fluid balance and to investigate the central neural mechanisms that process this information for the activation of response systems which restore body fluid homeostasis. That is, in the face of loss of fluids from intracellular or extracellular fluid compartments, animals seek and ingest water and ionic solutions (particularly Na(+) solutions) to restore the intracellular and extracellular spaces. Over recent years, our laboratory has generated a substantial body of information indicating that: (1) a fall in systemic arterial pressure facilitates the ingestion of rehydrating solutions and (2) that the actions of brain amine systems (e.g., norepinephrine; serotonin) are critical for precise correction of fluid losses. Because both acute and chronic dehydration are associated with physiological stresses, such as exercise and sustained exposure to microgravity, the present research will aid in achieving a better understanding of how vital information is handled by the nervous system for maintenance of the body's fluid matrix which is critical for health and well-being.

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.

Real-time dynamics simulation of the Cassini spacecraft using DARTS. Part 1: Functional capabilities and the spatial algebra algorithm

NASA Technical Reports Server (NTRS)

Jain, A.; Man, G. K.

1993-01-01

This paper describes the Dynamics Algorithms for Real-Time Simulation (DARTS) real-time hardware-in-the-loop dynamics simulator for the National Aeronautics and Space Administration's Cassini spacecraft. The spacecraft model consists of a central flexible body with a number of articulated rigid-body appendages. The demanding performance requirements from the spacecraft control system require the use of a high fidelity simulator for control system design and testing. The DARTS algorithm provides a new algorithmic and hardware approach to the solution of this hardware-in-the-loop simulation problem. It is based upon the efficient spatial algebra dynamics for flexible multibody systems. A parallel and vectorized version of this algorithm is implemented on a low-cost, multiprocessor computer to meet the simulation timing requirements.

Exhibit D modular design attitude control system study

NASA Technical Reports Server (NTRS)

Chichester, F.

1984-01-01

A dynamically equivalent four body approximation of the NASTRAN finite element model supplied for hybrid deployable truss to support the digital computer simulation of the ten body model of the flexible space platform that incorporates the four body truss model were investigated. Coefficients for sensitivity of state variables of the linearized model of the three axes rotational dynamics of the prototype flexible spacecraft were generated with respect to the model's parameters. Software changes required to accommodate addition of another rigid body to the five body model of the rotational dynamics of the prototype flexible spacecraft were evaluated.

LATDYN - PROGRAM FOR SIMULATION OF LARGE ANGLE TRANSIENT DYNAMICS OF FLEXIBLE AND RIGID STRUCTURES

NASA Technical Reports Server (NTRS)

Housner, J. M.

1994-01-01

LATDYN is a computer code for modeling the Large Angle Transient DYNamics of flexible articulating structures and mechanisms involving joints about which members rotate through large angles. LATDYN extends and brings together some of the aspects of Finite Element Structural Analysis, Multi-Body Dynamics, and Control System Analysis; three disciplines that have been historically separate. It combines significant portions of their distinct capabilities into one single analysis tool. The finite element formulation for flexible bodies in LATDYN extends the conventional finite element formulation by using a convected coordinate system for constructing the equation of motion. LATDYN's formulation allows for large displacements and rotations of finite elements subject to the restriction that deformations within each are small. Also, the finite element approach implemented in LATDYN provides a convergent path for checking solutions simply by increasing mesh density. For rigid bodies and joints LATDYN borrows extensively from methodology used in multi-body dynamics where rigid bodies may be defined and connected together through joints (hinges, ball, universal, sliders, etc.). Joints may be modeled either by constraints or by adding joint degrees of freedom. To eliminate error brought about by the separation of structural analysis and control analysis, LATDYN provides symbolic capabilities for modeling control systems which are integrated with the structural dynamic analysis itself. Its command language contains syntactical structures which perform symbolic operations which are also interfaced directly with the finite element structural model, bypassing the modal approximation. Thus, when the dynamic equations representing the structural model are integrated, the equations representing the control system are integrated along with them as a coupled system. This procedure also has the side benefit of enabling a dramatic simplification of the user interface for modeling control systems. Three FORTRAN computer programs, the LATDYN Program, the Preprocessor, and the Postprocessor, make up the collective LATDYN System. The Preprocessor translates user commands into a form which can be used while the LATDYN program provides the computational core. The Postprocessor allows the user to interactively plot and manage a database of LATDYN transient analysis results. It also includes special facilities for modeling control systems and for programming changes to the model which take place during analysis sequence. The documentation includes a Demonstration Problem Manual for the evaluation and verification of results and a Postprocessor guide. Because the program should be viewed as a byproduct of research on technology development, LATDYN's scope is limited. It does not have a wide library of finite elements, and 3-D Graphics are not available. Nevertheless, it does have a measure of "user friendliness". The LATDYN program was developed over a period of several years and was implemented on a CDC NOS/VE & Convex Unix computer. It is written in FORTRAN 77 and has a virtual memory requirement of 1.46 MB. The program was validated on a DEC MICROVAX operating under VMS 5.2.

Motion planning in velocity affine mechanical systems

NASA Astrophysics Data System (ADS)

Jakubiak, Janusz; Tchoń, Krzysztof; Magiera, Władysław

2010-09-01

We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation. Derivation of the motion planning algorithm for velocity affine systems has been inspired by the continuation method. Performance of this algorithm is illustrated with examples of the kinematics of a serial nonholonomic manipulator, the plate-ball kinematics and the attitude control of a rigid body.

Engine Yaw Augmentation for Hybrid-Wing-Body Aircraft via Optimal Control Allocation Techniques

NASA Technical Reports Server (NTRS)

Taylor, Brian R.; Yoo, Seung Yeun

2011-01-01

Asymmetric engine thrust was implemented in a hybrid-wing-body non-linear simulation to reduce the amount of aerodynamic surface deflection required for yaw stability and control. Hybrid-wing-body aircraft are especially susceptible to yaw surface deflection due to their decreased bare airframe yaw stability resulting from the lack of a large vertical tail aft of the center of gravity. Reduced surface deflection, especially for trim during cruise flight, could reduce the fuel consumption of future aircraft. Designed as an add-on, optimal control allocation techniques were used to create a control law that tracks total thrust and yaw moment commands with an emphasis on not degrading the baseline system. Implementation of engine yaw augmentation is shown and feasibility is demonstrated in simulation with a potential drag reduction of 2 to 4 percent. Future flight tests are planned to demonstrate feasibility in a flight environment.

Whole-Body Movements in Long-Term Weightlessness: Hierarchies of the Controlled Variables Are Gravity-Dependent.

PubMed

Casellato, Claudia; Pedrocchi, Alessandra; Ferrigno, Giancarlo

2017-01-01

Switching between contexts affects the mechanisms underlying motion planning, in particular it may entail reranking the variables to be controlled in defining the motor solutions. Three astronauts performed multiple sessions of whole-body pointing, in normogravity before launch, in prolonged weightlessness onboard the International Space Station, and after return. The effect of gravity context on kinematic and dynamic components was evaluated. Hand trajectory was gravity independent; center-of-mass excursion was highly variable within and between subjects. The body-environment effort exchange, expressed as inertial ankle momentum, was systematically lower in weightlessness than in normogravity. After return on Earth, the system underwent a rapid 1-week readaptation. The study indicates that minimizing the control effort is given greater weight when optimizing the motor plan in weightlessness compared to normogravity: the hierarchies of the controlled variables are gravity dependent.

Research on The Construction of Flexible Multi-body Dynamics Model based on Virtual Components

NASA Astrophysics Data System (ADS)

Dong, Z. H.; Ye, X.; Yang, F.

2018-05-01

Focus on the harsh operation condition of space manipulator, which cannot afford relative large collision momentum, this paper proposes a new concept and technology, called soft-contact technology. In order to solve the problem of collision dynamics of flexible multi-body system caused by this technology, this paper also proposes the concepts of virtual components and virtual hinges, and constructs flexible dynamic model based on virtual components, and also studies on its solutions. On this basis, this paper uses NX to carry out model and comparison simulation for space manipulator in 3 different modes. The results show that using the model of multi-rigid body + flexible body hinge + controllable damping can make effective control on amplitude for the force and torque caused by target satellite collision.

Fast Auroral Snapshot performance using a multi-body dynamic simulation

NASA Technical Reports Server (NTRS)

Zimbelman, Darrell; Walker, Mary

1993-01-01

This paper examines the complex dynamic interaction between two 2.6 m long stacer booms, four 30 m long flexible wire booms and the attitude control system of the Fast Auroral SnapshoT (FAST) spacecraft. The FAST vehicle will nominally operate as a negative orbit spinner, positioned in a 83 deg inclination, 350 x 4200 km orbit. For this study, a three-axis, non-linear, seven body dynamic simulation is developed using the TREETOPS software package. The significance of this approach is the ability to model each component of the FAST spacecraft as an individual member and connect them together in order to better understand the dynamic coupling between structures and the control system. Both the wire and stacer booms are modeled as separate bodies attached to a rigid central body. The wire booms are oriented perpendicular to the spin axis at right angles relative to each other, whereas the stacer booms are aligned with the spin axis. The analysis consists of a comparison between the simulated in-plane and out-of-plane boom motions with theoretically derived frequencies, and an examination of the dynamic coupling between the control system and boom oscillations. Results show that boom oscillations of up to 0.36 deg are acceptable in order to meet the performance requirements. The dynamic motion is well behaved when the precession coil is operating, however, activation of the spin coil produces an erratic trend in the spin rate which approaches the spin rate requirement.

Body Segment Kinematics and Energy Expenditure in Active Videogames.

PubMed

Böhm, Birgit; Hartmann, Michael; Böhm, Harald

2016-06-01

Energy expenditure (EE) in active videogames (AVGs) is a component for assessing its benefit for cardiovascular health. Existing evidence suggests that AVGs are able to increase EE above rest and when compared with playing passive videogames. However, the association between body movement and EE remains unclear. Furthermore, for goal-directed game design, it is important to know the contribution of body segments to EE. This knowledge will help to acquire a certain level of exercise intensity during active gaming. Therefore, the purpose of this study was to determine the best predictors of EE from body segment energies, acceleration, and heart rate during different game situations. EE and body segment movement of 17 subjects, aged 22.1 ± 2.5 years, were measured in two different AVGs. In randomized order, the subjects played a handheld-controlled Nintendo(®) Wii™ tennis (NWT) game and a whole body-controlled Sony EyeToy(®) waterfall (ETW) game. Body segment movement was analyzed using a three-dimensional motion capture system. From the video data, mean values of mechanical energy change and acceleration of 10 body segments were analyzed. Measured EE was significantly higher in ETW (7.8 ± 1.4 metabolic equivalents [METs]) than in NWT (3.4 ± 1.0 METs). The best prediction parameter for the more intense ETW game was the energy change of the right thigh and for the less intense hand-controlled NWT game was the energy change of the upper torso. Segment acceleration was less accurate in predicting EE. The best predictors of metabolic EE were the thighs and the upper torso in whole body and handheld-controlled games, respectively. Increasing movement of these body segments would lead to higher physical activity intensity during gaming, reducing sedentary behavior.

Optimization methods of laws control of electric propulsion spacecraft in the restricted three-body task

NASA Astrophysics Data System (ADS)

Starinova, Olga L.

2014-12-01

This paper outlines the optimization methods of the control law of the low thrust spacecraft for the restrict problem of three-body. The conditions for fragmentation trajectory on the specific parts of trajectory are formulated. The mathematical statement and methods to solve the optimal control problem on these parts are stated. Results of the decision of applied problems for various classes of spacecrafts which are carrying out maneuvers with low thrust are presented. In particular, the non-coplanar maneuvers of the low thrust spacecraft in the Earth-Moon system are viewed.

Design and Analysis of Morpheus Lander Flight Control System

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Yang, Lee; Fritz, Mathew; Nguyen, Louis H.; Johnson, Wyatt R.; Hart, Jeremy J.

2014-01-01

The Morpheus Lander is a vertical takeoff and landing test bed vehicle developed to demonstrate the system performance of the Guidance, Navigation and Control (GN&C) system capability for the integrated autonomous landing and hazard avoidance system hardware and software. The Morpheus flight control system design must be robust to various mission profiles. This paper presents a design methodology for employing numerical optimization to develop the Morpheus flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics and propellant slosh. Under the assumption that the Morpheus time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time control systems in the presence of parametric uncertainty. Both control gains in the inner attitude control loop and guidance gains in the outer position control loop are designed to maximize the vehicle performance while ensuring robustness. The flight control system designs provided herein have been demonstrated to provide stable control systems in both Draper Ares Stability Analysis Tool (ASAT) and the NASA/JSC Trick-based Morpheus time domain simulation.

Dynamics and motion control of a chain of particles on a rough surface

NASA Astrophysics Data System (ADS)

Behn, C.; Schale, F.; Zeidis, I.; Zimmermann, K.; Bolotnik, N.

2017-05-01

In this paper the mechanics and control of the motion of a straight chain of three particles interconnected with kinematical constraints are investigated. The ground contact is described by dry (discontinuous) or viscous (continuous) friction. Here, we understand this model as a methodological basis for the design of worm-like locomotion systems, i.e., non-pedal mobile robots. This kind of robots will prove an efficient form of locomotion in application to inspection of pipes or for rescue missions. In this paper, a number of issues related to the dynamics and control of artificial limbless locomotion systems are discussed. Simplest models of a limbless locomotor are two-body or three-body systems that move along a horizontal straight line. In the first part of the paper, the controls are assumed in the form of periodic functions with zero average, shifted on a phase one concerning each other. Thus, there is a traveling wave along the chain of particles. In the second part, actuator models are discussed. It is supposed that there are unknown actuator data or the worm system parameter are not known or exactly as well. The focus is on adaptive control algorithms for the worm-like locomotion systems in order to track given reference trajectories, like kinematic gaits. Finally, a prototype together with its signal processing and control software is presented. Theoretically (analytically and numerically) calculated results of the dynamical behavior of the mobile system are compared to experimental data.

A study on a wheel-based stair-climbing robot with a hopping mechanism

NASA Astrophysics Data System (ADS)

Kikuchi, Koki; Sakaguchi, Keisuke; Sudo, Takayuki; Bushida, Naoki; Chiba, Yasuhiro; Asai, Yuji

2008-08-01

In this study, we propose a simple hopping mechanism using the vibration of a two-degree-of-freedom system for a wheel-based stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters, such as the reduced mass of the two bodies, the mass ratio between the upper and lower bodies, the spring constant, the control parameters such as the initial contraction of the spring and the wire tension. This property allows the robot to quickly and economically climb up and down stairs, leap over obstacles, and landing softly without complex control. In this paper, the characteristics of hopping motion for the design and control parameters are clarified by both numerical simulations and experiments. Furthermore, using the robot design based on the results the abilities to hop up and down a step, leap over a cable, and land softly are demonstrated.

Mathematical modeling of the human body during water replacement and dehydration: body water changes.

PubMed

Downey, D; Seagrave, R C

2000-03-01

A model of the human body that integrates the variables involved in temperature regulation and blood gas transport within the cardiovascular and respiratory systems is presented here. It expands upon previous work to describe the competition between skin and muscles when both require increased blood flows during exercise and/or heat stress. First, a detailed study of the control relations used to predict skin blood flow was undertaken. Four other control relations employed in the model were also examined and modified as indicated by empirical results found in literature. Internal responses to exercise and/or heat stress can affect both thermoregulation and the cardiorespiratory system. Dehydration was studied in addition to complete water replacement during similar environmental and exercise situations. Control relations for skin blood flow and evaporative heat loss were modified and a water balance was added to study how the loss of water through sweat can be limiting. Runoff from sweating as a function of relative humidity was introduced along with evaporation, and these results were compared to data to validate the model.

Control law synthesis and optimization software for large order aeroservoelastic systems

NASA Technical Reports Server (NTRS)

Mukhopadhyay, V.; Pototzky, A.; Noll, Thomas

1989-01-01

A flexible aircraft or space structure with active control is typically modeled by a large-order state space system of equations in order to accurately represent the rigid and flexible body modes, unsteady aerodynamic forces, actuator dynamics and gust spectra. The control law of this multi-input/multi-output (MIMO) system is expected to satisfy multiple design requirements on the dynamic loads, responses, actuator deflection and rate limitations, as well as maintain certain stability margins, yet should be simple enough to be implemented on an onboard digital microprocessor. A software package for performing an analog or digital control law synthesis for such a system, using optimal control theory and constrained optimization techniques is described.

Commanding the Direction of Passive Whole-Body Rotations Facilitates Egocentric Spatial Updating

ERIC Educational Resources Information Center

Fery, Yves-Andre; Magnac, Richard; Israel, Isabelle

2004-01-01

In conditions of slow passive transport without vision, even tenuous inertial signals from semi-circular canals and the haptic-kinaesthetic system should provide information about changes relative to the environment provided that it is possible to command the direction of the body's movements voluntarily. Without such control, spatial updating…

Aeroservoelastic Modeling of Body Freedom Flutter for Control System Design

NASA Technical Reports Server (NTRS)

Ouellette, Jeffrey

2017-01-01

The communication of this method is being used by NASA in the ongoing collaborations with groups interested in the X-56A flight test program. Model generation for body freedom flutter Addressing issues in: State Consistency, Low frequency dynamics, Unsteady aerodynamics. Applied approach to X-56A MUTT: Comparing to flight test data.

Asymmetric Action in the Human Newborn: Sex Differences in Patterns of Organization.

ERIC Educational Resources Information Center

Grattan, Mary P.; And Others

1992-01-01

Examined asymmetries in movement behaviors of 36 full-term, newborn infants. The majority of infants had right-biased movement behaviors. Multiple subsystems, rather than a single asymmetric system, appeared to control asymmetric action of different body regions. There were sex differences in asymmetry of distal lower body movement behaviors that…

School Improvement through Government Agencies: Loose or Tight Coupling?

ERIC Educational Resources Information Center

Bush, Tony

2017-01-01

In seeking to improve student outcomes, governments may choose to exercise direct control over schools, as in many centralised systems, or to provide frameworks for intermediate bodies to engage in improvement activities. One such body is the National College for School Leadership (NCSL), now the National College for Teaching and Leadership (NCTL)…

Sensor Applications and Data Validation

NASA Technical Reports Server (NTRS)

Wiley, John

2008-01-01

The mechanical configuration of automobiles have changed marginally while improvements in sensors and control have dramatically improved engine efficiency, reliability and useful life. The aviation industry has also taken advantage of sensors and control systems to reduce operational costs. Sensors and high fidelity control systems fly planes at levels of performance beyond human capability. Sophisticated environmental controls allow a greater level of comfort and efficiency in our homes. Sensors have given the medical field a better understanding of the human body and the environment in which we live.

Investigation of Inner Loop Flight Control Strategies for High-Speed Research

NASA Technical Reports Server (NTRS)

Newman, Brett; Kassem, Ayman

1999-01-01

This report describes the activities and findings conducted under contract NAS1-19858 with NASA Langley Research Center. Subject matter is the investigation of suitable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Techniques considered in this body of work are primarily conventional-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include 1) current aeroelastic vehicle modeling procedures require further emphasis and refinement, 2) traditional and nontraditional inner loop flight control strategies employing a single feedback loop do not appear sufficient for highly flexible HSCT class vehicles, 3) inner loop flight control systems will, in all likelihood, require multiple interacting feedback loops, and 4) Ref. H HSCT configuration presents major challenges to designing acceptable closed-loop flight dynamics.

Interleukin-6 levels in the central nervous system are negatively correlated with fat mass in overweight/obese subjects.

PubMed

Stenlöf, Kaj; Wernstedt, Ingrid; Fjällman, Ted; Wallenius, Ville; Wallenius, Kristina; Jansson, John-Olov

2003-09-01

Recently, we demonstrated that intracerebroventricular injection of IL-6 increases energy expenditure and decreases body fat in rodents. Therefore, IL-6 may play a role in appetite and body weight control in the central nervous system. In the present study we evaluated cerebrospinal fluid (CSF) and serum IL-6 levels in humans in relation to body fat content and to CSF and serum levels of leptin. Thirty-two healthy overweight/obese male subjects with a body mass index range of 29.3-36.0 kg/m(2) were studied. Total and sc body fat were measured by dual energy x-ray absorptiometry and computed tomography, respectively. CSF IL-6 levels were in some individuals higher than serum IL-6 levels and correlated negatively with total body weight, sc and total body fat. In contrast, CSF leptin levels were 30-60 times lower than serum leptin levels and correlated positively with serum leptin, body weight, sc and total body fat. Furthermore, there was a negative correlation between CSF IL-6 and leptin. In conclusion, CSF IL-6 differs in many ways from CSF leptin. CSF IL-6 may be locally produced rather than serum derived, and body fat-regulating regions in the central nervous system may be exposed to insufficient IL-6 levels in more severe obesity.

Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance.

PubMed

Grice, Phillip M; Killpack, Marc D; Jain, Advait; Vaish, Sarvagya; Hawke, Jeffrey; Kemp, Charles C

2013-06-01

Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector to poses near the care-receiver's body. However, perceiving and maneuvering around the care-receiver's body can be challenging due to a variety of issues, including convoluted geometry, compliant materials, body motion, hidden surfaces, and the object upon which the body is resting (e.g., a wheelchair or bed). Using geometric simulations, we first show that an assistive robot can achieve a much larger percentage of end-effector poses near the care-receiver's body if its arm is allowed to make contact. Second, we present a novel system with a custom controller and whole-arm tactile sensor array that enables a Willow Garage PR2 to regulate contact forces across its entire arm while moving its end effector to a commanded pose. We then describe tests with two people with motor impairments, one of whom used the system to grasp and pull a blanket over himself and to grab a cloth and wipe his face, all while in bed at his home. Finally, we describe a study with eight able-bodied users in which they used the system to place objects near their bodies. On average, users perceived the system to be safe and comfortable, even though substantial contact occurred between the robot's arm and the user's body.

Design of a powered elevator control system. [powered elevator system for modified C-8A aircraft for STOL operation

NASA Technical Reports Server (NTRS)

Glende, W. L. B.

1974-01-01

The design, fabrication and flight testing of a powered elevator system for the Augmentor Wing Jet STOL Research Aircraft (AWJSRA or Mod C-8A) are discussed. The system replaces a manual spring tab elevator control system that was unsatisfactory in the STOL flight regime. Pitch control in the AWJSRA is by means of a single elevator control surface. The elevator is used for both maneuver and trim control as the stabilizer is fixed. A fully powered, irreversible flight control system powered by dual hydraulic sources was designed. The existing control columns and single mechanical cable system of the AWJSRA have been retained as has been the basic elevator surface, except that the elevator spring tab is modified into a geared balance tab. The control surface is directly actuated by a dual tandem moving body actuator. Control signals are transmitted from the elevator aft quadrant to the actuator by a linkage system that includes a limited authority series servo actuator.

Control technology development

NASA Astrophysics Data System (ADS)

Schaechter, D. B.

1982-03-01

The main objectives of the control technology development task are given in the slide below. The first is to develop control design techniques based on flexible structural models, rather than simple rigid-body models. Since large space structures are distributed parameter systems, a new degree of freedom, that of sensor/actuator placement, may be exercised for improving control system performance. Another characteristic of large space structures is numerous oscillatory modes within the control bandwidth. Reduced-order controller design models must be developed which produce stable closed-loop systems when combined with the full-order system. Since the date of an actual large-space-structure flight is rapidly approaching, it is vitally important that theoretical developments are tested in actual hardware. Experimental verification is a vital counterpart of all current theoretical developments.

Passive and active vibration isolation systems using inerter

NASA Astrophysics Data System (ADS)

Alujević, N.; Čakmak, D.; Wolf, H.; Jokić, M.

2018-03-01

This paper presents a theoretical study on passive and active vibration isolation schemes using inerter elements in a two degree of freedom (DOF) mechanical system. The aim of the work is to discuss basic capabilities and limitations of the vibration control systems at hand using simple and physically transparent models. Broad frequency band dynamic excitation of the source DOF is assumed. The purpose of the isolator system is to prevent vibration transmission to the receiving DOF. The frequency averaged kinetic energy of the receiving mass is used as the metric for vibration isolation quality. It is shown that the use of inerter element in the passive vibration isolation scheme can enhance the isolation effect. In the active case, a feedback disturbance rejection scheme is considered. Here, the error signal is the receiving body absolute velocity which is directly fed to a reactive force actuator between the source and the receiving bodies. In such a scheme, the so-called subcritical vibration isolation problems exist. These problems are characterised by the uncoupled natural frequency of the receiving body larger than the uncoupled natural frequency of the source body. In subcritical vibration isolation problems, the performance of the active control is limited by poor stability margins. This is because the stable feedback gain is restricted in a narrow range between a minimum and a maximum. However, with the inclusion of an inerter in the isolator, one of the two stability margins can be opened. This enables large, theoretically unlimited negative feedback gains and large active damping of the receiving body vibration. A simple expression for the required inertance is derived.

Whole-Body-Vibration Training and Balance in Recreational Athletes With Chronic Ankle Instability.

PubMed

Sierra-Guzmán, Rafael; Jiménez-Diaz, Fernando; Ramírez, Carlos; Esteban, Paula; Abián-Vicén, Javier

2018-04-01

  Deficits in the propioceptive system of the ankle contribute to chronic ankle instability (CAI). Recently, whole-body-vibration (WBV) training has been introduced as a preventive and rehabilitative tool.   To evaluate how a 6-week WBV training program on an unstable surface affected balance and body composition in recreational athletes with CAI.   Randomized controlled clinical trial.   Research laboratory.   Fifty recreational athletes with self-reported CAI were randomly assigned to a vibration (VIB), nonvibration (NVIB), or control group.   The VIB and NVIB groups performed unilateral balance training on a BOSU 3 times weekly for 6 weeks. The VIB group trained on a vibration platform, and the NVIB group trained on the floor.   We assessed balance using the Biodex Balance System and the Star Excursion Balance Test (SEBT). Body composition was measured by dual-energy x-ray absorptiometry.   After 6 weeks of training, improvements on the Biodex Balance System occurred only on the Overall Stability Index ( P = .01) and Anterior-Posterior Stability Index ( P = .03) in the VIB group. We observed better performance in the medial ( P = .008) and posterolateral ( P = .04) directions and composite score of the SEBT in the VIB group ( P = .01) and in the medial ( P < .001), posteromedial ( P = .002), and posterolateral ( P = .03) directions and composite score of the SEBT in the NVIB group ( P < .001). No changes in body composition were found for any of the groups.   Only the VIB group showed improvements on the Biodex Balance System, whereas the VIB and NVIB groups displayed better performance on the SEBT.

How do precision medicine and system biology response to human body's complex adaptability?

PubMed

Yuan, Bing

2016-12-01

In the field of life sciences, although system biology and "precision medicine" introduce some complex scientifific methods and techniques, it is still based on the "analysis-reconstruction" of reductionist theory as a whole. Adaptability of complex system increase system behaviour uncertainty as well as the difficulties of precise identifification and control. It also put systems biology research into trouble. To grasp the behaviour and characteristics of organism fundamentally, systems biology has to abandon the "analysis-reconstruction" concept. In accordance with the guidelines of complexity science, systems biology should build organism model from holistic level, just like the Chinese medicine did in dealing with human body and disease. When we study the living body from the holistic level, we will fifind the adaptability of complex system is not the obstacle that increases the diffificulty of problem solving. It is the "exceptional", "right-hand man" that helping us to deal with the complexity of life more effectively.

Body composition: A predictive factor of cycle fecundity

PubMed Central

Kayatas, Semra; Api, Murat; Kurt, Didar; Eroglu, Mustafa; Arınkan, Sevcan Arzu

2014-01-01

Objective To study the effect of body composition on reproduction in women with unexplained infertility treated with a controlled ovarian hyperstimulation and intrauterine insemination programme. Methods This prospective observational study was conducted on 308 unexplained infertile women who were scheduled for a controlled ovarian hyperstimulation and intrauterine insemination programme and were grouped as pregnant and non-pregnant. Anthropometric measurements were performed using TANITA-420MA before the treatment cycle. Body composition was determined using a bioelectrical impedance analysis system. Results Body fat mass was significantly lower in pregnant women than in non-pregnant women (15.61±3.65 vs.18.78±5.97, respectively) (p=0.01). In a multiple regression analysis, body fat mass proved to have a stronger association with fecundity than the percentage of body fat, body mass index, or the waist/hip ratio (standardized regression coefficient≥0.277, t-value≥2.537; p<0.05). The cut-off value of fat mass, which was evaluated using the receiver operating characteristics curve, was 16.65 with a sensitivity of 61.8% and a specificity of 70.2%. Below this cut-off value, the odds of the pregnancy occurrence was found to be 2.5 times more likely. Conclusion Body fat mass can be predictive for pregnancy in patients with unexplained infertility scheduled for a controlled ovarian hyperstimulation and intrauterine insemination programme. PMID:25045631

Digital controller design: Continuous and discrete describing function analysis of the IPS system

NASA Technical Reports Server (NTRS)

1977-01-01

The dynamic equations and the mathematical model of the continuous-data IPS control system are developed. The IPS model considered included one flexible body mode and was hardmounted to the Orbiter/Pallet. The model contains equations describing a torque feed-forward loop (using accelerometers as inputs) which will aid in reducing the pointing errors caused by Orbiter disturbances.

A Closed-loop Brain Computer Interface to a Virtual Reality Avatar: Gait Adaptation to Visual Kinematic Perturbations

PubMed Central

Luu, Trieu Phat; He, Yongtian; Brown, Samuel; Nakagome, Sho; Contreras-Vidal, Jose L.

2016-01-01

The control of human bipedal locomotion is of great interest to the field of lower-body brain computer interfaces (BCIs) for rehabilitation of gait. While the feasibility of a closed-loop BCI system for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a virtual reality (BCI-VR) environment has yet to be demonstrated. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control the walking movements of a virtual avatar. Moreover, virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. These findings have implications for the development of BCI-VR systems for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI system. PMID:27713915

Simulation of Attitude and Trajectory Dynamics and Control of Multiple Spacecraft

NASA Technical Reports Server (NTRS)

Stoneking, Eric T.

2009-01-01

Agora software is a simulation of spacecraft attitude and orbit dynamics. It supports spacecraft models composed of multiple rigid bodies or flexible structural models. Agora simulates multiple spacecraft simultaneously, supporting rendezvous, proximity operations, and precision formation flying studies. The Agora environment includes ephemerides for all planets and major moons in the solar system, supporting design studies for deep space as well as geocentric missions. The environment also contains standard models for gravity, atmospheric density, and magnetic fields. Disturbance force and torque models include aerodynamic, gravity-gradient, solar radiation pressure, and third-body gravitation. In addition to the dynamic and environmental models, Agora supports geometrical visualization through an OpenGL interface. Prototype models are provided for common sensors, actuators, and control laws. A clean interface accommodates linking in actual flight code in place of the prototype control laws. The same simulation may be used for rapid feasibility studies, and then used for flight software validation as the design matures. Agora is open-source and portable across computing platforms, making it customizable and extensible. It is written to support the entire GNC (guidance, navigation, and control) design cycle, from rapid prototyping and design analysis, to high-fidelity flight code verification. As a top-down design, Agora is intended to accommodate a large range of missions, anywhere in the solar system. Both two-body and three-body flight regimes are supported, as well as seamless transition between them. Multiple spacecraft may be simultaneously simulated, enabling simulation of rendezvous scenarios, as well as formation flying. Built-in reference frames and orbit perturbation dynamics provide accurate modeling of precision formation control.

Do patients with mild to moderate psoriasis really have a sedentary lifestyle?

PubMed

Demirel, Reha; Genc, Abdurrahman; Ucok, Kagan; Kacar, Seval Dogruk; Ozuguz, Pinar; Toktas, Muhsin; Sener, Umit; Karabacak, Hatice; Karaca, Semsettin

2013-09-01

The aim of this study was to compare aerobic exercise capacity, daily physical activity, pulmonary functions, resting metabolic rate, and body composition parameters in patients with psoriasis and healthy controls. A total of 60 participants (30 [15 men, 15 women] patients with psoriasis, and 30 [15 men, 15 women] healthy controls) ranging in age from 22-57 were included in the study. Maximal aerobic capacity was determined by Astrand exercise protocol. Daily physical activity was measured with an accelerometer. Resting metabolic rate was determined with an indirect calorimeter. Pulmonary function tests were performed with a portable spirometer. Body composition was established with a bioelectric impedance analysis system. Skinfold thicknesses and body circumference measurements were carried out. Short Form 36 quality of life questionnaire was applied to all participants. In both genders, daily physical activity parameters were found to be higher in the psoriasis group compared to the control. Maximal aerobic capacity, resting metabolic rate, pulmonary function tests, body fatness, body fat distributions, and quality of life were not statistically different between patients with psoriasis and controls in males and females. We suggest that patients with psoriasis who do not have psoriatic arthritis or severe psoriasis are well in performing daily physical activities. In addition, we suggest that this lifestyle helped to prevent impairments of body fatness, body fat distributions, resting metabolic rate, pulmonary functions, and quality of life in patients with mild to moderate psoriasis. © 2013 The International Society of Dermatology.

Sprinklers and shade cool cows and reduce insect-avoidance behavior in pasture-based dairy systems.

PubMed

Kendall, P E; Verkerk, G A; Webster, J R; Tucker, C B

2007-08-01

The body temperature of dairy cows in pastoral systems during summer reaches a peak during and following the p.m. milking. Shade and sprinklers can be used separately or in combination at the milking parlor to reduce heat load. Farmers anecdotally report that the use of sprinklers reduces irritation from insects that occurs while cows are waiting for milking. Once daily, we assessed the effectiveness of short-term exposure to shade and sprinklers for cooling cows [via respiration rate and body (vaginal) temperature] and reducing insect-avoidance behaviors before the p.m. milking in a pasture-based dairy system. Head position was measured as an indicator of whether cattle were avoiding water from the sprinklers. Forty-eight Holstein-Friesian dairy cows were divided into 12 groups (4 cows per group, n = 3 groups/treatment) and were exposed to 1 of 4 treatments for 90 min before the p.m. milking: 1) shade, 2) sprinklers, 3) shade and sprinklers, or 4) uncooled control. Respiration rate was reduced by 30% with shade alone compared with controls [54 vs. 78 +/- 2.3 ( +/- SED) breaths/min, respectively]. Sprinklers alone (30 +/- 2.3 breaths/min) and the combined effects of shade and sprinklers (24 +/- 2.3 breaths/min) reduced the respiration rate by 60 and 67%, respectively, compared with controls. Shaded cows had lower body temperatures during the 90-min treatment period compared with controls (shade: 38.6 degrees C; shade and sprinklers: 38.6 degrees C; control: 38.9 +/- 0.09 degrees C). The decrease in body temperature of cows under sprinklers was more marked than for shade alone and remained lower for at least 4 h after milking (sprinklers: 38.7 degrees C; shade and sprinklers: 38.6 degrees C; shade: 38.9 degrees C; control: 39.2 +/- 0.10 degrees C). The sprinkler treatment reduced the number of tail flicks (control: 12.6 vs. sprinklers: 6.6 +/- 2.4 flicks/min) and hoof stamps (control: 4.4 vs. sprinkler: 2.2 +/- 0.5 stamps/min). Cows exposed to sprinklers spent more time with their heads lowered compared with cows in the shaded and control treatments. The reductions in body temperature and respiration rate attributable to shade and sprinklers were greatest when the temperature-humidity index and heat-load index were > or = 69 and 77, respectively, and cows benefited from cooling when these levels were exceeded.

Indirect learning control for nonlinear dynamical systems

NASA Technical Reports Server (NTRS)

Ryu, Yeong Soon; Longman, Richard W.

1993-01-01

In a previous paper, learning control algorithms were developed based on adaptive control ideas for linear time variant systems. The learning control methods were shown to have certain advantages over their adaptive control counterparts, such as the ability to produce zero tracking error in time varying systems, and the ability to eliminate repetitive disturbances. In recent years, certain adaptive control algorithms have been developed for multi-body dynamic systems such as robots, with global guaranteed convergence to zero tracking error for the nonlinear system euations. In this paper we study the relationship between such adaptive control methods designed for this specific class of nonlinear systems, and the learning control problem for such systems, seeking to converge to zero tracking error in following a specific command repeatedly, starting from the same initial conditions each time. The extension of these methods from the adaptive control problem to the learning control problem is seen to be trivial. The advantages and disadvantages of using learning control based on such adaptive control concepts for nonlinear systems, and the use of other currently available learning control algorithms are discussed.

A tactile-output paging communication system for the deaf-blind

NASA Technical Reports Server (NTRS)

Baer, J. A.

1979-01-01

A radio frequency paging communication system that has coded vibrotactile outputs suitable for use by deaf-blind people was developed. In concept, the system consists of a base station transmitting and receiving unit and many on-body transmitting and receiving units. The completed system has seven operating modes: fire alarm; time signal; repeated single character Morse code; manual Morse code; emergency aid request; operational status test; and message acknowledge. The on-body units can be addressed in three ways: all units; a group of units; or an individual unit. All the functions developed were integrated into a single package that can be worn on the user's wrist. The control portion of the on-body unit is implemented by a microcomputer. The microcomputer is packaged in a custom-designed hybrid circuit to reduce its physical size.

Prosthetic EMG control enhancement through the application of man-machine principles

NASA Technical Reports Server (NTRS)

Simcox, W. A.

1977-01-01

An area in medicine that appears suitable to man-machine principles is rehabilitation research, particularly when the motor aspects of the body are involved. If one considers the limb, whether functional or not, as the machine, the brain as the controller and the neuromuscular system as the man-machine interface, the human body is reduced to a man-machine system that can benefit from the principles behind such systems. The area of rehabilitation that this paper deals with is that of an arm amputee and his prosthetic device. Reducing this area to its man-machine basics, the problem becomes one of attaining natural multiaxis prosthetic control using Electromyographic activity (EMG) as the means of communication between man and prothesis. In order to use EMG as the communication channel it must be amplified and processed to yield a high information signal suitable for control. The most common processing scheme employed is termed Mean Value Processing. This technique for extracting the useful EMG signal consists of a differential to single ended conversion to the surface activity followed by a rectification and smoothing.

Design of a Compact Actuation and Control System for Flexible Medical Robots.

PubMed

Morimoto, Tania K; Hawkes, Elliot Wright; Okamura, Allison M

2017-07-01

Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications.

A Role for the Motor System in Binding Abstract Emotional Meaning

PubMed Central

Carota, Francesca; Hauk, Olaf; Mohr, Bettina; Pulvermüller, Friedemann

2012-01-01

Sensorimotor areas activate to action- and object-related words, but their role in abstract meaning processing is still debated. Abstract emotion words denoting body internal states are a critical test case because they lack referential links to objects. If actions expressing emotion are crucial for learning correspondences between word forms and emotions, emotion word–evoked activity should emerge in motor brain systems controlling the face and arms, which typically express emotions. To test this hypothesis, we recruited 18 native speakers and used event-related functional magnetic resonance imaging to compare brain activation evoked by abstract emotion words to that by face- and arm-related action words. In addition to limbic regions, emotion words indeed sparked precentral cortex, including body-part–specific areas activated somatotopically by face words or arm words. Control items, including hash mark strings and animal words, failed to activate precentral areas. We conclude that, similar to their role in action word processing, activation of frontocentral motor systems in the dorsal stream reflects the semantic binding of sign and meaning of abstract words denoting emotions and possibly other body internal states. PMID:21914634

Using Bond Graphs for Articulated, Flexible Multi-bodies, Sensors, Actuators, and Controllers with Application to the International Space Station

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.; Granda, Jose J.

2003-01-01

Conceptually, modeling of flexible, multi-body systems involves a formulation as a set of time-dependent partial differential equations. However, for practical, engineering purposes, this modeling is usually done using the method of Finite Elements, which approximates the set of partial differential equations, thus generalizing the approach to all continuous media. This research investigates the links between the Bond Graph method and the classical methods used to develop system models and advocates the Bond Graph Methodology and current bond graph tools as alternate approaches that will lead to a quick and precise understanding of a flexible multi-body system under automatic control. For long endurance, complex spacecraft, because of articulation and mission evolution the model of the physical system may change frequently. So a method of automatic generation and regeneration of system models that does not lead to implicit equations, as does the Lagrange equation approach, is desirable. The bond graph method has been shown to be amenable to automatic generation of equations with appropriate consideration of causality. Indeed human-interactive software now exists that automatically generates both symbolic and numeric system models and evaluates causality as the user develops the model, e.g. the CAMP-G software package. In this paper the CAMP-G package is used to generate a bond graph model of the International Space Station (ISS) at an early stage in its assembly, Zvezda. The ISS is an ideal example because it is a collection of bodies that are articulated, many of which are highly flexible. Also many reaction jets are used to control translation and attitude, and many electric motors are used to articulate appendages, which consist of photovoltaic arrays and composite assemblies. The Zvezda bond graph model is compared to an existing model, which was generated by the NASA Johnson Space Center during the Verification and Analysis Cycle of Zvezda.

Predicting the effects of unmodeled dynamics on an aircraft flight control system design using eigenspace assignment

NASA Technical Reports Server (NTRS)

Johnson, Eric N.; Davidson, John B.; Murphy, Patrick C.

1994-01-01

When using eigenspace assignment to design an aircraft flight control system, one must first develop a model of the plant. Certain questions arise when creating this model as to which dynamics of the plant need to be included in the model and which dynamics can be left out or approximated. The answers to these questions are important because a poor choice can lead to closed-loop dynamics that are unpredicted by the design model. To alleviate this problem, a method has been developed for predicting the effect of not including certain dynamics in the design model on the final closed-loop eigenspace. This development provides insight as to which characteristics of unmodeled dynamics will ultimately affect the closed-loop rigid-body dynamics. What results from this insight is a guide for eigenstructure control law designers to aid them in determining which dynamics need or do not need to be included and a new way to include these dynamics in the flight control system design model to achieve a required accuracy in the closed-loop rigid-body dynamics. The method is illustrated for a lateral-directional flight control system design using eigenspace assignment for the NASA High Alpha Research Vehicle (HARV).

Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels

NASA Astrophysics Data System (ADS)

Lee, Wonseo; Jeon, Seungmun; Nam, Jaekwang; Jang, Gunhee

2015-05-01

We propose a novel dual-body magnetic helical robot (DMHR) manipulated by a magnetic navigation system. The proposed DMHR can generate helical motions to navigate in human blood vessels and to drill blood clots by an external rotating magnetic field. It can also generate release motions which are relative rotational motions between dual-bodies to release the carrying cargos to a target region by controlling the magnitude of an external magnetic field. Constraint equations were derived to selectively manipulate helical and release motions by controlling external magnetic fields. The DMHR was prototyped and various experiments were conducted to demonstrate its motions and verify its manipulation methods.

Synthesis of the adaptive continuous system for the multi-axle wheeled vehicle body oscillation damping

NASA Astrophysics Data System (ADS)

Zhileykin, M. M.; Kotiev, G. O.; Nagatsev, M. V.

2018-02-01

In order to meet the growing mobility requirements for the wheeled vehicles on all types of terrain the engineers have to develop a large number of specialized control algorithms for the multi-axle wheeled vehicle (MWV) suspension improving such qualities as ride comfort, handling and stability. The authors have developed an adaptive algorithm of the dynamic damping of the MVW body oscillations. The algorithm provides high ride comfort and high mobility of the vehicle. The article discloses a method for synthesis of an adaptive dynamic continuous algorithm of the MVW body oscillation damping and provides simulation results proving high efficiency of the developed control algorithm.

A recursive approach to the equations of motion for the maneuvering and control of flexible multi-body systems

NASA Technical Reports Server (NTRS)

Kwak, Moon K.; Meirovitch, Leonard

1991-01-01

Interest lies in a mathematical formulation capable of accommodating the problem of maneuvering a space structure consisting of a chain of articulated flexible substructures. Simultaneously, any perturbations from the 'rigid body' maneuvering and any elastic vibration must be suppressed. The equations of motion for flexible bodies undergoing rigid body motions and elastic vibrations can be obtained conveniently by means of Lagrange's equations in terms of quasi-coordinates. The advantage of this approach is that it yields equations in terms of body axes, which are the same axes that are used to express the control forces and torques. The equations of motion are nonlinear hybrid differential quations. The partial differential equations can be discretized (in space) by means of the finite element method or the classical Rayleigh-Ritz method. The result is a set of nonlinear ordinary differential equations of high order. The nonlinearity can be traced to the rigid body motions and the high order to the elastic vibration. Elastic motions tend to be small when compared with rigid body motions.

Model predictive control based on reduced order models applied to belt conveyor system.

PubMed

Chen, Wei; Li, Xin

2016-11-01

In the paper, a model predictive controller based on reduced order model is proposed to control belt conveyor system, which is an electro-mechanics complex system with long visco-elastic body. Firstly, in order to design low-degree controller, the balanced truncation method is used for belt conveyor model reduction. Secondly, MPC algorithm based on reduced order model for belt conveyor system is presented. Because of the error bound between the full-order model and reduced order model, two Kalman state estimators are applied in the control scheme to achieve better system performance. Finally, the simulation experiments are shown that balanced truncation method can significantly reduce the model order with high-accuracy and model predictive control based on reduced-model performs well in controlling the belt conveyor system. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Avionics test bed development plan

NASA Technical Reports Server (NTRS)

Harris, L. H.; Parks, J. M.; Murdock, C. R.

1981-01-01

A development plan for a proposed avionics test bed facility for the early investigation and evaluation of new concepts for the control of large space structures, orbiter attached flex body experiments, and orbiter enhancements is presented. A distributed data processing facility that utilizes the current laboratory resources for the test bed development is outlined. Future studies required for implementation, the management system for project control, and the baseline system configuration are defined. A background analysis of the specific hardware system for the preliminary baseline avionics test bed system is included.

Fluid-loop reaction system

NASA Technical Reports Server (NTRS)

Lurie, Boris J. (Inventor); Schier, J. Alan (Inventor); Iskenderian, Theodore C. (Inventor)

1991-01-01

An improved fluid actuating system for imparting motion to a body such as a spacecraft is disclosed. The fluid actuating system consists of a fluid mass that may be controllably accelerated through at least one fluid path whereby an opposite acceleration is experienced by the spacecraft. For full control of the spacecraft's orientation, the system would include a plurality of fluid paths. The fluid paths may be circular or irregular, and the fluid paths may be located on the interior or exterior of the spacecraft.

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

NASA Technical Reports Server (NTRS)

Sarkar, Nilanjan; Yun, Xiaoping; Kumar, Vijay

1994-01-01

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Multibody Simulation Software Testbed for Small-Body Exploration and Sampling

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Blackmore, James C.; Mandic, Milan

2011-01-01

G-TAG is a software tool for the multibody simulation of a spacecraft with a robotic arm and a sampling mechanism, which performs a touch-and-go (TAG) maneuver for sampling from the surface of a small celestial body. G-TAG utilizes G-DYN, a multi-body simulation engine described in the previous article, and interfaces to controllers, estimators, and environmental forces that affect the spacecraft. G-TAG can easily be adapted for the analysis of the mission stress cases to support the design of a TAG system, as well as for comprehensive Monte Carlo simulations to analyze and evaluate a particular TAG system design. Any future small-body mission will benefit from using G-TAG, which has already been extensively used in Comet Odyssey and Galahad Asteroid New Frontiers proposals.

Flying Qualities Flight Testing of Digital Flight Control Systems. Flight Test Techniques Series - Volume 21 (les Essais en vol des performances des systemes de ommande de vol numeriques)

DTIC Science & Technology

2001-12-01

product operator, Ucg = X body axis velocity at the cg, Uvane = X body axis velocity at the cg, Vcg = Y body axis velocity at the cg, Vvane = Y body axis...Tan vane Uvane α β   =       =     (5) Ucg = VtrueCOS(βtrue)COS(αtrue) Vcg = VtrueSIN(βtrue) Wcg = VtrueCOS(βtrue)SIN...from the definitions of these angles. 2 2 2 1 1 V U V Wcg cg cgtrue Wcg Tantrue Ucg Vcg Sintrue Vtrue α β = + +  −=      −=     (12) 53

Experimental quantum simulations of many-body physics with trapped ions.

PubMed

Schneider, Ch; Porras, Diego; Schaetz, Tobias

2012-02-01

Direct experimental access to some of the most intriguing quantum phenomena is not granted due to the lack of precise control of the relevant parameters in their naturally intricate environment. Their simulation on conventional computers is impossible, since quantum behaviour arising with superposition states or entanglement is not efficiently translatable into the classical language. However, one could gain deeper insight into complex quantum dynamics by experimentally simulating the quantum behaviour of interest in another quantum system, where the relevant parameters and interactions can be controlled and robust effects detected sufficiently well. Systems of trapped ions provide unique control of both the internal (electronic) and external (motional) degrees of freedom. The mutual Coulomb interaction between the ions allows for large interaction strengths at comparatively large mutual ion distances enabling individual control and readout. Systems of trapped ions therefore exhibit a prominent system in several physical disciplines, for example, quantum information processing or metrology. Here, we will give an overview of different trapping techniques of ions as well as implementations for coherent manipulation of their quantum states and discuss the related theoretical basics. We then report on the experimental and theoretical progress in simulating quantum many-body physics with trapped ions and present current approaches for scaling up to more ions and more-dimensional systems.

Invariant Tori in the Secular Motions of the Three-body Planetary Systems

NASA Astrophysics Data System (ADS)

Locatelli, Ugo; Giorgilli, Antonio

We consider the problem of the applicability of KAM theorem to a realistic problem of three bodies. In the framework of the averaged dynamics over the fast angles for the Sun-Jupiter-Saturn system we can prove the perpetual stability of the orbit. The proof is based on semi-numerical algorithms requiring both explicit algebraic manipulations of series and analytical estimates. The proof is made rigorous by using interval arithmetics in order to control the numerical errors.

[Pathophysiology of heat illness].

PubMed

Aruga, Tohru; Miyake, Yasufumi

2012-06-01

Human core temperature is strictly controlled by mechanism of radiation, conduction, convection, and evaporation from skin surface. Serial hot and humid climate induces dehydration which interferes heat pump-out from the body. Heart dysfunction is the third factor to rise body temperature. Hyperthermia and hypo-perfusion caused by dehydration and heart failure deteriorate specific organ functions, i.e. central nervous system, liver and renal functions and coagulation system. Disseminated intravascular coagulopathy is one of the standard indicators of severity and mortality of heat stroke.

Joint torques in a freely walking insect reveal distinct functions of leg joints in propulsion and posture control

PubMed Central

2016-01-01

Determining the mechanical output of limb joints is critical for understanding the control of complex motor behaviours such as walking. In the case of insect walking, the neural infrastructure for single-joint control is well described. However, a detailed description of the motor output in form of time-varying joint torques is lacking. Here, we determine joint torques in the stick insect to identify leg joint function in the control of body height and propulsion. Torques were determined by measuring whole-body kinematics and ground reaction forces in freely walking animals. We demonstrate that despite strong differences in morphology and posture, stick insects show a functional division of joints similar to other insect model systems. Propulsion was generated by strong depression torques about the coxa–trochanter joint, not by retraction or flexion/extension torques. Torques about the respective thorax–coxa and femur–tibia joints were often directed opposite to fore–aft forces and joint movements. This suggests a posture-dependent mechanism that counteracts collapse of the leg under body load and directs the resultant force vector such that strong depression torques can control both body height and propulsion. Our findings parallel propulsive mechanisms described in other walking, jumping and flying insects, and challenge current control models of insect walking. PMID:26791608

Development of a gastroretentive pulsatile drug delivery platform.

PubMed

Thitinan, Sumalee; McConville, Jason T

2012-04-01

To develop a novel gastroretentive pulsatile drug delivery platform by combining the advantages of floating dosage forms for the stomach and pulsatile drug delivery systems. A gastric fluid impermeable capsule body was used as a vessel to contain one or more drug layer(s) as well as one or more lag-time controlling layer(s). A controlled amount of air was sealed in the innermost portion of the capsule body to reduce the overall density of the drug delivery platform, enabling gastric floatation. An optimal mass fill inside the gastric fluid impermeable capsule body enabled buoyancy in a vertical orientation to provide a constant surface area for controlled erosion of the lag-time controlling layer. The lag-time controlling layer consisted of a swellable polymer, which rapidly formed a gel to seal the mouth of capsule body and act as a barrier to gastric fluid ingress. By varying the composition of the lag-time controlling layer, it was possible to selectively program the onset of the pulsatile delivery of a drug. This new delivery platform offers a new method of delivery for a variety of suitable drugs targeted in chronopharmaceutical therapy. This strategy could ultimately improve drug efficacy and patient compliance, and reduce harmful side effects by scaling back doses of drug administered. © 2012 The Authors. JPP © 2012 Royal Pharmaceutical Society.

Control Systems Engineering in Continuous Pharmaceutical Manufacturing May 20-21, 2014 Continuous Manufacturing Symposium.

PubMed

Myerson, Allan S; Krumme, Markus; Nasr, Moheb; Thomas, Hayden; Braatz, Richard D

2015-03-01

This white paper provides a perspective of the challenges, research needs, and future directions for control systems engineering in continuous pharmaceutical processing. The main motivation for writing this paper is to facilitate the development and deployment of control systems technologies so as to ensure quality of the drug product. Although the main focus is on small-molecule pharmaceutical products, most of the same statements apply to biological drug products. An introduction to continuous manufacturing and control systems is followed by a discussion of the current status and technical needs in process monitoring and control, systems integration, and risk analysis. Some key points are that: (1) the desired objective in continuous manufacturing should be the satisfaction of all critical quality attributes (CQAs), not for all variables to operate at steady-state values; (2) the design of start-up and shutdown procedures can significantly affect the economic operation of a continuous manufacturing process; (3) the traceability of material as it moves through the manufacturing facility is an important consideration that can at least in part be addressed using residence time distributions; and (4) the control systems technologies must assure quality in the presence of disturbances, dynamics, uncertainties, nonlinearities, and constraints. Direct measurement, first-principles and empirical model-based predictions, and design space approaches are described for ensuring that CQA specifications are met. Ways are discussed for universities, regulatory bodies, and industry to facilitate working around or through barriers to the development of control systems engineering technologies for continuous drug manufacturing. Industry and regulatory bodies should work with federal agencies to create federal funding mechanisms to attract faculty to this area. Universities should hire faculty interested in developing first-principles models and control systems technologies for drug manufacturing that are easily transportable to industry. Industry can facilitate the move to continuous manufacturing by working with universities on the conception of new continuous pharmaceutical manufacturing process unit operations that have the potential to make major improvements in product quality, controllability, or reduced capital and/or operating costs. Regulatory bodies should ensure that: (1) regulations and regulatory practices promote, and do not derail, the development and implementation of continuous manufacturing and control systems engineering approaches; (2) the individuals who approve specific regulatory filings are sufficiently trained to make good decisions regarding control systems approaches; (3) provide regulatory clarity and eliminate/reduce regulatory risks; (4) financially support the development of high-quality training materials for use of undergraduate students, graduate students, industrial employees, and regulatory staff; (5) enhance the training of their own technical staff by financially supporting joint research projects with universities in the development of continuous pharmaceutical manufacturing processes and the associated control systems engineering theory, numerical algorithms, and software; and (6) strongly encourage the federal agencies that support research to fund these research areas. © 2014 Wiley Periodicals, Inc. and the American Pharmacists Association. © 2014 Wiley Periodicals, Inc. and the American Pharmacists Association.

Control systems engineering in continuous pharmaceutical manufacturing. May 20-21, 2014 Continuous Manufacturing Symposium.

PubMed

Myerson, Allan S; Krumme, Markus; Nasr, Moheb; Thomas, Hayden; Braatz, Richard D

2015-03-01

This white paper provides a perspective of the challenges, research needs, and future directions for control systems engineering in continuous pharmaceutical processing. The main motivation for writing this paper is to facilitate the development and deployment of control systems technologies so as to ensure quality of the drug product. Although the main focus is on small-molecule pharmaceutical products, most of the same statements apply to biological drug products. An introduction to continuous manufacturing and control systems is followed by a discussion of the current status and technical needs in process monitoring and control, systems integration, and risk analysis. Some key points are that: (1) the desired objective in continuous manufacturing should be the satisfaction of all critical quality attributes (CQAs), not for all variables to operate at steady-state values; (2) the design of start-up and shutdown procedures can significantly affect the economic operation of a continuous manufacturing process; (3) the traceability of material as it moves through the manufacturing facility is an important consideration that can at least in part be addressed using residence time distributions; and (4) the control systems technologies must assure quality in the presence of disturbances, dynamics, uncertainties, nonlinearities, and constraints. Direct measurement, first-principles and empirical model-based predictions, and design space approaches are described for ensuring that CQA specifications are met. Ways are discussed for universities, regulatory bodies, and industry to facilitate working around or through barriers to the development of control systems engineering technologies for continuous drug manufacturing. Industry and regulatory bodies should work with federal agencies to create federal funding mechanisms to attract faculty to this area. Universities should hire faculty interested in developing first-principles models and control systems technologies for drug manufacturing that are easily transportable to industry. Industry can facilitate the move to continuous manufacturing by working with universities on the conception of new continuous pharmaceutical manufacturing process unit operations that have the potential to make major improvements in product quality, controllability, or reduced capital and/or operating costs. Regulatory bodies should ensure that: (1) regulations and regulatory practices promote, and do not derail, the development and implementation of continuous manufacturing and control systems engineering approaches; (2) the individuals who approve specific regulatory filings are sufficiently trained to make good decisions regarding control systems approaches; (3) provide regulatory clarity and eliminate/reduce regulatory risks; (4) financially support the development of high-quality training materials for use of undergraduate students, graduate students, industrial employees, and regulatory staff; (5) enhance the training of their own technical staff by financially supporting joint research projects with universities in the development of continuous pharmaceutical manufacturing processes and the associated control systems engineering theory, numerical algorithms, and software; and (6) strongly encourage the federal agencies that support research to fund these research areas. © 2014 Wiley Periodicals, Inc. and the American Pharmacists Association.

Direct observation of ultrafast many-body electron dynamics in an ultracold Rydberg gas

PubMed Central

Takei, Nobuyuki; Sommer, Christian; Genes, Claudiu; Pupillo, Guido; Goto, Haruka; Koyasu, Kuniaki; Chiba, Hisashi; Weidemüller, Matthias; Ohmori, Kenji

2016-01-01

Many-body correlations govern a variety of important quantum phenomena such as the emergence of superconductivity and magnetism. Understanding quantum many-body systems is thus one of the central goals of modern sciences. Here we demonstrate an experimental approach towards this goal by utilizing an ultracold Rydberg gas generated with a broadband picosecond laser pulse. We follow the ultrafast evolution of its electronic coherence by time-domain Ramsey interferometry with attosecond precision. The observed electronic coherence shows an ultrafast oscillation with a period of 1 femtosecond, whose phase shift on the attosecond timescale is consistent with many-body correlations among Rydberg atoms beyond mean-field approximations. This coherent and ultrafast many-body dynamics is actively controlled by tuning the orbital size and population of the Rydberg state, as well as the mean atomic distance. Our approach will offer a versatile platform to observe and manipulate non-equilibrium dynamics of quantum many-body systems on the ultrafast timescale. PMID:27849054

Guidance and control 1992; Proceedings of the 15th Annual AAS Rocky Mountain Conference, Keystone, CO, Feb. 8-12, 1992

NASA Astrophysics Data System (ADS)

Culp, Robert D.; Zietz, Richard P.

The present volume on guidance and control discusses advances in guidance, navigation, and control, guidance and control storyboard displays, space robotic control, spacecraft control and flexible body interaction, and the Mission to Planet Earth. Attention is given to applications of Newton's method to attitude determination, a new family of low-cost momentum/reaction wheels, stellar attitude data handling, and satellite life prediction using propellant quantity measurements. Topics addressed include robust manipulator controller specification and design, implementations and applications of a manipulator control testbed, optimizing transparency in teleoperator architectures, and MIMO system identification using frequency response data. Also discussed are instrument configurations for the restructured Earth Observing System, the HIRIS instrument, clouds and the earth's radiant energy system, and large space-based systems for dealing with global change.

Advanced teleprocessing systems

NASA Astrophysics Data System (ADS)

Kleinrock, L.; Gerla, M.

1983-03-01

This Semi-Annual Technical Report covers research covering the period from October 1, 1982 to March 31, 1983. This contract has three primary designated research areas: packet radio systems, resource sharing and allocation, and distributed processing and control. This report contains abstracts of publications which summarize research results in these areas followed by the main body of the report which is devoted to a treatment of single- and multi-hop packet radio systems. In particular, the main body consists of a Ph.D. dissertation, Analysis of Throughput and Delay for Single- and Multi-Hop Packet Radio Networks. The work presents a new approach to evaluating the performance of multi-hop packet radio networks, namely, a study of the times between successful transmissions. Also studied is the behavior of packets in a multi-hop system when a fixed transmission radius is specified and this radius is then optimized for throughput. A Markov chain model is also introduced and solved numerically to evaluate transmission and flow control strategies in these systems.

Controls for Reusable Launch Vehicles During Terminal Area Energy Management

NASA Technical Reports Server (NTRS)

Driessen, Brian J.

2005-01-01

During the terminal energy management phase of flight (last of three phases) for a reusable launch vehicle, it is common for the controller to receive guidance commands specifying desired values for (i) the roll angle roll q(sub roll), (ii) the acceleration a(sub n) in the body negative z direction, -k(sub A)-bar, and (iii) omega(sub 3), the projection of onto the body-fixed axis k(sub A)-bar, is always indicated by guidance to be zero. The objective of the controller is to regulate the actual values of these three quantities, i.e make them close to the commanded values, while maintaining system stability.

What's Next: Recruitment of a Grounded Predictive Body Model for Planning a Robot's Actions.

PubMed

Schilling, Malte; Cruse, Holk

2012-01-01

Even comparatively simple, reactive systems are able to control complex motor tasks, such as hexapod walking on unpredictable substrate. The capability of such a controller can be improved by introducing internal models of the body and of parts of the environment. Such internal models can be applied as inverse models, as forward models or to solve the problem of sensor fusion. Usually, separate models are used for these functions. Furthermore, separate models are used to solve different tasks. Here we concentrate on internal models of the body as the brain considers its own body the most important part of the world. The model proposed is formed by a recurrent neural network with the property of pattern completion. The model shows a hierarchical structure but nonetheless comprises a holistic system. One and the same model can be used as a forward model, as an inverse model, for sensor fusion, and, with a simple expansion, as a model to internally simulate (new) behaviors to be used for prediction. The model embraces the geometrical constraints of a complex body with many redundant degrees of freedom, and allows finding geometrically possible solutions. To control behavior such as walking, climbing, or reaching, this body model is complemented by a number of simple reactive procedures together forming a procedural memory. In this article, we illustrate the functioning of this network. To this end we present examples for solutions of the forward function and the inverse function, and explain how the complete network might be used for predictive purposes. The model is assumed to be "innate," so learning the parameters of the model is not (yet) considered.

Small Body GN&C Research Report: A Robust Model Predictive Control Algorithm with Guaranteed Resolvability

NASA Technical Reports Server (NTRS)

Acikmese, Behcet A.; Carson, John M., III

2005-01-01

A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees the resolvability of the associated finite-horizon optimal control problem in a receding-horizon implementation. The control consists of two components; (i) feedforward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives, and derivatives in polytopes. An illustrative numerical example is also provided.

Con-forming bodies: the interplay of machines and bodies and the implications of agency in medical imaging.

PubMed

Wood, Lisa A

2016-06-01

Attending to the material discursive constructions of the patient body within cone beam computed tomography (CBCT) imaging in radiotherapy treatments, in this paper I describe how bodies and machines co-create images. Using an analytical framework inspired by Science and Technology Studies and Feminist Technoscience, I describe the interplay between machines and bodies and the implications of materialities and agency. I argue that patients' bodies play a part in producing scans within acceptable limits of machines as set out through organisational arrangements. In doing so I argue that bodies are fabricated into the order of work prescribed and embedded within and around the CBCT system, becoming, not only the subject of resulting images, but part of that image. The scan is not therefore a representation of a passive subject (a body) but co-produced by the work of practitioners and patients who actively control (and contort) and discipline their body according to protocols and instructions and the CBCT system. In this way I suggest they are 'con-forming' the CBCT image. A Virtual Abstract of this paper can be found at: https://youtu.be/qysCcBGuNSM. © 2015 Foundation for the Sociology of Health & Illness.

49 CFR 661.11 - Rolling stock procurements.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Devices; (21) Car Axle Counters; (22) Communication Based Train Control (CBTC). (u) Communication... components of a bus. This list is not all-inclusive. Car body shells, egines, transmissions, front axle... assemblies, air compressor and pneumatic systems, generator/alternator and electrical systems, steering...

49 CFR 661.11 - Rolling stock procurements.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Devices; (21) Car Axle Counters; (22) Communication Based Train Control (CBTC). (u) Communication... components of a bus. This list is not all-inclusive. Car body shells, egines, transmissions, front axle... assemblies, air compressor and pneumatic systems, generator/alternator and electrical systems, steering...

Multivariable Techniques for High-Speed Research Flight Control Systems

NASA Technical Reports Server (NTRS)

Newman, Brett A.

1999-01-01

This report describes the activities and findings conducted under contract with NASA Langley Research Center. Subject matter is the investigation of suitable multivariable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Design and analysis techniques considered in this body of work are both conventional-based and contemporary-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include: (1) control architectures based on aft tail only are not well suited for highly flexible, high-speed vehicles, (2) theoretical underpinnings of the Wykes structural mode control logic is based on several assumptions concerning vehicle dynamic characteristics, and if not satisfied, the control logic can break down leading to mode destabilization, (3) two-loop control architectures that utilize small forward vanes with the aft tail provide highly attractive and feasible solutions to the longitudinal axis control challenges, and (4) closed-loop simulation sizing analyses indicate the baseline vane model utilized in this report is most likely oversized for normal loading conditions.

A novel body frame based approach to aerospacecraft attitude tracking.

PubMed

Ma, Carlos; Chen, Michael Z Q; Lam, James; Cheung, Kie Chung

2017-09-01

In the common practice of designing an attitude tracker for an aerospacecraft, one transforms the Newton-Euler rotation equations to obtain the dynamic equations of some chosen inertial frame based attitude metrics, such as Euler angles and unit quaternions. A Lyapunov approach is then used to design a controller which ensures asymptotic convergence of the attitude to the desired orientation. Although this design methodology is pretty standard, it usually involves singularity-prone coordinate transformations which complicates the analysis process and controller design. A new, singularity free error feedback method is proposed in the paper to provide simple and intuitive stability analysis and controller synthesis. This new body frame based method utilizes the concept of Euleraxis and angles to generate the smallest error angles from a body frame perspective, without coordinate transformations. Global tracking convergence is illustrated with the use of a feedback linearizing PD tracker, a sliding mode controller, and a model reference adaptive controller. Experimental results are also obtained on a quadrotor platform with unknown system parameters and disturbances, using a boundary layer approximated sliding mode controller, a PIDD controller, and a unit sliding mode controller. Significant tracking quality is attained. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Cardiomyocyte Regulation of Systemic Lipid Metabolism by the Apolipoprotein B-Containing Lipoproteins in Drosophila

PubMed Central

Ishikawa, Zachary

2017-01-01

The heart has emerged as an important organ in the regulation of systemic lipid homeostasis; however, the underlying mechanism remains poorly understood. Here, we show that Drosophila cardiomyocytes regulate systemic lipid metabolism by producing apolipoprotein B-containing lipoproteins (apoB-lipoproteins), essential lipid carriers that are so far known to be generated only in the fat body. In a Drosophila genetic screen, we discovered that when haplo-insufficient, microsomal triglyceride transfer protein (mtp), required for the biosynthesis of apoB-lipoproteins, suppressed the development of diet-induced obesity. Tissue-specific inhibition of Mtp revealed that whereas knockdown of mtp only in the fat body decreases systemic triglyceride (TG) content on normal food diet (NFD) as expected, knockdown of mtp only in the cardiomyocytes also equally decreases systemic TG content on NFD, suggesting that the cardiomyocyte- and fat body-derived apoB-lipoproteins serve similarly important roles in regulating whole-body lipid metabolism. Unexpectedly, on high fat diet (HFD), knockdown of mtp in the cardiomyocytes, but not in fat body, protects against the gain in systemic TG levels. We further showed that inhibition of the Drosophila apoB homologue, apolipophorin or apoLpp, another gene essential for apoB-lipoprotein biosynthesis, affects systemic TG levels similarly to that of Mtp inhibition in the cardiomyocytes on NFD or HFD. Finally, we determined that HFD differentially alters Mtp and apoLpp expression in the cardiomyocytes versus the fat body, culminating in higher Mtp and apoLpp levels in the cardiomyocytes than in fat body and possibly underlying the predominant role of cardiomyocyte-derived apoB-lipoproteins in lipid metabolic regulation. Our findings reveal a novel and significant function of heart-mediated apoB-lipoproteins in controlling lipid homeostasis. PMID:28095410

Symmetry in running.

PubMed

Raibert, M H

1986-03-14

Symmetry plays a key role in simplifying the control of legged robots and in giving them the ability to run and balance. The symmetries studied describe motion of the body and legs in terms of even and odd functions of time. A legged system running with these symmetries travels with a fixed forward speed and a stable upright posture. The symmetries used for controlling legged robots may help in elucidating the legged behavior of animals. Measurements of running in the cat and human show that the feet and body sometimes move as predicted by the even and odd symmetry functions.

The effects of Fu Zi on changes in the body heat of dogs.

PubMed

Chen, Tian-Tian; Qi, Chunhua; Guo, Huijun; Cheng, Ziqiang; Zhou, Dong; Liu, Haitao; Liu, Jianzhu

2009-03-01

The aim of the present study was to investigate the effects of Fu Zi on changes in the body heat of dogs. Twelve clinically healthy dogs were divided into two groups: the control group (six dogs) and the experimental group (six dogs). The control group was made to ingest normal saline mixed with canned meat, while the experimental group was made to ingest the Fu Zi solution mixed with canned meat. The infrared thermographic system was used to determine the level of body heat generated by these dogs. These areas include the dorsocranial (DCr), dorsocaudal (DCd), ventrocranial (VCr), and ventrocaudal (VCd) regions at pretreatment and were determined at 10, 20, 30, 50, 90, 120, 240, and 360 minutes after treatment for each of these areas. The results showed a tendency toward increased body heat until 30 minutes after ingestion of the Fu Zi powder mixed with canned meat. The significant differences in the changes of body heat were detected at 360 minutes in the DCd regions, 20 minutes in the VCr regions, and 30 minutes in the VCd regions between the experimental and control groups (p < 0.05). Based from our results, we find that Fu Zi can increase and maintain the dogs' body heat for at least 6 hours.

Differences in myoelectric and body-powered upper-limb prostheses: Systematic literature review.

PubMed

Carey, Stephanie L; Lura, Derek J; Highsmith, M Jason

2015-01-01

The choice of a myoelectric or body-powered upper-limb prosthesis can be determined using factors including control, function, feedback, cosmesis, and rejection. Although body-powered and myoelectric control strategies offer unique functions, many prosthesis users must choose one. A systematic review was conducted to determine differences between myoelectric and body-powered prostheses to inform evidence-based clinical practice regarding prescription of these devices and training of users. A search of 9 databases identified 462 unique publications. Ultimately, 31 of them were included and 11 empirical evidence statements were developed. Conflicting evidence has been found in terms of the relative functional performance of body-powered and myoelectric prostheses. Body-powered prostheses have been shown to have advantages in durability, training time, frequency of adjustment, maintenance, and feedback; however, they could still benefit from improvements of control. Myoelectric prostheses have been shown to improve cosmesis and phantom-limb pain and are more accepted for light=intensity work. Currently, evidence is insufficient to conclude that either system provides a significant general advantage. Prosthetic selection should be based on a patient's individual needs and include personal preferences, prosthetic experience, and functional needs. This work demonstrates that there is a lack of empirical evidence regarding functional differences in upper-limb prostheses.

How an interacting many-body system tunnels through a potential barrier to open space

PubMed Central

Lode, Axel U.J.; Streltsov, Alexej I.; Sakmann, Kaspar; Alon, Ofir E.; Cederbaum, Lorenz S.

2012-01-01

The tunneling process in a many-body system is a phenomenon which lies at the very heart of quantum mechanics. It appears in nature in the form of α-decay, fusion and fission in nuclear physics, and photoassociation and photodissociation in biology and chemistry. A detailed theoretical description of the decay process in these systems is a very cumbersome problem, either because of very complicated or even unknown interparticle interactions or due to a large number of constituent particles. In this work, we theoretically study the phenomenon of quantum many-body tunneling in a transparent and controllable physical system, an ultracold atomic gas. We analyze a full, numerically exact many-body solution of the Schrödinger equation of a one-dimensional system with repulsive interactions tunneling to open space. We show how the emitted particles dissociate or fragment from the trapped and coherent source of bosons: The overall many-particle decay process is a quantum interference of single-particle tunneling processes emerging from sources with different particle numbers taking place simultaneously. The close relation to atom lasers and ionization processes allows us to unveil the great relevance of many-body correlations between the emitted and trapped fractions of the wave function in the respective processes. PMID:22869703

System-level challenges in pressure-operated soft robotics

NASA Astrophysics Data System (ADS)

Onal, Cagdas D.

2016-05-01

Last decade witnessed the revival of fluidic soft actuation. As pressure-operated soft robotics becomes more popular with promising recent results, system integration remains an outstanding challenge. Inspired greatly by biology, we envision future robotic systems to embrace mechanical compliance with bodies composed of soft and hard components as well as electronic and sensing sub-systems, such that robot maintenance starts to resemble surgery. In this vision, portable energy sources and driving infrastructure plays a key role to offer autonomous many-DoF soft actuation. On the other hand, while offering many advantages in safety and adaptability to interact with unstructured environments, objects, and human bodies, mechanical compliance also violates many inherent assumptions in traditional rigid-body robotics. Thus, a complete soft robotic system requires new approaches to utilize proprioception that provides rich sensory information while remaining flexible, and motion control under significant time delay. This paper discusses our proposed solutions for each of these system-level challenges in soft robotics research.

Quasiparticle engineering and entanglement propagation in a quantum many-body system.

PubMed

Jurcevic, P; Lanyon, B P; Hauke, P; Hempel, C; Zoller, P; Blatt, R; Roos, C F

2014-07-10

The key to explaining and controlling a range of quantum phenomena is to study how information propagates around many-body systems. Quantum dynamics can be described by particle-like carriers of information that emerge in the collective behaviour of the underlying system, the so-called quasiparticles. These elementary excitations are predicted to distribute quantum information in a fashion determined by the system's interactions. Here we report quasiparticle dynamics observed in a quantum many-body system of trapped atomic ions. First, we observe the entanglement distributed by quasiparticles as they trace out light-cone-like wavefronts. Second, using the ability to tune the interaction range in our system, we observe information propagation in an experimental regime where the effective-light-cone picture does not apply. Our results will enable experimental studies of a range of quantum phenomena, including transport, thermalization, localization and entanglement growth, and represent a first step towards a new quantum-optic regime of engineered quasiparticles with tunable nonlinear interactions.

Dynamics of flexible bodies in tree topology - A computer oriented approach

NASA Technical Reports Server (NTRS)

Singh, R. P.; Vandervoort, R. J.; Likins, P. W.

1984-01-01

An approach suited for automatic generation of the equations of motion for large mechanical systems (i.e., large space structures, mechanisms, robots, etc.) is presented. The system topology is restricted to a tree configuration. The tree is defined as an arbitrary set of rigid and flexible bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The equations of motion are derived via Kane's method. The resulting equation set is of minimum dimension. Dynamical equations are imbedded in a computer program called TREETOPS. Extensive control simulation capability is built in the TREETOPS program. The simulation is driven by an interactive set-up program resulting in an easy to use analysis tool.

Electromagnetic assessment of embedded micro antenna for a novel sphincter in the human body.

PubMed

Zan, Peng; Liu, Jinding; Ai, Yutao; Jiang, Enyu

2013-05-01

This paper presents a wireless, miniaturized, bi-directional telemetric artificial anal sphincter system that can be used for controlling patients' anal incontinence. The artificial anal sphincter system is mainly composed of an executive mechanism, a wireless power supply system and a wireless communication system. The wireless communication system consists of an internal RF transceiver, an internal RF antenna, a data transmission pathway, an external RF antenna and an external RF control transceiver. A micro NMHA (Normal Mode Helical Antenna) has been used for the transceiver of the internal wireless communication system and a quarter wave-length whip antenna of 7.75 cm has been used for the external wireless communication system. The RF carrier frequency of wireless communication is located in a license-free 433.1 MHz ISM (Industry, Science, and Medical) band. The radiation characteristics and SAR (Specific Absorption Rate) are evaluated using the finite difference time-domain method and 3D human body model. Results show that the SAR values of the antenna satisfy the ICNIRP (International Commission on Nonionizing Radiation Protection) limitations.

Formation Control over Delayed Communication Network

NASA Astrophysics Data System (ADS)

Secchi, Cristian; Fantuzzi, Cesare

In this Chapter we address the problem of formation control of a group of robots that exchange information over a communication network characterized by a non negligible delay. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled group of robots as a port-Hamiltonian system and we exploit the scattering framework to achieve a passive behavior of the controlled system and to stabilize the robots in the desired formation independently of any communication delay.

Development of the Wake Behind a Circular Cylinder Impulsively Started into Rotatory and Rectilinear Motion: Intermediate Rotation Rates

DTIC Science & Technology

1991-01-01

cylindre fixe ou en rotation. Effet Magnus . J. Mec. 14, 109-134. Taneda, S. 1977 Visual study of unsteady separated flows around bodies. Prog. Aero...enhancement schemes employing the Magnus effect (Swanson 1961). Rotating all or part of a body may also have applications in active or feedback control of...and yt into the governing equations in the generalized coordinate system. In this study, the body-fitted grid is simply one of cylindrical polar

Bodies with noncircular cross sections and bank-to-turn missiles

NASA Technical Reports Server (NTRS)

Jackson, C. M., Jr.; Sawyer, W. C.

1986-01-01

An evaluation is made of prospective missile applications for noncircular cross section bodies, and of recent developments in bank-to-turn missile configuration aerodynamics. The discussion encompasses cross-flow analysis techniques, as well as study results obtained for bodies with elliptical and square cross sections and with variable cross sections. Attention is given to both the performance advantages and the stability and control problems of bank-to-turn missile configurations; the aerodynamic data presented for monoplanar configurations extend to those incorporating airbreathing propulsion systems.

Aspects of body self-calibration

NASA Technical Reports Server (NTRS)

Lackner, J. R.; DiZio, P. A.

2000-01-01

The representation of body orientation and configuration is dependent on multiple sources of afferent and efferent information about ongoing and intended patterns of movement and posture. Under normal terrestrial conditions, we feel virtually weightless and we do not perceive the actual forces associated with movement and support of our body. It is during exposure to unusual forces and patterns of sensory feedback during locomotion that computations and mechanisms underlying the ongoing calibration of our body dimensions and movements are revealed. This review discusses the normal mechanisms of our position sense and calibration of our kinaesthetic, visual and auditory sensory systems, and then explores the adaptations that take place to transient Coriolis forces generated during passive body rotation. The latter are very rapid adaptations that allow body movements to become accurate again, even in the absence of visual feedback. Muscle spindle activity interpreted in relation to motor commands and internally modeled reafference is an important component in permitting this adaptation. During voluntary rotary movements of the body, the central nervous system automatically compensates for the Coriolis forces generated by limb movements. This allows accurate control to be maintained without our perceiving the forces generated.

Endogenous antipyretics.

PubMed

Roth, Joachim

2006-09-01

The febrile increase of body temperature is regarded as a component of the complex host response to infection or inflammation that accompanies the activation of the immune system. Late phases of fever appear mediated by pro-inflammatory cytokines called endogenous pyrogens. The rise of body temperature is beneficial because it accelerates several components of the activated immune system. To prevent an excessive and dangerous rise of body temperature the febrile response is controlled, limited in strength and duration, and sometimes even prevented by the actions of endogenous antipyretic substances liberated systemically or within the brain during fever. In most cases the antipyretic effects are achieved by an inhibitory influence on the formation or action of endogenous pyrogens, or by effects on neuronal thermoregulatory circuits that are activated during fever. Endogenous antipyretic substances include steroid hormones, neuropeptides, cytokines and other molecules. It is the purpose of this review to consider the current state in the research on endogenous antipyretic systems.

Determination and treatment of substances in runoff in a controlled highway system (Cross Lake).

DOT National Transportation Integrated Search

2003-06-01

Because bridges usually span bodies of water, quantifying and controlling non-point pollutant flux from them will take on added significance as federal regulations begin to address non-point contamination of the environment. The objectives of this st...

Bang-Bang Practical Stabilization of Rigid Bodies

NASA Astrophysics Data System (ADS)

Serpelloni, Edoardo

In this thesis, we study the problem of designing a practical stabilizer for a rigid body equipped with a set of actuators generating only constant thrust. Our motivation stems from the fact that modern space missions are required to accurately control the position and orientation of spacecraft actuated by constant-thrust jet-thrusters. To comply with the performance limitations of modern thrusters, we design a feedback controller that does not induce high-frequency switching of the actuators. The proposed controller is hybrid and it asymptotically stabilizes an arbitrarily small compact neighborhood of the target position and orientation of the rigid body. The controller is characterized by a hierarchical structure comprising of two control layers. At the low level of the hierarchy, an attitude controller stabilizes the target orientation of the rigid body. At the high level, after the attitude controller has steered the rigid body sufficiently close to its desired orientation, a position controller stabilizes the desired position. The size of the neighborhood being stabilized by the controller can be adjusted via a proper selection of the controller parameters. This allows us to stabilize the rigid body to virtually any degree of accuracy. It is shown that the controller, even in the presence of measurement noise, does not induce high-frequency switching of the actuators. The key component in the design of the controller is a hybrid stabilizer for the origin of double-integrators affected by bounded external perturbations. Specifically, both the position and the attitude stabilizers consist of multiple copies of such a double-integrator controller. The proposed controller is applied to two realistic spacecraft control problems. First, we apply the position controller to the problem of stabilizing the relative position between two spacecraft flying in formation in the vicinity of the L2 libration point of the Sun-Earth system as a part of a large space telescope. The proposed position controller represents the first feedback strategy to guarantee the accuracy level required by this class of space missions using real-life electric thrusters. The final controller is applied to the control of a large space vehicle performing rendezvous and docking operations with the International Space Station. It is shown that the controller guarantees a safe docking even under the effects of biases in the placement of the on-board thrusters.

Usage of noncontact human body measurements for development of Army Work Wear Trousers

NASA Astrophysics Data System (ADS)

Dabolina, Inga; Lapkovska, Eva; Vilumsone, Ausma

2017-10-01

The paper is based on issues related to imperfections of clothing fit, garment construction solutions and control measurement systems of finished products, which were identified in the research process analysing army soldier work wear trousers. The aim is to obtain target group body measurements using noncontact anthropometrical data acquisition method (3D scanning) for selection and analysis of scanned data suitable for trouser design. Tasks include comparison of scanned data with manually taken body measurements and different corresponding human body measurement standard data for establishing potential advantages of noncontact method usage in solving different trouser design issues.

Multimodal Preception and Multicriterion Control of Nested Systems. 3; A Functional Visual Assessment Test for Human Health Maintenance and Countermeasure Evaluation

NASA Technical Reports Server (NTRS)

Riccio, Gary E.; McDonald, P. Vernon; Bloomberg, Jacob

1999-01-01

Our theoretical and empirical research on the whole-body coordination during locomotion led to a Phase 1 SBIR grant from NASA JSC. The purpose of the SBIR grant was to design an innovative system for evaluating eye-head-trunk coordination during whole-body perturbations that are characteristic of locomotion. The approach we used to satisfy the Phase 1 objectives was based on a structured methodology for the development of human-systems technology. Accordingly the project was broken down into a number of tasks and subtasks. In sequence, the major tasks were: (1) identify needs for functional assessment of visual acuity under conditions involving whole-body perturbation within the NASA Space Medical Monitoring and Countermeasures (SMMaC) program and in other related markets; (2) analyze the needs into the causes and symptoms of impaired visual acuity under conditions involving whole-body perturbation; (3) translate the analyzed needs into technology requirements for the Functional Visual Assessment Test (FVAT); (4) identify candidate technology solutions and implementations of FVAT; and (5) prioritize and select technology solutions. The work conducted in these tasks is described in this final volume of the series on Multimodal Perception and Multicriterion Control of Nested Systems. While prior volumes (1 and 2) in the series focus on theoretical foundations and novel data-analytic techniques, this volume addresses technology that is necessary for minimally intrusive data collection and near-real-time data analysis and display.

Potential roles of force cues in human stance control.

PubMed

Cnyrim, Christian; Mergner, Thomas; Maurer, Christoph

2009-04-01

Human stance is inherently unstable. A small deviation from upright body orientation is enough to yield a gravitational component in the ankle joint torque, which tends to accelerate the body further away from upright ('gravitational torque'; magnitude is related to body-space lean angle). Therefore, to maintain a given body lean position, a corresponding compensatory torque must be generated. It is well known that subjects use kinematic sensory information on body-space lean from the vestibular system for this purpose. Less is known about kinetic cues from force/torque receptors. Previous work indicated that they are involved in compensating external contact forces such as a pull or push having impact on the body. In this study, we hypothesized that they play, in addition, a role when the vestibular estimate of the gravitational torque becomes erroneous. Reasons may be sudden changes in body mass, for instance by a load, or an impairment of the vestibular system. To test this hypothesis, we mimicked load effects on the gravitational torque in normal subjects and in patients with chronic bilateral vestibular loss (VL) with eyes closed. We added/subtracted extra torque to the gravitational torque by applying an external contact force (via cable winches and a body harness). The extra torque was referenced to body-space lean, using different proportionality factors. We investigated how it affected body-space lean responses that we evoked using sinusoidal tilts of the support surface (motion platform) with different amplitudes and frequencies (normals +/-1 degrees, +/-2 degrees, and +/-4 degrees at 0.05, 0.1, 0.2, and 0.4 Hz; patients +/-1 degrees and +/-2 degrees at 0.05 and 0.1 Hz). We found that added/subtracted extra torque scales the lean response in a systematic way, leading to increase/decrease in lean excursion. Expressing the responses in terms of gain and phase curves, we compared the experimental findings to predictions obtained from a recently published sensory feedback model. For the trials in which the extra torque tended to endanger stance control, predictions in normals were better when the model included force cues than without these cues. This supports our notion that force cues provide an automatic 'gravitational load compensation' upon changes in body mass in normals. The findings in the patients support our notion that the presumed force cue mechanism provides furthermore vestibular loss compensation. Patients showed a body-space stabilization that cannot be explained by ankle angle proprioception, but must involve graviception, most likely by force cues. Our findings suggest that force cues contribute considerably to the redundancy and robustness of the human stance control system.

Average-passage simulation of counter-rotating propfan propulsion systems as applied to cruise missiles

NASA Technical Reports Server (NTRS)

Mulac, Richard A.; Schneider, Jon C.; Adamczyk, John J.

1989-01-01

Counter-rotating propfan (CRP) propulsion technologies are currently being evaluated as cruise missile propulsion systems. The aerodynamic integration concerns associated with this application are being addressed through the computational modeling of the missile body-propfan flowfield interactions. The work described in this paper consists of a detailed analysis of the aerodynamic interactions between the control surfaces and the propfan blades through the solution of the average-passage equation system. Two baseline configurations were studied, the control fins mounted forward of the counter-rotating propeller and the control fins mounted aft of the counter-rotating propeller. In both cases, control fin-propfan separation distance and control fin deflection angle were varied.

Assessment of body parameters' symmetry in child violinists.

PubMed

Cygańska, Anna; Truszczyńska-Baszak, Aleksandra; Drzał-Grabiec, Justyna; Tarnowski, Adam

2017-09-22

Playing violin may lead to overload of the locomotor system. The aim of this study was to assess body parameters for trunk symmetry in child violinists and compare with the control group. We analyzed body posture of 101 children aged 7-12 years, mean age 11.09 ± 9.46, 49 child violinists and control group of 52 children. We found statistically significant differences for the difference in depth of the lower corners of scapulae and upper posterior spina iliaca, though greater asymmetries were found in the clinical control group. The remaining parameter values are close to significance, which may suggest that the process of postural change among the children had just started and that the existing asymmetries were easy to correct. We found positive correlation between body height and the difference in distance of the lower corners of scapulae from the spine: OL (p= 0.029, correlation coefficient value was 0.167) and the Thales triangle height: (p= 0.018, correlation coefficient was 0.214). Position maintained while playing the violin changed some parameters characterizing the curvature of the spine in frontal plane. We found the importance of detailed analysis of children body posture and its critical assessment.

Method and device for controlling plume during laser welding

DOEpatents

Fuerschbach, Phillip W.; Jellison, James L.; Keicher, David M.; Oberkampf, William L.

1991-01-01

A method and apparatus for enhancing the weldment of a laser welding system is provided. The laser weld plume control device includes a cylindrical body defining an upside-down cone cavity; the upper surface of the body circumscribes the base of the cone cavity, and the vertex of the cone cavity forms an orifice concentrically located with respect to the laser beam and the plume which forms as a result of the welding operation. According to the method of the invention, gas is directed radially inward through inlets in the upper surface of the body into and through channels in the wall of the body and finally through the orifice of the body, and downward onto the surface of the weldment. The gas flow is then converted by the orifice of the device from radial flow to an axisymmetric gas jet flowing away from the weldment surface in a direction perpendicular to the surface and opposite to that of the laser.

Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

PubMed Central

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2013-01-01

Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations. PMID:23928891

Protein deficiency: its effects on body temperature in health and disease states.

PubMed

Hoffman-Goetz, L; Kluger, M J

1979-07-01

Little is known about the effects of protein malnutrition on the ability to regulate body temperature during health and disease. To investigate this area, we placed young rabbits on a low-protein diet and recorded their body temperatures. There were no differences between the protein-deprived and control animals concerning their abilities to maintain constant body temperatures during exposure to low (5 C, 10 C) and thermoneutral ambient temperature (20 C). In a warm ambient temperature (30 C) the protein-deprived animals were actually better able to maintain a lower body temperature. Injections with heat killed bacteria led to little or no fever in the protein-deprived group. However, intravenous injections of endogenous pyrogen, a protein mediator of fever, resulted in fevers virtually identical to that attained in control animals. These data indicate that the attenuated febrile response to bacterial injection during protein deprivation may be due to a diminished production of endogenous pyrogen, and not to some alteration in the central nervous system sensitivity to pyrogens.

A Multimodal Adaptive Wireless Control Interface for People With Upper-Body Disabilities.

PubMed

Fall, Cheikh Latyr; Quevillon, Francis; Blouin, Martine; Latour, Simon; Campeau-Lecours, Alexandre; Gosselin, Clement; Gosselin, Benoit

2018-06-01

This paper describes a multimodal body-machine interface (BoMI) to help individuals with upper-limb disabilities using advanced assistive technologies, such as robotic arms. The proposed system uses a wearable and wireless body sensor network (WBSN) supporting up to six sensor nodes to measure the natural upper-body gesture of the users and translate it into control commands. Natural gesture of the head and upper-body parts, as well as muscular activity, are measured using inertial measurement units (IMUs) and surface electromyography (sEMG) using custom-designed multimodal wireless sensor nodes. An IMU sensing node is attached to a headset worn by the user. It has a size of 2.9 cm 2.9 cm, a maximum power consumption of 31 mW, and provides angular precision of 1. Multimodal patch sensor nodes, including both IMU and sEMG sensing modalities are placed over the user able-body parts to measure the motion and muscular activity. These nodes have a size of 2.5 cm 4.0 cm and a maximum power consumption of 11 mW. The proposed BoMI runs on a Raspberry Pi. It can adapt to several types of users through different control scenarios using the head and shoulder motion, as well as muscular activity, and provides a power autonomy of up to 24 h. JACO, a 6-DoF assistive robotic arm, is used as a testbed to evaluate the performance of the proposed BoMI. Ten able-bodied subjects performed ADLs while operating the AT device, using the Test d'Évaluation des Membres Supérieurs de Personnes Âgées to evaluate and compare the proposed BoMI with the conventional joystick controller. It is shown that the users can perform all tasks with the proposed BoMI, almost as fast as with the joystick controller, with only 30% time overhead on average, while being potentially more accessible to the upper-body disabled who cannot use the conventional joystick controller. Tests show that control performance with the proposed BoMI improved by up to 17% on average, after three trials.

Singularity and steering logic for control moment gyros on flexible space structures

NASA Astrophysics Data System (ADS)

Hu, Quan; Guo, Chuandong; Zhang, Jun

2017-08-01

Control moment gyros (CMGs) are a widely used device for generating control torques for spacecraft attitude control without expending propellant. Because of its effectiveness and cleanness, it has been considered to be mounted on a space structure for active vibration suppression. The resultant system is the so-called gyroelastic body. Since CMGs could exert both torque and modal force to the structure, it can also be used to simultaneously achieve attitude maneuver and vibration reduction of a flexible spacecraft. In this paper, we consider the singularity problem in such application of CMGs. The dynamics of an unconstrained gyroelastic body is established, from which the output equations of the CMGs are extracted. Then, torque singular state and modal force singular state are defined and visualized to demonstrate the singularity. Numerical examples of several typical CMGs configurations on a gyroelastic body are given. Finally, a steering law allowing output error is designed and applied to the vibration suppression of a plate with distributed CMGs.

Asymmetric balance control between legs for quiet but not for perturbed stance.

PubMed

Vieira, Osvaldo; Coelho, Daniel Boari; Teixeira, Luis Augusto

2014-10-01

Interlateral performance asymmetry in upright balance control was evaluated in this investigation by comparing unipedal stance on the right versus the left leg. Participants were healthy young adults, hand-foot congruent preference for the right body side. Balance performance was evaluated in unperturbed quiet stance and in the recovery of balance stability following a mechanical perturbation induced by unexpected load release. Evaluation was made under availability of full sensory information, and under deprivation of vision combined with distortion of sensory inputs from the feet soles. Results from perturbed posture revealed that muscular response latency and postural sway were symmetric between the legs. Unipedal stance was more stable when the body was supported on the right as compared with the left leg. No interaction was found between leg and sensory condition. Our findings are interpreted as resulting from specialization of the sensorimotor system controlling the right leg for continuous low-magnitude postural adjustments, while corrections to large-scale stance sway are symmetrically controlled between body sides.

Iron-Dependent Regulation of Hepcidin in Hjv−/− Mice: Evidence That Hemojuvelin Is Dispensable for Sensing Body Iron Levels

PubMed Central

Daba, Alina; Wagner, John; Sebastiani, Giada; Pantopoulos, Kostas

2014-01-01

Hemojuvelin (Hjv) is a bone morphogenetic protein (BMP) co-receptor involved in the control of systemic iron homeostasis. Functional inactivation of Hjv leads to severe iron overload in humans and mice due to marked suppression of the iron-regulatory hormone hepcidin. To investigate the role of Hjv in body iron sensing, Hjv−/− mice and isogenic wild type controls were placed on a moderately low, a standard or a high iron diet for four weeks. Hjv−/− mice developed systemic iron overload under all regimens. Transferrin (Tf) was highly saturated regardless of the dietary iron content, while liver iron deposition was proportional to it. Hepcidin mRNA expression responded to fluctuations in dietary iron intake, despite the absence of Hjv. Nevertheless, iron-dependent upregulation of hepcidin was more than an order of magnitude lower compared to that seen in wild type controls. Likewise, iron signaling via the BMP/Smad pathway was preserved but substantially attenuated. These findings suggest that Hjv is not required for sensing of body iron levels and merely functions as an enhancer for iron signaling to hepcidin. PMID:24409331

Control-structure interaction/mirror motion compensation

NASA Technical Reports Server (NTRS)

Mclaren, Mark; Chu, Peter; Price, Xen

1992-01-01

Space Systems/Loral (formerly Ford Aerospace, Space Systems Division) has implemented a rigid-body Mirror Motion Compensation (MMC) scheme for the GOES-I/M spacecraft currently being built for NASA and NOAA. This has resulted in a factor of 15 reduction in pointing error due to rigid-body spacecraft motion induced by the periodic black-body calibration maneuvers required for the instruments. For GOES the spacecraft and the payload mirrors are considered as rigid bodies. The structural flexibility effects are small and are included in the total pointing budget as a separate item. This paper extends the MMC technique to include structural flexibility. For large multi-payload platforms, the structural flexibility effects can be more important in sensor pointing jitter as the result of payload motion. Sensitivity results are included to show the importance of the dynamic model fidelity.

A Learning Support System Regarding Motion Trigger for Repetitive Motion Having an Operating Instrument

ERIC Educational Resources Information Center

Toyooka, Hiroshi; Matsuura, Kenji; Gotoda, Naka

2016-01-01

In the learning support for repetitive motions having an operating instrument, it is necessary for learners to control not only their own body motions but also an instrument corresponding to the body. This study focuses on the repetitive motion learning using single operation instrument without the movement in space; i.e. jump-rope and hula-hoop.…

Neural Regulation Of Chromatophore Function In Cephalopods

DTIC Science & Technology

2015-05-19

which include octopus , squid and cuttlefish, are the only animals able to generate active body patterns directly controlled by the nervous system...Pattering Behavior, the ability of cephalopod mollusks to generate numerous and highly complex body patterns. Cephalopods, which include octopus , squid...cephalopod species, Octopus vulgaris with the Fiorito lab at the Stazione Zoologica in Napoli, Italy and showed that regeneration follows a

Laser Cutting

DTIC Science & Technology

1988-06-01

gantry configuration, however, presents a cage-like barrier to the rapid loading and unloading of workpieces such as automobile bodies or body...assemblies almost as large as an automobile . System controls can follow cutting paths within a few thousandths of an inch while producing such path detail...are often called robots. Indeed, they meet the RIA* definition of an industrial robot as follows: "A reprogrammable multifunctional manipulator designed

Antagonizing retinoic acid and FGF/MAPK pathways control posterior body patterning in the invertebrate chordate Ciona intestinalis.

PubMed

Pasini, Andrea; Manenti, Raoul; Rothbächer, Ute; Lemaire, Patrick

2012-01-01

Vertebrate embryos exploit the mutual inhibition between the RA and FGF signalling pathways to coordinate the proliferative elongation of the main body axis with the progressive patterning and differentiation of its neuroectodermal and paraxial mesodermal structures. The evolutionary history of this patterning system is still poorly understood. Here, we investigate the role played by the RA and FGF/MAPK signals during the development of the tail structures in the tunicate Ciona intestinalis, an invertebrate chordate belonging to the sister clade of vertebrates, in which the prototypical chordate body plan is established through very derived morphogenetic processes. Ciona embryos are constituted of few cells and develop according to a fixed lineage; elongation of the tail occurs largely by rearrangement of postmitotic cells; mesoderm segmentation and somitogenesis are absent. We show that in the Ciona embryo, the antagonism of the RA and FGF/MAPK signals is required to control the anteroposterior patterning of the tail epidermis. We also demonstrate that the RA, FGF/MAPK and canonical Wnt pathways control the anteroposterior patterning of the tail peripheral nervous system, and reveal the existence of distinct subpopulations of caudal epidermal neurons with different responsiveness to the RA, FGF/MAPK and canonical Wnt signals. Our data provide the first demonstration that the use of the antagonism between the RA and FGF signals to pattern the main body axis predates the emergence of vertebrates and highlight the evolutionary plasticity of this patterning strategy, showing that in different chordates it can be used to pattern different tissues within the same homologous body region.

Oscillatory motion based measurement method and sensor for measuring wall shear stress due to fluid flow

DOEpatents

Armstrong, William D [Laramie, WY; Naughton, Jonathan [Laramie, WY; Lindberg, William R [Laramie, WY

2008-09-02

A shear stress sensor for measuring fluid wall shear stress on a test surface is provided. The wall shear stress sensor is comprised of an active sensing surface and a sensor body. An elastic mechanism mounted between the active sensing surface and the sensor body allows movement between the active sensing surface and the sensor body. A driving mechanism forces the shear stress sensor to oscillate. A measuring mechanism measures displacement of the active sensing surface relative to the sensor body. The sensor may be operated under periodic excitation where changes in the nature of the fluid properties or the fluid flow over the sensor measurably changes the amplitude or phase of the motion of the active sensing surface, or changes the force and power required from a control system in order to maintain constant motion. The device may be operated under non-periodic excitation where changes in the nature of the fluid properties or the fluid flow over the sensor change the transient motion of the active sensor surface or change the force and power required from a control system to maintain a specified transient motion of the active sensor surface.

Characterization of In-Body to On-Body Wireless Radio Frequency Link for Upper Limb Prostheses.

PubMed

Stango, Antonietta; Yazdandoost, Kamya Yekeh; Negro, Francesco; Farina, Dario

2016-01-01

Wireless implanted devices can be used to interface patients with disabilities with the aim of restoring impaired motor functions. Implanted devices that record and transmit electromyographic (EMG) signals have been applied for the control of active prostheses. This simulation study investigates the propagation losses and the absorption rate of a wireless radio frequency link for in-to-on body communication in the medical implant communication service (MICS) frequency band to control myoelectric upper limb prostheses. The implanted antenna is selected and a suitable external antenna is designed. The characterization of both antennas is done by numerical simulations. A heterogeneous 3D body model and a 3D electromagnetic solver have been used to model the path loss and to characterize the specific absorption rate (SAR). The path loss parameters were extracted and the SAR was characterized, verifying the compliance with the guideline limits. The path loss model has been also used for a preliminary link budget analysis to determine the feasibility of such system compliant with the IEEE 802.15.6 standard. The resulting link margin of 11 dB confirms the feasibility of the system proposed.

Characterization of In-Body to On-Body Wireless Radio Frequency Link for Upper Limb Prostheses

PubMed Central

Stango, Antonietta; Yazdandoost, Kamya Yekeh; Negro, Francesco; Farina, Dario

2016-01-01

Wireless implanted devices can be used to interface patients with disabilities with the aim of restoring impaired motor functions. Implanted devices that record and transmit electromyographic (EMG) signals have been applied for the control of active prostheses. This simulation study investigates the propagation losses and the absorption rate of a wireless radio frequency link for in-to-on body communication in the medical implant communication service (MICS) frequency band to control myoelectric upper limb prostheses. The implanted antenna is selected and a suitable external antenna is designed. The characterization of both antennas is done by numerical simulations. A heterogeneous 3D body model and a 3D electromagnetic solver have been used to model the path loss and to characterize the specific absorption rate (SAR). The path loss parameters were extracted and the SAR was characterized, verifying the compliance with the guideline limits. The path loss model has been also used for a preliminary link budget analysis to determine the feasibility of such system compliant with the IEEE 802.15.6 standard. The resulting link margin of 11 dB confirms the feasibility of the system proposed. PMID:27764182

Earth observing system instrument pointing control modeling for polar orbiting platforms

NASA Technical Reports Server (NTRS)

Briggs, H. C.; Kia, T.; Mccabe, S. A.; Bell, C. E.

1987-01-01

An approach to instrument pointing control performance assessment for large multi-instrument platforms is described. First, instrument pointing requirements and reference platform control systems for the Eos Polar Platforms are reviewed. Performance modeling tools including NASTRAN models of two large platforms, a modal selection procedure utilizing a balanced realization method, and reduced order platform models with core and instrument pointing control loops added are then described. Time history simulations of instrument pointing and stability performance in response to commanded slewing of adjacent instruments demonstrates the limits of tolerable slew activity. Simplified models of rigid body responses are also developed for comparison. Instrument pointing control methods required in addition to the core platform control system to meet instrument pointing requirements are considered.

A Methodology for Investigating Adaptive Postural Control

NASA Technical Reports Server (NTRS)

McDonald, P. V.; Riccio, G. E.

1999-01-01

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of overt goals. It follows that an essential characteristic of postural behavior is the effective maintenance of the orientation and stability of the sensory and motor "platforms" (e.g., head or shoulders) over variations in the human, the environment and the task. This general skill suggests that individuals should be sensitive to the functional consequences of body configuration and stability. In other words, individuals should perceive the relation between configuration, stability, and performance so that they can adaptively control their interaction with the surroundings. Human-environment interactions constitute robust systems in that individuals can maintain the stability of such interactions over uncertainty about and variations in the dynamics of the interaction. Robust interactions allow individuals to adopt orientations and configurations that are not optimal with respect to purely energetic criteria. Individuals can tolerate variation in postural states, and such variation can serve an important function in adaptive systems. Postural variability generates stimulation which is "textured" by the dynamics of the human-environment system. The texture or structure in stimulation provides information about variation in dynamics, and such information can be sufficient to guide adaption in control strategies. Our method were designed to measure informative patterns of movement variability.

Emotional distress and disordered eating practices among southern Italian women.

PubMed

Cheney, Ann M

2012-09-01

This study is one of the first to examine the narrative links connecting social change, contested gender norms, body image, and eating disordered practices among southern Italian women. The research is based on 16 months of fieldwork, and I compare and contrast the stories of 23 educated women in southern Italy to highlight the contentious realities of entering adolescence in conservative social contexts where gender relations and value systems are undergoing rapid transformations. I examine how these young women dealt with conflicting cultural expectations of womanhood and whether it affected their emotional, psychological, and physical well-being. Their stories shed light on how parental control, community surveillance, and conflicts in developing gender identities and maturing womanly bodies contributed to their emotional distress. Distressed young women used rebellion and manipulation and control of food and the body to negotiate unjust social relations, specifically gender relations, that delegitimized their selves and, in some cases, their bodies.

Effects of horizontal body casting on the baroreceptor reflex control of heart rate

NASA Technical Reports Server (NTRS)

Billman, G. E.; Dickey, D. T.; Sandler, H.; Stone, H. L.

1982-01-01

The purpose of this study was to investigate the effects of long-term horizontal body position on baroreceptor reflex control of heart rate. Six male rhesus monkeys (6.2-9.4 kg) were given bolus injections of 4.0 microgram/kg, phenylephrine during each of the following conditions: awake, anesthetized (10 mg/kg ketamine HCl), and after beta-blockade (1 mg/kg propranolol HCl) before, 7, 14, and 28 days after being placed in a horizontal body cast. R-R interval vs. systolic arterial pressure was plotted, and the slope was determined by least-squares-fit linear regression. Baroreceptor slope was significantly reduced by 7 days of horizontal body position and remained attenuated throughout the 28-day restraint period both before and after beta-receptor blockade. These data are consistent with the thesis that prolonged exposure to a zero-gravity environment impairs autonomic reflex regulation of the cardiovascular system.

A dual-mode disturbance-accommodating controller for the Hubble Space Telescope

NASA Astrophysics Data System (ADS)

Addington, Stewart; Johnson, C. D.

Cyclic thermal expansions and mechanical stiction effects in the Solar Arrays on the Hubble Space Telescope (HST) are triggering repeated occurrences of damped, relaxation-type flex-body vibrations of the solar arrays. Those solar array vibrations are, in turn, causing unwanted, oscillating disturbance torques on the HST main body, which cause unwanted deviations of the telescope from its specified pointing direction. In this paper we propose two strategies one can adopt in designing a telescope-pointing controller to cope with the aforementioned disturbances: (1) a `total isolation' (TI) control strategy whereby the HST controller torques are designed to adaptively counteract and cancel-out the persistent disturbing torques that are causing the unwanted telescope motions, and (2) an `array damping' (AD) control strategy whereby the HST controller torques are used to actively augment the natural dampening of the solar array vibrations and the attendant telescope motions, between triggerings of the stiction-related flex-body relaxation oscillations. Using the principles of Disturbance-Accommodating Control (DAC) Theory a dual-mode controller for a generic, planar-motion (single-axis) model of the HST is proposed. This controller incorporates both the TI and AD modes of disturbance-accommodation. Simulation studies of the closed-loop system using generic parameter values clearly indicate, qualitatively, the enhanced pointing-performance such a controller can achieve.

Small Body Landing Accuracy Using In-Situ Navigation

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam; Nandi, Sumita; Broschart, Stephen; Wallace, Mark; Olson, Corwin; Cangahuala, L. Alberto

2011-01-01

Spacecraft landings on small bodies (asteroids and comets) can require target accuracies too stringent to be met using ground-based navigation alone, especially if specific landing site requirements must be met for safety or to meet science goals. In-situ optical observations coupled with onboard navigation processing can meet the tighter accuracy requirements to enable such missions. Recent developments in deep space navigation capability include a self-contained autonomous navigation system (used in flight on three missions) and a landmark tracking system (used experimentally on the Japanese Hayabusa mission). The merging of these two technologies forms a methodology to perform autonomous onboard navigation around small bodies. This paper presents an overview of these systems, as well as the results from Monte Carlo studies to quantify the achievable landing accuracies by using these methods. Sensitivity of the results to variations in spacecraft maneuver execution error, attitude control accuracy and unmodeled forces are examined. Cases for two bodies, a small asteroid and on a mid-size comet, are presented.

A wearable biofeedback control system based body area network for freestyle swimming.

PubMed

Rui Li; Zibo Cai; WeeSit Lee; Lai, Daniel T H

2016-08-01

Wearable posture measurement units are capable of enabling real-time performance evaluation and providing feedback to end users. This paper presents a wearable feedback prototype designed for freestyle swimming with focus on trunk rotation measurement. The system consists of a nine-degree-of-freedom inertial sensor, which is built in a central data collection and processing unit, and two vibration motors for delivering real-time feedback. Theses devices form a fundamental body area network (BAN). In the experiment setup, four recreational swimmers were asked to do two sets of 4 x 25m freestyle swimming without and with feedback provided respectively. Results showed that real-time biofeedback mechanism improves swimmers kinematic performance by an average of 4.5% reduction in session time. Swimmers can gradually adapt to feedback signals, and the biofeedback control system can be employed in swimmers daily training for fitness maintenance.

Cursor control by Kalman filter with a non-invasive body–machine interface

PubMed Central

Seáñez-González, Ismael; Mussa-Ivaldi, Ferdinando A

2015-01-01

Objective We describe a novel human–machine interface for the control of a two-dimensional (2D) computer cursor using four inertial measurement units (IMUs) placed on the user’s upper-body. Approach A calibration paradigm where human subjects follow a cursor with their body as if they were controlling it with their shoulders generates a map between shoulder motions and cursor kinematics. This map is used in a Kalman filter to estimate the desired cursor coordinates from upper-body motions. We compared cursor control performance in a centre-out reaching task performed by subjects using different amounts of information from the IMUs to control the 2D cursor. Main results Our results indicate that taking advantage of the redundancy of the signals from the IMUs improved overall performance. Our work also demonstrates the potential of non-invasive IMU-based body–machine interface systems as an alternative or complement to brain–machine interfaces for accomplishing cursor control in 2D space. Significance The present study may serve as a platform for people with high-tetraplegia to control assistive devices such as powered wheelchairs using a joystick. PMID:25242561

Geological investigation of the Socorro geothermal area. Final report

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

Chapin, C.E.; Sanford, A.R.; White, D.W.

1979-05-01

The results of a comprehensive geological and geochemical study of the Socorro geothermal area are presented. The following are discussed: geologic setting, structural controls, stratigraphic controls, an ancient geothermal system, modern magma bodies, geothermal potential of the Socorro area, and the Socorro transverse shear zone. (MHR)

Core body temperature control by total liquid ventilation using a virtual lung temperature sensor.

PubMed

Nadeau, Mathieu; Micheau, Philippe; Robert, Raymond; Avoine, Olivier; Tissier, Renaud; Germim, Pamela Samanta; Vandamme, Jonathan; Praud, Jean-Paul; Walti, Herve

2014-12-01

In total liquid ventilation (TLV), the lungs are filled with a breathable liquid perfluorocarbon (PFC) while a liquid ventilator ensures proper gas exchange by renewal of a tidal volume of oxygenated and temperature-controlled PFC. Given the rapid changes in core body temperature generated by TLV using the lung has a heat exchanger, it is crucial to have accurate and reliable core body temperature monitoring and control. This study presents the design of a virtual lung temperature sensor to control core temperature. In the first step, the virtual sensor, using expired PFC to estimate lung temperature noninvasively, was validated both in vitro and in vivo. The virtual lung temperature was then used to rapidly and automatically control core temperature. Experimentations were performed using the Inolivent-5.0 liquid ventilator with a feedback controller to modulate inspired PFC temperature thereby controlling lung temperature. The in vivo experimental protocol was conducted on seven newborn lambs instrumented with temperature sensors at the femoral artery, pulmonary artery, oesophagus, right ear drum, and rectum. After stabilization in conventional mechanical ventilation, TLV was initiated with fast hypothermia induction, followed by slow posthypothermic rewarming for 1 h, then by fast rewarming to normothermia and finally a second fast hypothermia induction phase. Results showed that the virtual lung temperature was able to provide an accurate estimation of systemic arterial temperature. Results also demonstrate that TLV can precisely control core body temperature and can be favorably compared to extracorporeal circulation in terms of speed.

Design and fabrication of a magnetic propulsion system for self-propelled capsule endoscope.

PubMed

Gao, Mingyuan; Hu, Chengzhi; Chen, Zhenzhi; Zhang, Honghai; Liu, Sheng

2010-12-01

This paper investigates design, modeling, simulation, and control issues related to self-propelled endoscopic capsule navigated inside the human body through external magnetic fields. A novel magnetic propulsion system is proposed and fabricated, which has great potential of being used in the field of noninvasive gastrointestinal endoscopy. Magnetic-analysis model is established and finite-element simulations as well as orthogonal design are performed for obtaining optimized mechanical and control parameters for generating appropriate external magnetic field. Simulated intestinal tract experiments are conducted, demonstrating controllable movement of the capsule under the developed magnetic propulsion system.

Effects of experimental leg length discrepancies on body posture and dental occlusion.

PubMed

Maeda, Nozomi; Sakaguchi, Kiwamu; Mehta, Noshir R; Abdallah, Emad F; Forgione, Albert G; Yokoyama, Atsuro

2011-07-01

The purpose of this study was to quantitatively evaluate the effects of experimental leg length discrepancies on body posture and dental occlusion. Thirty asymptomatic subjects (15 males and 15 females, ages 19-33, mean age 25.6 years) were included in this study and randomly assigned to one of two groups based on a table of random numbers. The only difference between group A and group B was the sequence of testing. Experimental leg length discrepancies were provided by using ten types of insoles with heights ranging from one to ten mm at one mm intervals, placed under both feet. The MatScan (Nitta Corp., Osaka, Japan) system was used to measure changes in body posture (center of foot pressure: COP) while subjects maintained the following three postural positions: 1. natural standing posture (control); 2. control with a heel lift under the right foot; or 3. control with a heel lift under the left foot. The T-Scan II system (Nitta Corp., Osaka, Japan) was used to analyze the results of changes in dental occlusion (center of occlusal force: COF) in the above-mentioned three postural positions. When subjects used a heel lift of six mm or more under the right foot, lateral weight distribution (LWD) shifted to the right side compared to the control (p<0.05). When a heel lift of four mm or more was used under the left foot, LWD shifted to the left side compared to the control (p<0.05). When subjects used a heel lift of eight mm or more under the right foot, occlusal force shifted to the right side compared to the control (p<0.05). When subjects used a heel lift of seven mm or more under the left foot, occlusal force shifted to the left side compared to the control (p<0.05). Based on these findings, it was concluded that leg length discrepancy affected body posture and dental occlusion.

[On-board medical support system (MSS) of flights of promising aerospace sets (design)].

PubMed

Ushakov, I B; Bednenko, V S

2010-01-01

It was suggested as the main compositive fractions MSS to consider the base system of automated evaluation of blood redistribution (BR) in body means of crew members protection and prophylaxis (CMPP) of unfavourable effects of flight factors to organism and also the automated circuit of CMPP' control. The advanced MSS includes 4 original measuring channels for registration of the base physiologic indices (electrocardiogram, venous-arterial pulsegram of neck vessels, reogram of head, earlap vessels pulsegram) the dynamic of which allows to determine with the help of computer the BR-integral parameter. The CMPP automated control circuit unites the separate protecting means in common system and executes the individual selection of regimes and CM PP-composition in accord with, first of all, body reactions manifestation and, secondly, individual physiologic status of spaceman. As CMPP was selected the negative pressure production around lower body part. Approlation of constructed active laboratory engineering mock-up MSS has performed investigations with participation of 29 subjects (Volunteers) under the modeling of hemodynamic shifts, developing in human body in short-term antiorthostatic hypokinesia (-10 degrees), as well as, in combined effect of antiorthostatic hypokinesia (-10 degrees), Coriolis acceleration and optokinetic stimulation. Results of investigations have showed, that the use of advanced MSS gives the indices of operator professional activity on the average of 17-32% under the decrease of hemodynamic stressful.

Dynamics of Multibody Systems Near Lagrangian Points

NASA Astrophysics Data System (ADS)

Wong, Brian

This thesis examines the dynamics of a physically connected multi-spacecraft system in the vicinity of the Lagrangian points of a Circular Restricted Three-Body System. The spacecraft system is arranged in a wheel-spoke configuration with smaller and less massive satellites connected to a central hub using truss/beams or tether connectors. The kinematics of the system is first defined, and the kinetic, gravitational potential energy and elastic potential energy of the system are derived. The Assumed Modes Method is used to discretize the continuous variables of the system, and a general set of ordinary differential equations describing the dynamics of the connectors and the central hub are obtained using the Lagrangian method. The flexible body dynamics of the tethered and truss connected systems are examined using numerical simulations. The results show that these systems experienced only small elastic deflections when they are naturally librating or rotating at moderate angular velocities, and these deflections have relatively small effect on the attitude dynamics of the systems. Based on these results, it is determined that the connectors can be modeled as rigid when only the attitude dynamics of the system is of interest. The equations of motion of rigid satellites stationed at the Lagrangian points are linearized, and the stability conditions of the satellite are obtained from the linear equations. The required conditions are shown to be similar to those of geocentric satellites. Study of the linear equations also revealed the resonant conditions of rigid Lagrangian point satellites, when a librational natural frequency of the satellite matches the frequency of its station-keeping orbit leading to large attitude motions. For tethered satellites, the linear analysis shows that the tethers are in stable equilibrium when they lie along a line joining the two primary celestial bodies of the Three-Body System. Numerical simulations are used to study the long term dynamics of two sample rigid bodies when they are in different periodic orbits around a collinear point, and the tether librations of a two-tether system in the same orbits. The results show that the rigid satellites and the tethered system experience greater attitude motions when they are in larger periodic orbits. The dynamics of variable length systems are also studied in order to determine the control cost associated with moving the end bodies in a gapless spiral to cover the area spanned by the system. The control cost is relatively low during tether deployment, and negligible effort is required to maintain the angular velocity of the tethered system after deployment. A set of recommendations for the applications of Lagrangian-point physically-connected systems are presented as well as some future research directions are suggested.

Size-density scaling in protists and the links between consumer-resource interaction parameters.

PubMed

DeLong, John P; Vasseur, David A

2012-11-01

Recent work indicates that the interaction between body-size-dependent demographic processes can generate macroecological patterns such as the scaling of population density with body size. In this study, we evaluate this possibility for grazing protists and also test whether demographic parameters in these models are correlated after controlling for body size. We compiled data on the body-size dependence of consumer-resource interactions and population density for heterotrophic protists grazing algae in laboratory studies. We then used nested dynamic models to predict both the height and slope of the scaling relationship between population density and body size for these protists. We also controlled for consumer size and assessed links between model parameters. Finally, we used the models and the parameter estimates to assess the individual- and population-level dependence of resource use on body-size and prey-size selection. The predicted size-density scaling for all models matched closely to the observed scaling, and the simplest model was sufficient to predict the pattern. Variation around the mean size-density scaling relationship may be generated by variation in prey productivity and area of capture, but residuals are relatively insensitive to variation in prey size selection. After controlling for body size, many consumer-resource interaction parameters were correlated, and a positive correlation between residual prey size selection and conversion efficiency neutralizes the apparent fitness advantage of taking large prey. Our results indicate that widespread community-level patterns can be explained with simple population models that apply consistently across a range of sizes. They also indicate that the parameter space governing the dynamics and the steady states in these systems is structured such that some parts of the parameter space are unlikely to represent real systems. Finally, predator-prey size ratios represent a kind of conundrum, because they are widely observed but apparently have little influence on population size and fitness, at least at this level of organization. © 2012 The Authors. Journal of Animal Ecology © 2012 British Ecological Society.

Inflight Treadmill Exercise Can Serve as Multi-Disciplinary Countermeasure System

NASA Technical Reports Server (NTRS)

Bloomberg, J. J.; Batson, C. D.; Buxton, R. E.; Feiveson, A. H.; Kofman, I. S.; Laurie, S.; Lee, S. M. C.; Miller, C. A.; Mulavara, A. P.; Peters, B. T.;

Sarcopenic Obesity, Functional Outcomes, and Systemic Inflammation in Patients With Chronic Obstructive Pulmonary Disease.

PubMed

Joppa, Pavol; Tkacova, Ruzena; Franssen, Frits M E; Hanson, Corrine; Rennard, Stephen I; Silverman, Edwin K; McDonald, Merry-Lynn N; Calverley, Peter M A; Tal-Singer, Ruth; Spruit, Martijn A; Kenn, Klaus; Wouters, Emiel F M; Rutten, Erica P A

2016-08-01

Both loss of muscle mass (ie, sarcopenia) and obesity adversely impact clinically important outcomes in patients with chronic obstructive pulmonary disease (COPD). Currently, there are only a few studies in patients with COPD with sarcopenia and concurrent obesity, termed sarcopenic obesity (SO). To explore the effects of SO on exercise capacity, health status, and systemic inflammation in COPD. Baseline data collected from a total of 2548 participants (2000 patients with COPD, mean age (SD), 63.5 (7.1) years; and 548 controls, 54.8 (9.0) years) from ECLIPSE (Evaluation of COPD Longitudinally to Identify Predictive Surrogate Endpoints) study, a multicenter longitudinal observational study, were used. All participants were divided into 4 body composition phenotypes using bioelectrical impedance analysis: (1) normal body composition, (2) obesity, (3) sarcopenia, and (4) SO. In patients with COPD, the 6-minute walking distance, disease-specific health status, and plasma inflammatory markers were compared among the respective body composition groups. Patients with COPD were 3 times more likely to present with SO compared with controls without COPD (odds ratio [OR] 3.3, 95% confidence interval [CI] 2.0-5.4, P < .001). In patients with COPD, SO was related to reduced 6-minute walking distance (-28.0 m, 95% CI -45.6 to -10.4), P < .01) and to higher systemic inflammatory burden (an elevation of at least 2 inflammatory markers, OR 1.6, 95% CI 1.1-2.5, P = .028) compared with the normal body composition group after adjustments for age, sex, smoking, body mass index, and airflow limitation. Our findings suggest that SO is associated with worse physical performance and higher systemic inflammatory burden compared with other body composition phenotypes in patients with COPD. ClinicalTrials.gov no. NCT00292552. Copyright © 2016 AMDA – The Society for Post-Acute and Long-Term Care Medicine. Published by Elsevier Inc. All rights reserved.

Leptin and the central nervous system control of glucose metabolism.

PubMed

Morton, Gregory J; Schwartz, Michael W

2011-04-01

The regulation of body fat stores and blood glucose levels is critical for survival. This review highlights growing evidence that leptin action in the central nervous system plays a key role in both processes. Investigation into underlying mechanisms has begun to clarify the physiological role of leptin in the control of glucose metabolism and raises interesting new possibilities for the treatment of diabetes and related disorders.

Analytical Solution for Low-Thrust Minimum Time Control of a Satellite Formation

DTIC Science & Technology

2004-09-01

The Classical Clohessy - Wiltshire Equations . . . . . . . . . A-1 A.1 Hill’s Rotating Coordinate Frame . . . . . . . . . . . . . . . A-1 A.2 Kinematics...9 A.1. The Clohessy and Wiltshire coordinate frame with x in the radial direction and y in the velocity direction. . . . . . . . . . . . . . . . A-1 B...coordinate system and approx- imations made by Clohessy and Wiltshire , combined with body-fixed thruster control, result in a linearized dynamic system. The

The Annular Suspension and Pointing System /ASPS/

NASA Technical Reports Server (NTRS)

Anderson, W. W.; Woolley, C. T.

1978-01-01

The Annular Suspension and Pointing System (ASPS) may be attached to a carrier vehicle for orientation, mechanical isolation, and fine pointing purposes applicable to space experiments. It has subassemblies for both coarse and vernier pointing. A fourteen-degree-of-freedom simulation of the ASPS mounted on a Space Shuttle has yielded initial performance data. The simulation describes: the magnetic actuators, payload sensors, coarse gimbal assemblies, control algorithms, rigid body dynamic models of the payload and Shuttle, and a control system firing model.

Specifications Physiological Monitoring System

NASA Technical Reports Server (NTRS)

1985-01-01

The operation of a physiological monitoring system (PMS) is described. Specifications were established for performance, design, interface, and test requirements. The PMS is a compact, microprocessor-based system, which can be worn in a pack on the body or may be mounted on a Spacelab rack or other appropriate structure. It consists of two modules, the Data Control Unit (DCU) and the Remote Control/Display Unit (RCDU). Its purpose is to collect and distribute data from physiological experiments in the Spacelab and in the Orbiter.

The CF6 Jet Engine Performance Improvement - Low Pressure Turbine Active Clearance Control

NASA Technical Reports Server (NTRS)

Beck, B. D.; Fasching, W. A.

1982-01-01

A low pressure turbine (LPT) active clearance control (ACC) cooling system was developed to reduce the fuel consumption of current CF6-50 turbofan engines for wide bodied commercial aircraft. The program performance improvement goal of 0.3% delta sfc was determined to be achievable with an improved impingement cooling system. The technology enables the design of an optimized manifold and piping system which is capable of a performance gain of 0.45% delta sfc.

Vestibular-somatosensory convergence in head movement control during locomotion after long-duration space flight.

PubMed

Mulavara, A P; Ruttley, T; Cohen, H S; Peters, B T; Miller, C; Brady, R; Merkle, L; Bloomberg, J J

2012-01-01

Space flight causes astronauts to be exposed to adaptation in both the vestibular and body load-sensing somatosensory systems. The goal of these studies was to examine the contributions of vestibular and body load-sensing somatosensory influences on vestibular mediated head movement control during locomotion after long-duration space flight. Subjects walked on a motor driven treadmill while performing a gaze stabilization task. Data were collected from three independent subject groups that included bilateral labyrinthine deficient (LD) patients, normal subjects before and after 30 minutes of 40% bodyweight unloaded treadmill walking, and astronauts before and after long-duration space flight. Motion data from the head and trunk segments were used to calculate the amplitude of angular head pitch and trunk vertical translation movement while subjects performed a gaze stabilization task, to estimate the contributions of vestibular reflexive mechanisms in head pitch movements. Exposure to unloaded locomotion caused a significant increase in head pitch movements in normal subjects, whereas the head pitch movements of LD patients were significantly decreased. This is the first evidence of adaptation of vestibular mediated head movement responses to unloaded treadmill walking. Astronaut subjects showed a heterogeneous response of both increases and decreases in the amplitude of head pitch movement. We infer that body load-sensing somatosensory input centrally modulates vestibular input and can adaptively modify vestibularly mediated head-movement control during locomotion. Thus, space flight may cause central adaptation of the converging vestibular and body load-sensing somatosensory systems leading to alterations in head movement control.

A voice coil actuator driven active vibration isolation system with the consideration of flexible modes.

PubMed

Park, Kyihwan; Choi, Dongyoub; Ozer, Abdullah; Kim, Sangyoo; Lee, Yongkwan; Joo, Dongik

2008-06-01

We develop a four-mount active vibration isolation system (AVIS) using voice coil actuators. The flexible body modes in the upper plate of the AVIS can cause an instability problem due to control signal whose frequency is close to the resonant frequency of the flexible modes. The loop shaping technique is applied to reduce the amplitude of the control signal. We investigate the performances of the active vibration isolation system proposed in the word in the time domain and frequency domain by comparing to the passive isolation system.

Observation of discrete time-crystalline order in a disordered dipolar many-body system

PubMed Central

Kucsko, Georg; Zhou, Hengyun; Isoya, Junichi; Jelezko, Fedor; Onoda, Shinobu; Sumiya, Hitoshi; Khemani, Vedika; von Keyserlingk, Curt; Yao, Norman Y.; Demler, Eugene; Lukin, Mikhail D.

2017-01-01

Understanding quantum dynamics away from equilibrium is an outstanding challenge in the modern physical sciences. It is well known that out-of-equilibrium systems can display a rich array of phenomena, ranging from self-organized synchronization to dynamical phase transitions1,2. More recently, advances in the controlled manipulation of isolated many-body systems have enabled detailed studies of non-equilibrium phases in strongly interacting quantum matter3–6. As a particularly striking example, the interplay of periodic driving, disorder, and strong interactions has recently been predicted to result in exotic “time-crystalline” phases7, which spontaneously break the discrete time-translation symmetry of the underlying drive8–11. Here, we report the experimental observation of such discrete time-crystalline order in a driven, disordered ensemble of ~ 106 dipolar spin impurities in diamond at room-temperature12–14. We observe long-lived temporal correlations at integer multiples of the fundamental driving period, experimentally identify the phase boundary and find that the temporal order is protected by strong interactions; this order is remarkably stable against perturbations, even in the presence of slow thermalization15,16. Our work opens the door to exploring dynamical phases of matter and controlling interacting, disordered many-body systems17–19. PMID:28277511

Mind magic: a pilot study of preventive mind-body-based stress reduction in behaviorally inhibited and activated children.

PubMed

Jellesma, Francine C; Cornelis, Janine

2012-03-01

The aim of this pilot study was to examine a mind-body-based preventive intervention program and to determine relationships between children's behavioral inhibition system (BIS) and behavioral activation system, stress, and stress reduction after the program. Children participated in the program (n=30) or in a control condition (n=24). They filled out questionnaires before and after the program and reported their levels of stress before and after each of the five sessions. The program consisted of weekly sessions. Each session incorporated yoga postures, visualization, and social exercises. Breathing techniques were integrated. Stress reductions were only seen in the intervention group and mainly in children with high BIS--irrespective of their behavioral activation system. The results demonstrate that children with high BIS may benefit from a mind-body-based stress reduction program.

Evaluation of a six-DOF electrodynamic shaker system.

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

Gregory, Danny Lynn; Smallwood, David Ora

2009-03-01

The paper describes the preliminary evaluation of a 6 degree of freedom electrodynamic shaker system. The 8 by 8 inch (20.3 cm) table is driven by 12 electrodynamic shakers producing motion in all 6 rigid body modes. A small electrodynamic shaker system suitable for small component testing is described. The principal purpose of the system is to demonstrate the technology. The shaker is driven by 12 electrodynamic shakers each with a force capability of about 50 lbs (220 N). The system was developed through an informal cooperative agreement between Sandia National Laboratories, Team Corp. and Spectral Dynamics Corporation. Sandia providedmore » the laboratory space and some development funds. Team provided the mechanical system, and Spectral Dynamics provided the control system. Spectral Dynamics was chosen to provide the control system partly because of their experience in MIMO control and partly because Sandia already had part of the system in house. The shaker system was conceived and manufactured by TEAM Corp. Figure 1 shows the overall system. The vibration table, electrodynamic shakers, hydraulic pumps, and amplifiers are all housed in a single cabinet. Figure 2 is a drawing showing how the electrodynamic shakers are coupled to the table. The shakers are coupled to the table through a hydraulic spherical pad bearing providing 5 degrees of freedom and one stiff degree of freedom. The pad bearing must be preloaded with a static force as they are unable to provide any tension forces. The horizontal bearings are preloaded with steel springs. The drawing shows a spring providing the vertical preload. This was changed in the final design. The vertical preload is provided by multiple strands of an O-ring material as shown in Figure 4. Four shakers provide excitation in each of the three orthogonal axes. The specifications of the shaker are outlined in Table 1. Four shakers provide inputs in each of the three orthogonal directions. By choosing the phase relationships between the shakers all six rigid body modes (three translation, and three rotations) can be excited. The system is over determined. There are more shakers than degrees of freedom. This provided an interesting control problem. The problem was approached using the input-output transformation matrices provided in the Spectral control system. Twelve accelerometers were selected for the control accelerometers (a tri-axial accelerometer at each corner of the table (see Figure 5). Figure 6 shows the nomenclature used to identify the shakers and control accelerometers. A fifth tri-axial accelerometer was placed at the center of the table, but it was not used for control. Thus we had 12 control accelerometers and 12 shakers to control a 6-dof shaker. The 12 control channels were reduced to a 6-dof control using a simple input transformation matrix. The control was defined by a 6x6 spectral density matrix. The six outputs in the control variable coordinates were transformed to twelve physical drive signals using another simple output transformation matrix. It was assumed that the accelerometers and shakers were well matched such that the transformation matrices were independent of frequency and could be deduced from rigid body considerations. The input/output transformations are shown in Equations 1 and 2.« less

Pheromone-sensing neurons regulate peripheral lipid metabolism in Caenorhabditis elegans

PubMed Central

Stieglitz, Jon; Locke, Tiffany T.; Zhang, Ying K.; Schroeder, Frank C.; Srinivasan, Supriya

2017-01-01

It is now established that the central nervous system plays an important role in regulating whole body metabolism and energy balance. However, the extent to which sensory systems relay environmental information to modulate metabolic events in peripheral tissues has remained poorly understood. In addition, it has been challenging to map the molecular mechanisms underlying discrete sensory modalities with respect to their role in lipid metabolism. In previous work our lab has identified instructive roles for serotonin signaling as a surrogate for food availability, as well as oxygen sensing, in the control of whole body metabolism. In this study, we now identify a role for a pair of pheromone-sensing neurons in regulating fat metabolism in C. elegans, which has emerged as a tractable and highly informative model to study the neurobiology of metabolism. A genetic screen revealed that GPA-3, a member of the Gα family of G proteins, regulates body fat content in the intestine, the major metabolic organ for C. elegans. Genetic and reconstitution studies revealed that the potent body fat phenotype of gpa-3 null mutants is controlled from a pair of neurons called ADL(L/R). We show that cAMP functions as the second messenger in the ADL neurons, and regulates body fat stores via the neurotransmitter acetylcholine, from downstream neurons. We find that the pheromone ascr#3, which is detected by the ADL neurons, regulates body fat stores in a GPA-3-dependent manner. We define here a third sensory modality, pheromone sensing, as a major regulator of body fat metabolism. The pheromone ascr#3 is an indicator of population density, thus we hypothesize that pheromone sensing provides a salient 'denominator' to evaluate the amount of food available within a population and to accordingly adjust metabolic rate and body fat levels. PMID:28545126

Pheromone-sensing neurons regulate peripheral lipid metabolism in Caenorhabditis elegans.

PubMed

Hussey, Rosalind; Stieglitz, Jon; Mesgarzadeh, Jaleh; Locke, Tiffany T; Zhang, Ying K; Schroeder, Frank C; Srinivasan, Supriya

2017-05-01

It is now established that the central nervous system plays an important role in regulating whole body metabolism and energy balance. However, the extent to which sensory systems relay environmental information to modulate metabolic events in peripheral tissues has remained poorly understood. In addition, it has been challenging to map the molecular mechanisms underlying discrete sensory modalities with respect to their role in lipid metabolism. In previous work our lab has identified instructive roles for serotonin signaling as a surrogate for food availability, as well as oxygen sensing, in the control of whole body metabolism. In this study, we now identify a role for a pair of pheromone-sensing neurons in regulating fat metabolism in C. elegans, which has emerged as a tractable and highly informative model to study the neurobiology of metabolism. A genetic screen revealed that GPA-3, a member of the Gα family of G proteins, regulates body fat content in the intestine, the major metabolic organ for C. elegans. Genetic and reconstitution studies revealed that the potent body fat phenotype of gpa-3 null mutants is controlled from a pair of neurons called ADL(L/R). We show that cAMP functions as the second messenger in the ADL neurons, and regulates body fat stores via the neurotransmitter acetylcholine, from downstream neurons. We find that the pheromone ascr#3, which is detected by the ADL neurons, regulates body fat stores in a GPA-3-dependent manner. We define here a third sensory modality, pheromone sensing, as a major regulator of body fat metabolism. The pheromone ascr#3 is an indicator of population density, thus we hypothesize that pheromone sensing provides a salient 'denominator' to evaluate the amount of food available within a population and to accordingly adjust metabolic rate and body fat levels.

[Review of nutritional conditions of horses and cattle as a tool in veterinary services animal welfare procedures].

PubMed

Coenen, M

1998-03-01

The control of husbandry by veterinarians with the prospect of animal welfare demands a valuation of the nutritional status of farm animals. The situation of main importance is a suspected undernutrition. A prolonged failure in nutrient and energy supply results in mobilisation of body fat as well as body protein. Especially the protein depletion includes a loss of capacity of several essential functions, e.g. of the immune system or the respiratory tract. Undernutrition is often classified as stress, but the typical parameters for stress related reactions offer no sufficient information to evaluate a case of undernutrition. A useful tool to justify the nutritional status of an animal is the amount of body fat by sonographic measurements. Processes related to reproduction are rather sensible to a reduction of body fat; although they are less expensive by energy point of view compared to exercise or milk production. Measuring body fat offers the opportunity to describe the degree of undernutrition and to appreciate, if a malnourished animal is damaged accordingly the definitions of animal welfare. However, the equipment and the experience to use sonographic methods is often not available for veterinarians, who are responsible in official control of husbandry. But the visual and manual procedures to proof defined areas, mainly related to back fat thickness, well known as the body condition scoring, alternatively can be used. The body condition score systems, as defined for cows, sheep and horses, are proofed by different experiments with regard to accuracy and reproducibility. They completely cover the demand in precision to evaluate body fat and in consequence the nutritional status of an animal.

Modelling and model predictive control for a bicycle-rider system

NASA Astrophysics Data System (ADS)

Chu, T. D.; Chen, C. K.

2018-01-01

This study proposes a bicycle-rider control model based on model predictive control (MPC). First, a bicycle-rider model with leaning motion of the rider's upper body is developed. The initial simulation data of the bicycle rider are then used to identify the linear model of the system in state-space form for MPC design. Control characteristics of the proposed controller are assessed by simulating the roll-angle tracking control. In this riding task, the MPC uses steering and leaning torques as the control inputs to control the bicycle along a reference roll angle. The simulation results in different cases have demonstrated the applicability and performance of the MPC for bicycle-rider modelling.

Numerical simulation of active track tensioning system for autonomous hybrid vehicle

NASA Astrophysics Data System (ADS)

Mȩżyk, Arkadiusz; Czapla, Tomasz; Klein, Wojciech; Mura, Gabriel

2017-05-01

One of the most important components of a high speed tracked vehicle is an efficient suspension system. The vehicle should be able to operate both in rough terrain for performance of engineering tasks as well as on the road with high speed. This is especially important for an autonomous platform that operates either with or without human supervision, so that the vibration level can rise compared to a manned vehicle. In this case critical electronic and electric parts must be protected to ensure the reliability of the vehicle. The paper presents a dynamic parameters determination methodology of suspension system for an autonomous high speed tracked platform with total weight of about 5 tonnes and hybrid propulsion system. Common among tracked vehicles suspension solutions and cost-efficient, the torsion-bar system was chosen. One of the most important issues was determining optimal track tensioning - in this case an active hydraulic system was applied. The selection of system parameters was performed with using numerical model based on multi-body dynamic approach. The results of numerical analysis were used to define parameters of active tensioning control system setup. LMS Virtual.Lab Motion was used for multi-body dynamics numerical calculation and Matlab/SIMULINK for control system simulation.

Control design challenges of large space systems and spacecraft control laboratory experiment (SCOLE)

NASA Technical Reports Server (NTRS)

Lin, Jiguan Gene

1987-01-01

The quick suppression of the structural vibrations excited by bang-bang (BB) type time-optional slew maneuvers via modal-dashpot design of velocity output feedback control was investigated. Simulation studies were conducted, and modal dashpots were designed for the SCOLE flexible body dynamics. A two-stage approach was proposed for rapid slewing and precision pointing/retargeting of large, flexible space systems: (1) slew the whole system like a rigid body in a minimum time under specified limits on the control moments and forces, and (2) damp out the excited structural vibrations afterwards. This approach was found promising. High-power modal/dashpots can suppress very large vibrations, and can add a desirable amount of active damping to modeled modes. Unmodeled modes can also receive some concomitant active damping, as a benefit of spillover. Results also show that not all BB type rapid pointing maneuvers will excite large structural vibrations. When properly selected small forces (e.g., vernier thrusters) are used to complete the specified slew maneuver in the shortest time, even BB-type maneuvers will excite only small vibrations (e.g., 0.3 ft peak deflection for a 130 ft beam).

A general-purpose framework to simulate musculoskeletal system of human body: using a motion tracking approach.

PubMed

Ehsani, Hossein; Rostami, Mostafa; Gudarzi, Mohammad

2016-02-01

Computation of muscle force patterns that produce specified movements of muscle-actuated dynamic models is an important and challenging problem. This problem is an undetermined one, and then a proper optimization is required to calculate muscle forces. The purpose of this paper is to develop a general model for calculating all muscle activation and force patterns in an arbitrary human body movement. For this aim, the equations of a multibody system forward dynamics, which is considered for skeletal system of the human body model, is derived using Lagrange-Euler formulation. Next, muscle contraction dynamics is added to this model and forward dynamics of an arbitrary musculoskeletal system is obtained. For optimization purpose, the obtained model is used in computed muscle control algorithm, and a closed-loop system for tracking desired motions is derived. Finally, a popular sport exercise, biceps curl, is simulated by using this algorithm and the validity of the obtained results is evaluated via EMG signals.

A Novel Model to Simulate Flexural Complements in Compliant Sensor Systems

PubMed Central

Tang, Hongyan; Zhang, Dan; Guo, Sheng; Qu, Haibo

2018-01-01

The main challenge in analyzing compliant sensor systems is how to calculate the large deformation of flexural complements. Our study proposes a new model that is called the spline pseudo-rigid-body model (spline PRBM). It combines dynamic spline and the pseudo-rigid-body model (PRBM) to simulate the flexural complements. The axial deformations of flexural complements are modeled by using dynamic spline. This makes it possible to consider the nonlinear compliance of the system using four control points. Three rigid rods connected by two revolute (R) pins with two torsion springs replace the three lines connecting the four control points. The kinematic behavior of the system is described using Lagrange equations. Both the optimization and the numerical fitting methods are used for resolving the characteristic parameters of the new model. An example is given of a compliant mechanism to modify the accuracy of the model. The spline PRBM is important in expanding the applications of the PRBM to the design and simulation of flexural force sensors. PMID:29596377

Compact Video Microscope Imaging System Implemented in Colloid Studies

NASA Technical Reports Server (NTRS)

McDowell, Mark

2002-01-01

Long description Photographs showing fiber-optic light source, microscope and charge-coupled discharge (CCD) camera head connected to camera body, CCD camera body feeding data to image acquisition board in PC, and Cartesian robot controlled via PC board. The Compact Microscope Imaging System (CMIS) is a diagnostic tool with intelligent controls for use in space, industrial, medical, and security applications. CMIS can be used in situ with a minimum amount of user intervention. This system can scan, find areas of interest in, focus on, and acquire images automatically. Many multiple-cell experiments require microscopy for in situ observations; this is feasible only with compact microscope systems. CMIS is a miniature machine vision system that combines intelligent image processing with remote control. The software also has a user-friendly interface, which can be used independently of the hardware for further post-experiment analysis. CMIS has been successfully developed in the SML Laboratory at the NASA Glenn Research Center and adapted for use for colloid studies and is available for telescience experiments. The main innovations this year are an improved interface, optimized algorithms, and the ability to control conventional full-sized microscopes in addition to compact microscopes. The CMIS software-hardware interface is being integrated into our SML Analysis package, which will be a robust general-purpose image-processing package that can handle over 100 space and industrial applications.

A NASTRAN/TREETOPS solution to a flexible, multi-body dynamics and controls problem on a UNIX workstation

NASA Technical Reports Server (NTRS)

Benavente, Javier E.; Luce, Norris R.

1989-01-01

Demands for nonlinear time history simulations of large, flexible multibody dynamic systems has created a need for efficient interfaces between finite-element modeling programs and time-history simulations. One such interface, TREEFLX, an interface between NASTRAN and TREETOPS, a nonlinear dynamics and controls time history simulation for multibody structures, is presented and demonstrated via example using the proposed Space Station Mobile Remote Manipulator System (MRMS). The ability to run all three programs (NASTRAN, TREEFLX and TREETOPS), in addition to other programs used for controller design and model reduction (such as DMATLAB and TREESEL, both described), under a UNIX Workstation environment demonstrates the flexibility engineers now have in designing, developing and testing control systems for dynamically complex systems.

Use of active control technology to improve ride qualities of large transport aircraft

NASA Technical Reports Server (NTRS)

Cohen, G. C.; Cotter, C. J.; Taylor, D. L.

1976-01-01

Analyses, construction and flight testing of two systems: Beta-vane and Modal Suppression Augmentation System (MSAS), which were developed to suppress gust induced lateral accelerations of large aircraft, are described. The 747 transport was used as the test vehicle. The purpose of the Beta-vane system is to reduce acceleration levels at the dutch roll frequency whereas the function of the MSAS system is to reduce accelerations due to flexible body motions caused by turbulence. Data from flight test, with both systems engaged shows a 50 to 70 percent reduction in lateral aft body acceleration levels. Furthermore, it is suggested that present day techniques used for developing dynamic equations of motion in the flexible mode region are limited.

Airborne Simulation of Launch Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Gilligan, Eric T.; Miller, Christopher J.; Hanson, Curtis E.; Orr, Jeb S.

2014-01-01

In this paper we present a technique for approximating the short-period dynamics of an exploration-class launch vehicle during flight test with a high-performance surrogate aircraft in relatively benign endoatmospheric flight conditions. The surrogate vehicle relies upon a nonlinear dynamic inversion scheme with proportional-integral feedback to drive a subset of the aircraft states into coincidence with the states of a time-varying reference model that simulates the unstable rigid body dynamics, servodynamics, and parasitic elastic and sloshing dynamics of the launch vehicle. The surrogate aircraft flies a constant pitch rate trajectory to approximate the boost phase gravity-turn ascent, and the aircraft's closed-loop bandwidth is sufficient to simulate the launch vehicle's fundamental lateral bending and sloshing modes by exciting the rigid body dynamics of the aircraft. A novel control allocation scheme is employed to utilize the aircraft's relatively fast control effectors in inducing various failure modes for the purposes of evaluating control system performance. Sufficient dynamic similarity is achieved such that the control system under evaluation is optimized for the full-scale vehicle with no changes to its parameters, and pilot-control system interaction studies can be performed to characterize the effects of guidance takeover during boost. High-fidelity simulation and flight test results are presented that demonstrate the efficacy of the design in simulating the Space Launch System (SLS) launch vehicle dynamics using NASA Dryden Flight Research Center's Full-scale Advanced Systems Testbed (FAST), a modified F/A-18 airplane, over a range of scenarios designed to stress the SLS's adaptive augmenting control (AAC) algorithm.

Eigenspace techniques for active flutter suppression

NASA Technical Reports Server (NTRS)

Garrard, W. L.

1982-01-01

Mathematical models to be used in the control system design were developed. A computer program, which takes aerodynamic and structural data for the ARW-2 aircraft and converts these data into state space models suitable for use in modern control synthesis procedures, was developed. Reduced order models of inboard and outboard control surface actuator dynamics and a second order vertical wind gust model were developed. An analysis of the rigid body motion of the ARW-2 was conducted. The deletion of the aerodynamic lag states in the rigid body modes resulted in more accurate values for the eigenvalues associated with the plunge and pitch modes than were obtainable if the lag states were retained.

Development of Methodologies for IV and V of Neural Networks

NASA Technical Reports Server (NTRS)

Taylor, Brian; Darrah, Marjorie

2003-01-01

Non-deterministic systems often rely upon neural network (NN) technology to "lean" to manage flight systems under controlled conditions using carefully chosen training sets. How can these adaptive systems be certified to ensure that they will become increasingly efficient and behave appropriately in real-time situations? The bulk of Independent Verification and Validation (IV&V) research of non-deterministic software control systems such as Adaptive Flight Controllers (AFC's) addresses NNs in well-behaved and constrained environments such as simulations and strict process control. However, neither substantive research, nor effective IV&V techniques have been found to address AFC's learning in real-time and adapting to live flight conditions. Adaptive flight control systems offer good extensibility into commercial aviation as well as military aviation and transportation. Consequently, this area of IV&V represents an area of growing interest and urgency. ISR proposes to further the current body of knowledge to meet two objectives: Research the current IV&V methods and assess where these methods may be applied toward a methodology for the V&V of Neural Network; and identify effective methods for IV&V of NNs that learn in real-time, including developing a prototype test bed for IV&V of AFC's. Currently. no practical method exists. lSR will meet these objectives through the tasks identified and described below. First, ISR will conduct a literature review of current IV&V technology. TO do this, ISR will collect the existing body of research on IV&V of non-deterministic systems and neural network. ISR will also develop the framework for disseminating this information through specialized training. This effort will focus on developing NASA's capability to conduct IV&V of neural network systems and to provide training to meet the increasing need for IV&V expertise in such systems.

Relative tracking control of constellation satellites considering inter-satellite link

NASA Astrophysics Data System (ADS)

Fakoor, M.; Amozegary, F.; Bakhtiari, M.; Daneshjou, K.

2017-11-01

In this article, two main issues related to the large-scale relative motion of satellites in the constellation are investigated to establish the Inter Satellite Link (ISL) which means the dynamic and control problems. In the section related to dynamic problems, a detailed and effective analytical solution is initially provided for the problem of satellite relative motion considering perturbations. The direct geometric method utilizing spherical coordinates is employed to achieve this solution. The evaluation of simulation shows that the solution obtained from the geometric method calculates the relative motion of the satellite with high accuracy. Thus, the proposed analytical solution will be applicable and effective. In the section related to control problems, the relative tracking control system between two satellites will be designed in order to establish a communication link between the satellites utilizing analytical solution for relative motion of satellites with respect to the reference trajectory. Sliding mode control approach is employed to develop the relative tracking control system for body to body and payload to payload tracking control. Efficiency of sliding mode control approach is compared with PID and LQR controllers. Two types of payload to payload tracking control considering with and without payload degree of freedom are designed and suitable one for practical ISL applications is introduced. Also, Fuzzy controller is utilized to eliminate the control input in the sliding mode controller.

76 FR 34706 - Privacy Act of 1974; System of Records

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-14

... chemical agents or other workplace hazards that may damage the human body in any way. Some examples are: (1... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention [Docket Number... Human Services (HHS), Centers for Disease Control and Prevention (CDC), National Institute for...

Systems design and analysis of the microwave radiometer spacecraft

NASA Technical Reports Server (NTRS)

Garrett, L. B.

1981-01-01

Systems design and analysis data were generated for microwave radiometer spacecraft concept using the Large Advanced Space Systems (LASS) computer aided design and analysis program. Parametric analyses were conducted for perturbations off the nominal-orbital-altitude/antenna-reflector-size and for control/propulsion system options. Optimized spacecraft mass, structural element design, and on-orbit loading data are presented. Propulsion and rigid-body control systems sensitivities to current and advanced technology are established. Spacecraft-induced and environmental effects on antenna performance (surface accuracy, defocus, and boresight off-set) are quantified and structured material frequencies and modal shapes are defined.

Implementation of Push Recovery Strategy Using Triple Linear Inverted Pendulum Model in “T-FloW” Humanoid Robot

NASA Astrophysics Data System (ADS)

Dimas Pristovani, R.; Raden Sanggar, D.; Dadet, Pramadihanto.

2018-04-01

Push recovery is one of humanbehaviorwhich is a strategy to defend the body from anexternal force in any environment. This paper describes push recovery strategy which usesMIMO decoupled control system method. The dynamics system uses aquasi-dynamic system based on triple linear inverted pendulum model (TLIPM). The analysis of TLIPMuses zero moment point (ZMP) calculation from ZMP simplification in last research. By using this simplification of dynamics system, the control design can be simplified into 3 serial SISOwith known and uncertain disturbance models in each inverted pendulum. Each pendulum has different plan to damp the external force effect. In this experiment, PID controller (closed- loop)is used to arrange the damp characteristic.The experiment result shows thatwhen using push recovery control strategy (closed-loop control) is about 85.71% whilewithout using push recovery control strategy (open-loop control) it is about 28.57%.

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

NASA Technical Reports Server (NTRS)

Gettman, Chang-Ching L.; Adams, Neil; Bedrossian, Nazareth; Valavani, Lena

1993-01-01

This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.

Perspective of the human body in sasang constitutional medicine.

PubMed

Lee, Junhee; Jung, Yongjae; Yoo, Junghee; Lee, Euiju; Koh, Byunghee

2009-09-01

The Sasang constitutional medicine (SCM), a medical tradition originating from Korea, is distinguished from the traditional Chinese medicine in its philosophical background, theoretical development and especially, the fundamental rationale that analyzes the structure and function of the human body within a quadrifocal scheme. In SCM, the structure of the body is comprehended within the Sasang quadrifocal scheme, and the function of the body is understood within the context of the energy-fluid metabolism and the water-food metabolism controlled by the four main organs (lung, spleen, liver and kidney). Also, the concept of Seong-Jeong is used to explain the structural and functional variations between different constitutional types that arise from the constitutional variations in organ system scheme, which are in turn caused by deviations in the constitutional Seong-Jeong. Therefore, understanding the SCM perspective of the human body is essential in order to fully appreciate the advantages of the constitutional typological system (which focuses on individual idiosyncrasies) found in SCM.

Perspective of the Human Body in Sasang Constitutional Medicine

PubMed Central

Lee, Junhee; Jung, Yongjae; Yoo, Junghee; Lee, Euiju

2009-01-01

The Sasang constitutional medicine (SCM), a medical tradition originating from Korea, is distinguished from the traditional Chinese medicine in its philosophical background, theoretical development and especially, the fundamental rationale that analyzes the structure and function of the human body within a quadrifocal scheme. In SCM, the structure of the body is comprehended within the Sasang quadrifocal scheme, and the function of the body is understood within the context of the energy–fluid metabolism and the water–food metabolism controlled by the four main organs (lung, spleen, liver and kidney). Also, the concept of Seong–Jeong is used to explain the structural and functional variations between different constitutional types that arise from the constitutional variations in organ system scheme, which are in turn caused by deviations in the constitutional Seong–Jeong. Therefore, understanding the SCM perspective of the human body is essential in order to fully appreciate the advantages of the constitutional typological system (which focuses on individual idiosyncrasies) found in SCM. PMID:19745009

Handling qualities of a wide-body transport airplane utilizing Pitch Active Control Systems (PACS) for relaxed static stability application

NASA Technical Reports Server (NTRS)

Grantham, William D.; Person, Lee H., Jr.; Brown, Philip W.; Becker, Lawrence E.; Hunt, George E.; Rising, J. J.; Davis, W. J.; Willey, C. S.; Weaver, W. A.; Cokeley, R.

1985-01-01

Piloted simulation studies have been conducted to evaluate the effectiveness of two pitch active control systems (PACS) on the flying qualities of a wide-body transport airplane when operating at negative static margins. These two pitch active control systems consisted of a simple 'near-term' PACS and a more complex 'advanced' PACS. Eight different flight conditions, representing the entire flight envelope, were evaluated with emphasis on the cruise flight conditions. These studies were made utilizing the Langley Visual/Motion Simulator (VMS) which has six degrees of freedom. The simulation tests indicated that (1) the flying qualities of the baseline aircraft (PACS off) for the cruise and other high-speed flight conditions were unacceptable at center-of-gravity positions aft of the neutral static stability point; (2) within the linear static stability flight envelope, the near-term PACS provided acceptable flying qualities for static stabilty margins to -3 percent; and (3) with the advanced PACS operative, the flying qualities were demonstrated to be good (satisfactory to very acceptable) for static stabilty margins to -20 percent.

Fossils, molecules and embryos: new perspectives on the Cambrian explosion

NASA Technical Reports Server (NTRS)

Valentine, J. W.; Jablonski, D.; Erwin, D. H.

1999-01-01

The Cambrian explosion is named for the geologically sudden appearance of numerous metazoan body plans (many of living phyla) between about 530 and 520 million years ago, only 1.7% of the duration of the fossil record of animals. Earlier indications of metazoans are found in the Neoproterozic; minute trails suggesting bilaterian activity date from about 600 million years ago. Larger and more elaborate fossil burrows appear near 543 million years ago, the beginning of the Cambrian Period. Evidence of metazoan activity in both trace and body fossils then increased during the 13 million years leading to the explosion. All living phyla may have originated by the end of the explosion. Molecular divergences among lineages leading to phyla record speciation events that have been earlier than the origins of the new body plans, which can arise many tens of millions of years after an initial branching. Various attempts to date those branchings by using molecular clocks have disagreed widely. While the timing of the evolution of the developmental systems of living metazoan body plans is still uncertain, the distribution of Hox and other developmental control genes among metazoans indicates that an extensive patterning system was in place prior to the Cambrian. However, it is likely that much genomic repatterning occurred during the Early Cambrian, involving both key control genes and regulators within their downstream cascades, as novel body plans evolved.

Multi-Body Analysis of the 1/5 Scale Wind Tunnel Model of the V-22 Tiltrotor

NASA Technical Reports Server (NTRS)

Ghiringhelli, G. L.; Masarati, P.; Mantegazza, P.; Nixon, M. W.

1999-01-01

The paper presents a multi-body analysis of the 1/5 scale wind tunnel model of the V-22 tiltrotor, the Wing and Rotor Aeroelastic Testing System (WRATS), currently tested at NASA Langley Research Center. An original multi-body formulation has been developed at the Dipartimento di Ingegneria Aerospaziale of the Politecnico di Milano, Italy. It is based on the direct writing of the equilibrium equations of independent rigid bodies, connected by kinematic constraints that result in the addition of algebraic constraint equations, and by dynamic constraints, that directly contribute to the equilibrium equations. The formulation has been extended to the simultaneous solution of interdisciplinary problems by modeling electric and hydraulic networks, for aeroservoelastic problems. The code has been tailored to the modeling of rotorcrafts while preserving a complete generality. A family of aerodynamic elements has been introduced to model high aspect aerodynamic surfaces, based on the strip theory, with quasi-steady aerodynamic coefficients, compressibility, post-stall interpolation of experimental data, dynamic stall modeling, and radial flow drag. Different models for the induced velocity of the rotor can be used, from uniform velocity to dynamic in flow. A complete dynamic and aeroelastic analysis of the model of the V-22 tiltrotor has been performed, to assess the validity of the formulation and to exploit the unique features of multi-body analysis with respect to conventional comprehensive rotorcraft codes; These are the ability to model the exact kinematics of mechanical systems, and the possibility to simulate unusual maneuvers and unusual flight conditions, that are particular to the tiltrotor, e.g. the conversion maneuver. A complete modal validation of the analytical model has been performed, to assess the ability to reproduce the correct dynamics of the system with a relatively coarse beam model of the semispan wing, pylon and rotor. Particular care has been used to model the kinematics of the gimbal joint, that characterizes the rotor hub, and of the control system, consisting in the entire swashplate mechanism. The kinematics of the fixed and the rotating plates have been modeled, with variable length control links used to input the controls, the rotating flexible links, the pitch horns and the pitch bearings. The investigations took advantage of concurring wind tunnel test runs, that were performed in August 1998, and allowed the acquisition of data specific to the multi-body analysis.

The effects of mind-body training on stress reduction, positive affect, and plasma catecholamines.

PubMed

Jung, Ye-Ha; Kang, Do-Hyung; Jang, Joon Hwan; Park, Hye Yoon; Byun, Min Soo; Kwon, Soo Jin; Jang, Go-Eun; Lee, Ul Soon; An, Seung Chan; Kwon, Jun Soo

2010-07-26

This study was designed to assess the association between stress, positive affect and catecholamine levels in meditation and control groups. The meditation group consisted of 67 subjects who regularly engaged in mind-body training of "Brain-Wave Vibration" and the control group consisted of 57 healthy subjects. Plasma catecholamine (norepinephrine (NE), epinephrine (E), and dopamine (DA)) levels were measured, and a modified form of the Stress Response Inventory (SRI-MF) and the Positive Affect and Negative Affect Scale (PANAS) were administered. The meditation group showed higher scores on positive affect (p=.019) and lower scores on stress (p<.001) compared with the control group. Plasma DA levels were also higher in the meditation (p=.031) than in the control group. The control group demonstrated a negative correlation between stress and positive affects (r=-.408, p=.002), whereas this correlation was not observed in the meditation group. The control group showed positive correlations between somatization and NE/E (r=.267, p=.045) and DA/E (r=.271, p=.042) ratios, whereas these correlations did not emerge in the meditation group. In conclusion, these results suggest that meditation as mind-body training is associated with lower stress, higher positive affect and higher plasma DA levels when comparing the meditation group with the control group. Thus, mind-body training may influence stress, positive affect and the sympathetic nervous system including DA activity. Copyright 2010 Elsevier Ireland Ltd. All rights reserved.

A satellite digital controller or 'play that PID tune again, Sam'. [Position, Integral, Derivative feedback control algorithm for design strategy

NASA Technical Reports Server (NTRS)

Seltzer, S. M.

1976-01-01

The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.

Overweight and obesity prevalence among Cree youth of Eeyou Istchee according to three body mass index classification systems.

PubMed

St-Jean, Audray; Meziou, Salma; Ayotte, Pierre; Lucas, Michel

2017-11-22

Little is known about the suitability of three commonly used body mass index (BMI) classification systems for Indigenous youth. We estimated overweight and obesity prevalence among Cree youth of Eeyou Istchee according to three BMI classification systems, assessed the level of agreement between them, and evaluated their accuracy through body fat and cardiometabolic risk factors. Data on 288 youth (aged 8-17 years) were collected. Overweight and obesity prevalence were estimated with Centers for Disease Control and Prevention (CDC), International Obesity Task Force (IOTF) and World Health Organization (WHO) criteria. Agreement was measured with weighted kappa (κw). Associations with body fat and cardiometabolic risk factors were evaluated by analysis of variance. Obesity prevalence was 42.7% with IOTF, 47.2% with CDC, and 49.3% with WHO criteria. Agreement was almost perfect between IOTF and CDC (κw = 0.93), IOTF and WHO (κw = 0.91), and WHO and CDC (κw = 0.94). Means of body fat and cardiometabolic risk factors were significantly higher (P trend  < 0.001) from normal weight to obesity, regardless of the system used. Youth considered overweight by IOTF but obese by CDC or WHO exhibited less severe clinical obesity. IOTF seems to be more accurate in identifying obesity in Cree youth.

Using Tri-Axial Accelerometers to Assess the Dynamic Control of Head Posture During Gait

NASA Technical Reports Server (NTRS)

Lawrence, John H., III

2003-01-01

Long duration spaceflight is known to cause a variety of biomedical stressors to the astronaut. One of the more functionally destabilizing effects of spaceflight involves microgravity-induced changes in vestibular or balance control. Balance control requires the integration of the vestibular, visual, and proprioceptive systems. In the microgravity environment, the normal gravity vector present on Earth no longer serves as a reference for the balance control system. Therefore, adaptive changes occur to the vestibular system to affect control of body orientation with altered, or non-present, gravity and/or proprioceptive inputs. Upon return to a gravity environment, the vestibular system must re-incorporate the gravity vector and gravity-induced proprioceptive inputs into the balance control regime. The result is often a period of postural instability, which may also be associated with space motion sickness (oscillopsia, nausea, and vertigo). Previous studies by the JSC Neuroscience group have found that returning astronauts often employ alterations in gait mechanics to maintain postural control during gait. It is believed that these gait alterations are meant to decrease the transfer of heel strike shock energy to the head, thus limiting the contradictory head and eye movements that lead to gait instability and motion sickness symptoms. We analyzed pre- and post-spaceflight tri-axial accelerometer data from the NASA/MIR long duration spaceflight missions to assess the heel to head transfer of heel strike shock energy during locomotion. Up to seven gait sessions (three preflight, four postflight) of head and shank (lower leg) accelerometer data was previously collected from six astronauts who engaged in space flights of four to six months duration. In our analysis, the heel to head transmission of shock energy was compared using peak vertical acceleration (a), peak jerk (j) ratio, and relative kinetic energy (a). A host of generalized movement variables was produced in an effort to isolate those that best highlighted vestibular adaptation due to spaceflight. Data suggest that astronauts used either head or body centered control to reduce the effects of heel strike shock on head position during normal walking at self-selected speeds. Moreover, the form of that control appears to fall under one of two categories: homeostatic or adaptive. Homeostatic control refers to tight constraint (small error) over the value of a given variable before and after spaceflight with little or no adaptive changes. Adaptive control refers to lesser constraint over a given movement variable with clear adaptation to earth gravity upon return from spaceflight. Heel strike shock absorption (ratio of heel to head peak acceleration) best-discriminated head and body centered control strategies. Further, peak jerk data was useful for illustrating pre- and postflight differences in segmental (shank versus head) movement energy. Results from kinetic energy analysis show high consistency between subjects and across test dates. Whether this result highlights a control strategy or is an artifact of approximating body segments using anthropometric tables is, at this point, unclear.

[The study of DSX-I type microcomputer autometic control injector system].

PubMed

Shi, M; Wu, G; Bai, G; Xue, J; Zhang, Y

1997-01-01

This paper studies the propulsive force of injector system controlled by 8031 single-chip microcomputer for Medical use By using one 8031 single-chip microcomputer as a microprocessor, the minimal autometic control system is constructed, which turns real-time control into reality. This product is a modern appliance used in diagnostic imaging medicine, in design of which the advanced instrument and electrical machinery are integrated into a unified structure. The clinic data demonstrate that the contrast medium can be injected to patients with rapidly and evenly. Dynamic CT Scanning can be intensified at any site of the body. x-ray dose exposed and lobour intensity to the operator can be decreased greatly, raise working efficiency.

Embodiment and Performance

ERIC Educational Resources Information Center

Bessell, Jacquelyn; Riddell, Patricia

2016-01-01

Evidence suggests that some cognitive processes are based on sensorimotor systems in the brain (embodied cognition). The premise of this is that "Biological brains are first and foremost the control systems for biological bodies". It has therefore been suggested that both online cognition (processing as we move through the world) and…

A Study of a Lifting Body as a Space Station Crew Exigency Return Vehicle (CERV)

NASA Technical Reports Server (NTRS)

MacConochie, Ian O.

2000-01-01

A lifting body is described for use as a return vehicle for crews from a space station. Reentry trajectories, subsystem weights and performance, and costs are included. The baseline vehicle is sized for a crew of eight. An alternate configuration is shown in which only four crew are carried with the extra volume reserved for logistics cargo. A water parachute recovery system is shown as an emergency alternative to a runway landing. Primary reaction control thrusters from the Shuttle program are used for orbital maneuvering while the Shuttle verniers are used for all attitude control maneuvers.

A Concept for Optimizing Behavioural Effectiveness & Efficiency

NASA Astrophysics Data System (ADS)

Barca, Jan Carlo; Rumantir, Grace; Li, Raymond

Both humans and machines exhibit strengths and weaknesses that can be enhanced by merging the two entities. This research aims to provide a broader understanding of how closer interactions between these two entities can facilitate more optimal goal-directed performance through the use of artificial extensions of the human body. Such extensions may assist us in adapting to and manipulating our environments in a more effective way than any system known today. To demonstrate this concept, we have developed a simulation where a semi interactive virtual spider can be navigated through an environment consisting of several obstacles and a virtual predator capable of killing the spider. The virtual spider can be navigated through the use of three different control systems that can be used to assist in optimising overall goal directed performance. The first two control systems use, an onscreen button interface and a touch sensor, respectively to facilitate human navigation of the spider. The third control system is an autonomous navigation system through the use of machine intelligence embedded in the spider. This system enables the spider to navigate and react to changes in its local environment. The results of this study indicate that machines should be allowed to override human control in order to maximise the benefits of collaboration between man and machine. This research further indicates that the development of strong machine intelligence, sensor systems that engage all human senses, extra sensory input systems, physical remote manipulators, multiple intelligent extensions of the human body, as well as a tighter symbiosis between man and machine, can support an upgrade of the human form.

A high-fidelity airbus benchmark for system fault detection and isolation and flight control law clearance

NASA Astrophysics Data System (ADS)

Goupil, Ph.; Puyou, G.

2013-12-01

This paper presents a high-fidelity generic twin engine civil aircraft model developed by Airbus for advanced flight control system research. The main features of this benchmark are described to make the reader aware of the model complexity and representativeness. It is a complete representation including the nonlinear rigid-body aircraft model with a full set of control surfaces, actuator models, sensor models, flight control laws (FCL), and pilot inputs. Two applications of this benchmark in the framework of European projects are presented: FCL clearance using optimization and advanced fault detection and diagnosis (FDD).

Full Envelope Reconfigurable Control Design for the X-33 Vehicle

NASA Technical Reports Server (NTRS)

Cotting, M. Christopher; Burken, John J.; Lee, Seung-Hee (Technical Monitor)

2001-01-01

In the event of a control surface failure, the purpose of a reconfigurable control system is to redistribute the control effort among the remaining working surfaces such that satisfactory stability and performance are retained. An Off-line Nonlinear General Constrained Optimization (ONCO) approach was used for the reconfigurable X-33 control design method. Three example failures are shown using a high fidelity 6 DOF simulation (case I ascent with a left body flap jammed at 25 deg.; case 2 entry with a right inboard elevon jam at 25 deg.; and case 3, landing (TAEM) with a left rudder jam at -30 deg.) Failure comparisons between responses with the nominal controller and reconfigurable controllers show the benefits of reconfiguration. Single jam aerosurface failures were considered, and failure detection and identification is considered accomplished in the actuator controller. The X-33 flight control system will incorporate reconfigurable flight control in the baseline system.

Directions for rf-controlled intelligent microvalve

NASA Astrophysics Data System (ADS)

Enderling, Stefan; Varadan, Vijay K.; Abbott, Derek

2001-03-01

In this paper, we consider the novel concept of a Radio Frequency (RF) controllable microvalve for different medical applications. Wireless communication via a Surface Acoustic Wave Identification-mark (SAW ID-tag) is used to control, drive and locate the microvalve inside the human body. The energy required for these functions is provided by RF pulses, which are transmitted to the valve and back by a reader/transmitter system outside of the body. These RF bursts are converted into Surface Acoustic Waves (SAWs), which propagate along the piezoelectric actuator material of the microvalve. These waves cause deflections, which are employed to open and close the microvalve. We identified five important areas of application of the microvalve in biomedicine: 1) fertility control; 2) artificial venous valves; 3) flow cytometry; 4) drug delivery and 5) DNA mapping.

The detrimental effect of friction on space microgravity robotics

NASA Technical Reports Server (NTRS)

Newman, Wyatt S.; Glosser, Gregory D.; Miller, Jeffrey H.; Rohn, Douglas

1992-01-01

The authors present an analysis of why control systems are ineffective in compensating for acceleration disturbances due to Coulomb friction. Linear arguments indicate that the effects of Coulomb friction on a body are most difficult to reject when the control actuator is separated from the body of compliance. The linear arguments were illustrated in a nonlinear simulation of optimal linear tracking control in the presence of nonlinear friction. The results of endpoint acceleration measurements for four robot designs are presented and are compared with simulation and to equivalent measurements on a human. It is concluded that Coulomb friction in common bearings and transmission induces unacceptable levels of endpoint acceleration, that these accelerations cannot be adequately attenuated by control, and that robots for microgravity work will require special design considerations for inherently low friction.

Exogenous melatonin administration modifies cutaneous vasoconstrictor response to whole body skin cooling in humans.

PubMed

Aoki, Ken; Zhao, Kun; Yamazaki, Fumio; Sone, Ryoko; Alvarez, Guy E; Kosiba, Wojciech A; Johnson, John M

2008-03-01

Humans and other diurnal species experience a fall in internal temperature (T(int)) at night, accompanied by increased melatonin and altered thermoregulatory control of skin blood flow (SkBF). Also, exogenous melatonin induces a fall in T(int), an increase in distal skin temperatures and altered control of the cutaneous active vasodilator system, suggesting an effect of melatonin on the control of SkBF. To test whether exogenous melatonin also affects the more tonically active vasoconstrictor system in glabrous and nonglabrous skin during cooling, healthy males (n = 9) underwent afternoon sessions of whole body skin temperature (T(sk)) cooling (water-perfused suits) after oral melatonin (Mel; 3 mg) or placebo (Cont). Cutaneous vascular conductance (CVC) was calculated from SkBF (laser Doppler flowmetry) and non-invasive blood pressure. Baseline T(int) was lower in Mel than in Cont (P < 0.01). During progressive reduction of T(sk) from 35 degrees C to 32 degrees C, forearm CVC was first significantly reduced at T(sk) of 34.33 +/- 0.01 degrees C (P < 0.05) in Cont. In contrast, CVC in Mel was not significantly reduced until T(sk) reached 33.33 +/- 0.01 degrees C (P < 0.01). The decrease in forearm CVC in Mel was significantly less than in Cont at T(sk) of 32.66 +/- 0.01 degrees C and lower (P < 0.05). In Mel, palmar CVC was significantly higher than in Cont above T(sk) of 33.33 +/- 0.01 degrees C, but not below. Thus exogenous melatonin blunts reflex vasoconstriction in nonglabrous skin and shifts vasoconstrictor system control to lower T(int). It provokes vasodilation in glabrous skin but does not suppress the sensitivity to falling T(sk). These findings suggest that by affecting the vasoconstrictor system, melatonin has a causal role in the nocturnal changes in body temperature and its control.

Full-Body Gaze Control Mechanisms Elicited During Locomotion: Effects Of VOR Adaptation

NASA Technical Reports Server (NTRS)

Mulavara, A. P.; Houser, J.; Peters, B.; Miller, C.; Richards, J.; Marshburn, A.; Brady, R.; Cohen, H.; Bloomberg, J. J.

2004-01-01

Control of locomotion requires precise interaction between several sensorimotor subsystems. During locomotion the performer must satisfy two performance criteria: maintain stable forward translation and to stabilize gaze (McDonald, et al., 1997). Precise coordination demands integration of multiple sensorimotor subsystems for fulfilling both criteria. In order to test the general hypothesis that the whole body can serve as an integrated gaze stabilization system, we have previously investigated how the multiple, interdependent full-body sensorimotor subsystems respond to changes in gaze stabilization task constraints during locomotion (Mulavara and Bloomberg, 2003). The results suggest that the full body contributes to gaze stabilization during locomotion, and that its different functional elements respond to changes in visual task constraints. The goal of this study was to determine how the multiple, interdependent, full-body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated after the vestibulo-ocular reflex (VOR) gain has been altered. We investigated the potential of adaptive remodeling of the full-body gaze control system following exposure to visual-vestibular conflict known to adaptively reduce the VOR. Subjects (n=14) walked (6.4 km/h) on the treadmill before and after they were exposed to 0.5X manifying lenses worn for 30 minutes during self-generated sinusoidal vertical head rotations performed while seated. In this study we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. Results indicate that, following exposure to the 0.5X minifying lenses, there was a significant increase in the duration of stance and stride times, alteration in the amplitude of head movement with respect to space and a significant increase in the amount of knee flexion during the initial stance phase of the gait cycle. This study provides further evidence that the full body contributes to gaze stabilization during locomotion, and that different functional elements are responsive to changes in visual task constraints and are subject to adaptive alteration following exposure to visual-vestibular conflict.

Nonlinear Attitude Control of Planar Structures in Space Using Only Internal Controls

NASA Technical Reports Server (NTRS)

Reyhanoglu, Mahmut; Mcclamroch, N. Harris

1993-01-01

An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero. The control strategy utilizes the nonintegrability of the expression for the angular momentum. Large angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is summarized.

Landing System Development- Design and Test Prediction of a Lander Leg Using Nonlinear Analysis

NASA Astrophysics Data System (ADS)

Destefanis, Stefano; Buchwald, Robert; Pellegrino, Pasquale; Schroder, Silvio

2014-06-01

Several mission studies have been performed focusing on a soft and precision landing using landing legs. Examples for such missions are Mars Sample Return scenarios (MSR), Lunar landing scenarios (MoonNEXT, Lunar Lander) and small body sample return studies (Marco Polo, MMSR, Phootprint). Such missions foresee a soft landing on the planet surface for delivering payload in a controlled manner and limiting the landing loads.To ensure a successful final landing phase, a landing system is needed, capable of absorbing the residual velocities (vertical, horizontal and angular) at touch- down, and insuring a controlled attitude after landing. Such requirements can be fulfilled by using landing legs with adequate damping.The Landing System Development (LSD) study, currently in its phase 2, foresees the design, analysis, verification, manufacturing and testing of a representative landing leg breadboard based on the Phase B design of the ESA Lunar Lander. Drop tests of a single leg will be performed both on rigid and soft ground, at several impact angles. The activity is covered under ESA contract with TAS-I as Prime Contractor, responsible for analysis and verification, Astrium GmbH for design and test and QinetiQ Space for manufacturing. Drop tests will be performed at the Institute of Space Systems of the German Aerospace Center (DLR-RY) in Bremen.This paper presents an overview of the analytical simulations (test predictions and design verification) performed, comparing the results produced by Astrium made multi body model (rigid bodies, nonlinearities accounted for in mechanical joints and force definitions, based on development tests) and TAS-I made nonlinear explicit model (fully deformable bodies).

Kinetic analysis of superparamagnetic iron oxide nanoparticles in the liver of body-temperature-controlled mice using dynamic susceptibility contrast magnetic resonance imaging and an empirical mathematical model.

PubMed

Murase, Kenya; Assanai, Purapan; Takata, Hiroshige; Matsumoto, Nozomi; Saito, Shigeyoshi; Nishiura, Motoko

2015-06-01

The purpose of this study was to develop a method for analyzing the kinetic behavior of superparamagnetic iron oxide nanoparticles (SPIONs) in the murine liver under control of body temperature using dynamic susceptibility contrast magnetic resonance imaging (DSC-MRI) and an empirical mathematical model (EMM). First, we investigated the influence of body temperature on the kinetic behavior of SPIONs in the liver by controlling body temperature using our temperature-control system. Second, we investigated the kinetic behavior of SPIONs in the liver when mice were injected with various doses of GdCl3, while keeping the body temperature at 36°C. Finally, we investigated it when mice were injected with various doses of zymosan, while keeping the body temperature at 36°C. We also investigated the effect of these substances on the number of Kupffer cells by immunohistochemical analysis using the specific surface antigen of Kupffer cells (CD68). To quantify the kinetic behavior of SPIONs in the liver, we calculated the upper limit of the relative enhancement (A), the rates of early contrast uptake (α) and washout or late contrast uptake (β), the parameter related to the slope of early uptake (q), the area under the curve (AUC), the maximum change of transverse relaxation rate (ΔR2) (ΔR2(max)), the time to ΔR2(max) (Tmax), and ΔR2 at the last time point (ΔR2(last)) from the time courses of ΔR2 using the EMM. The β and Tmax values significantly decreased and increased, respectively, with decreasing body temperature, suggesting that the phagocytic activity of Kupffer cells is significantly affected by body temperature. The AUC, ΔR2(max), and ΔR2(last) values decreased significantly with increasing dose of GdCl3, which was consistent with the change in the number of CD68-positive cells. They increased with increasing dose of zymosan, which was also consistent with the change in the number of CD68-positive cells. These results suggest that AUC, ΔR2(max), and ΔR2(last) reflect the number of Kupffer cells. In conclusion, we presented a method for analyzing the kinetic behavior of SPIONs in the liver using DSC-MRI and EMM, and investigated the influence of body temperature, GdCl3, and zymosan using body-temperature-controlled mice. The present study suggests that control of body temperature is essential for investigating the kinetic behavior of SPIONs in the liver and that our method will be applicable and useful for quantifying the responses of Kupffer cells to various drugs under control of body temperature. Copyright © 2015 Elsevier Inc. All rights reserved.

Humanoid Flight Metabolic Simulator Project

NASA Technical Reports Server (NTRS)

Ross, Stuart

2015-01-01

NASA's Evolvable Mars Campaign (EMC) has identified several areas of technology that will require significant improvements in terms of performance, capacity, and efficiency, in order to make a manned mission to Mars possible. These include crew vehicle Environmental Control and Life Support System (ECLSS), EVA suit Portable Life Support System (PLSS) and Information Systems, autonomous environmental monitoring, radiation exposure monitoring and protection, and vehicle thermal control systems (TCS). (MADMACS) in a Suit can be configured to simulate human metabolism, consuming crew resources (oxygen) in the process. In addition to providing support for testing Life Support on unmanned flights, MADMACS will also support testing of suit thermal controls, and monitor radiation exposure, body zone temperatures, moisture, and loads.

Delay effects in the human sensory system during balancing.

PubMed

Stepan, Gabor

2009-03-28

Mechanical models of human self-balancing often use the Newtonian equations of inverted pendula. While these mathematical models are precise enough on the mechanical side, the ways humans balance themselves are still quite unexplored on the control side. Time delays in the sensory and motoric neural pathways give essential limitations to the stabilization of the human body as a multiple inverted pendulum. The sensory systems supporting each other provide the necessary signals for these control tasks; but the more complicated the system is, the larger delay is introduced. Human ageing as well as our actual physical and mental state affects the time delays in the neural system, and the mechanical structure of the human body also changes in a large range during our lives. The human balancing organ, the labyrinth, and the vision system essentially adapted to these relatively large time delays and parameter regions occurring during balancing. The analytical study of the simplified large-scale time-delayed models of balancing provides a Newtonian insight into the functioning of these organs that may also serve as a basis to support theories and hypotheses on balancing and vision.

Aeromechanical stability of helicopters with a bearingless main rotor. Part 1: Equations of motion

NASA Technical Reports Server (NTRS)

Hodges, D. H.

1978-01-01

Equations of motion for a coupled rotor-body system were derived for the purpose of studying air and ground resonance characteristics of helicopters that have bearingless main rotors. For the fuselage, only four rigid body degrees of freedom are considered; longitudinal and lateral translations, pitch, and roll. The rotor is assumed to consist of three or more rigid blades. Each blade is joined to the hub by means of a flexible beam segment (flexbeam or strap). Pitch change is accomplished by twisting the flexbeam with the pitch-control system, the characteristics of which are variable. Thus, the analysis is capable of implicitly treating aeroelastic couplings generated by the flexbeam elastic deflections, the pitch-control system, and the angular offsets of the blade and flexbeam. The linearized equations are written in the nonrotating system retaining only the cyclic rotor modes; thus, they comprise a system of homogeneous ordinary differential equations with constant coefficients. All contributions to the linearized perturbation equations from inertia, gravity, quasi-steady aerodynamics, and the flexbeam equilibrium deflections are retained exactly.

21 CFR 874.1800 - Air or water caloric stimulator.

Code of Federal Regulations, 2010 CFR

2010-04-01

... vestibular function testing of a patient's body balance system. The vestibular stimulation of the...) Classification. Class I (general controls). The device is exempt from the premarket notification procedures in...

49 CFR 525.7 - Basis for petition.

Code of Federal Regulations, 2012 CFR

2012-10-01

... to be manufactured in that affected model year; (1) Maximum overall body width, overall length, and... applicable; (6) Drive train configuration and total drive ratio; (7) Emission control system; (8) Dynamometer...

49 CFR 525.7 - Basis for petition.

Code of Federal Regulations, 2011 CFR

2011-10-01

... to be manufactured in that affected model year; (1) Maximum overall body width, overall length, and... applicable; (6) Drive train configuration and total drive ratio; (7) Emission control system; (8) Dynamometer...

49 CFR 525.7 - Basis for petition.

Code of Federal Regulations, 2013 CFR

2013-10-01

... to be manufactured in that affected model year; (1) Maximum overall body width, overall length, and... applicable; (6) Drive train configuration and total drive ratio; (7) Emission control system; (8) Dynamometer...

Brain signature and functional impact of centralized pain: a multidisciplinary approach to the study of chronic pelvic pain (MAPP) network study.

PubMed

Kutch, Jason J; Ichesco, Eric; Hampson, Johnson P; Labus, Jennifer S; Farmer, Melissa A; Martucci, Katherine T; Ness, Timothy J; Deutsch, Georg; Apkarian, A Vania; Mackey, Sean C; Klumpp, David J; Schaeffer, Anthony J; Rodriguez, Larissa V; Kreder, Karl J; Buchwald, Dedra; Andriole, Gerald L; Lai, H Henry; Mullins, Chris; Kusek, John W; Landis, J Richard; Mayer, Emeran A; Clemens, J Quentin; Clauw, Daniel J; Harris, Richard E

2017-10-01

Chronic pain is often measured with a severity score that overlooks its spatial distribution across the body. This widespread pain is believed to be a marker of centralization, a central nervous system process that decouples pain perception from nociceptive input. Here, we investigated whether centralization is manifested at the level of the brain using data from 1079 participants in the Multidisciplinary Approach to the Study of Chronic Pelvic Pain Research Network (MAPP) study. Participants with a clinical diagnosis of urological chronic pelvic pain syndrome (UCPPS) were compared to pain-free controls and patients with fibromyalgia, the prototypical centralized pain disorder. Participants completed questionnaires capturing pain severity, function, and a body map of pain. A subset (UCPPS N = 110; fibromyalgia N = 23; healthy control N = 49) underwent functional and structural magnetic resonance imaging. Patients with UCPPS reported pain ranging from localized (pelvic) to widespread (throughout the body). Patients with widespread UCPPS displayed increased brain gray matter volume and functional connectivity involving sensorimotor and insular cortices (P < 0.05 corrected). These changes translated across disease diagnoses as identical outcomes were present in patients with fibromyalgia but not pain-free controls. Widespread pain was also associated with reduced physical and mental function independent of pain severity. Brain pathology in patients with centralized pain is related to pain distribution throughout the body. These patients may benefit from interventions targeting the central nervous system.

Mobile Cubesat Command and Control (Mc3) 3-Meter Dish Calibration and Capabilities

DTIC Science & Technology

2014-06-01

accuracy of this simple calibration is tested by tracking the sun, an easily accessible celestial body. To track the sun, a Systems Tool Kit ( STK ... visually verified. The shadow created by the dish system when it is pointed directly at the sun is symmetrical. If the dish system is not pointed

Dimensional reduction in sensorimotor systems: A framework for understanding muscle coordination of posture

PubMed Central

Ting, Lena H.

2014-01-01

The simple act of standing up is an important and essential motor behavior that most humans and animals achieve with ease. Yet, maintaining standing balance involves complex sensorimotor transformations that must continually integrate a large array of sensory inputs and coordinate multiple motor outputs to muscles throughout the body. Multiple, redundant local sensory signals are integrated to form an estimate of a few global, task-level variables important to postural control, such as body center of mass position and body orientation with respect to Earth-vertical. Evidence suggests that a limited set of muscle synergies, reflecting preferential sets of muscle activation patterns, are used to move task variables such as center of mass position in a predictable direction following a postural perturbations. We propose a hierarchal feedback control system that allows the nervous system the simplicity of performing goal-directed computations in task-variable space, while maintaining the robustness afforded by redundant sensory and motor systems. We predict that modulation of postural actions occurs in task-variable space, and in the associated transformations between the low-dimensional task-space and high-dimensional sensor and muscle spaces. Development of neuromechanical models that reflect these neural transformations between low and high-dimensional representations will reveal the organizational principles and constraints underlying sensorimotor transformations for balance control, and perhaps motor tasks in general. This framework and accompanying computational models could be used to formulate specific hypotheses about how specific sensory inputs and motor outputs are generated and altered following neural injury, sensory loss, or rehabilitation. PMID:17925254

Practical homeostasis lighting control system using sensor agent robots for office space

NASA Astrophysics Data System (ADS)

Tokiwa, Momoko; Mita, Akira

2014-03-01

The comfortable space can be changed by season, age, physical condition and the like. However, the current systems are not able to resolve them absolutely. This research proposes the Homeostasis lighting control system based on the mechanism of biotic homeostasis for making the algorithms of apparatus control. Homeostasis are kept by the interaction of the three systems, endocrine system, immune system, and nervous system[1]. By the gradual reaction in the endocrine system, body's protective response in the immune system, and the electrical reaction in the nerve system, we can keep the environments against variable changes. The new lighting control system utilizes this mechanism. Firstly, we focused on legibility and comfort in the office space to construct the control model learning from the endocrine and immune systems. The mechanism of the endocrine system is used for ambient lights in the space is used considering circadian rhythm for comfort. For the legibility, the immune system is used to control considering devices near the human depending on the distance between the human. Simulations and the demonstration were conducted to show the feasibility. Finally, the nerve system was intruded to enhance the system.

Ground test experiment for large space structures

NASA Technical Reports Server (NTRS)

Tollison, D. K.; Waites, H. B.

1985-01-01

In recent years a new body of control theory has been developed for the design of control systems for Large Space Structures (LSS). The problems of testing this theory on LSS hardware are aggravated by the expense and risk of actual in orbit tests. Ground tests on large space structures can provide a proving ground for candidate control systems, but such tests require a unique facility for their execution. The current development of such a facility at the NASA Marshall Space Flight Center (MSFC) is the subject of this report.

Sensor-Motor Maps for Describing Linear Reflex Composition in Hopping.

PubMed

Schumacher, Christian; Seyfarth, André

2017-01-01

In human and animal motor control several sensory organs contribute to a network of sensory pathways modulating the motion depending on the task and the phase of execution to generate daily motor tasks such as locomotion. To better understand the individual and joint contribution of reflex pathways in locomotor tasks, we developed a neuromuscular model that describes hopping movements. In this model, we consider the influence of proprioceptive length (LFB), velocity (VFB) and force feedback (FFB) pathways of a leg extensor muscle on hopping stability, performance and efficiency (metabolic effort). Therefore, we explore the space describing the blending of the monosynaptic reflex pathway gains. We call this reflex parameter space a sensor-motor map . The sensor-motor maps are used to visualize the functional contribution of sensory pathways in multisensory integration. We further evaluate the robustness of these sensor-motor maps to changes in tendon elasticity, body mass, segment length and ground compliance. The model predicted that different reflex pathway compositions selectively optimize specific hopping characteristics (e.g., performance and efficiency). Both FFB and LFB were pathways that enable hopping. FFB resulted in the largest hopping heights, LFB enhanced hopping efficiency and VFB had the ability to disable hopping. For the tested case, the topology of the sensor-motor maps as well as the location of functionally optimal compositions were invariant to changes in system designs (tendon elasticity, body mass, segment length) or environmental parameters (ground compliance). Our results indicate that different feedback pathway compositions may serve different functional roles. The topology of the sensor-motor map was predicted to be robust against changes in the mechanical system design indicating that the reflex system can use different morphological designs, which does not apply for most robotic systems (for which the control often follows a specific design). Consequently, variations in body mechanics are permitted with consistent compositions of sensory feedback pathways. Given the variability in human body morphology, such variations are highly relevant for human motor control.

The effect of peripheral chronic salsolinol administration on fat pad adipocytes morphological parameters.

PubMed

Aleksandrovych, Veronika; Kurnik, Magdalena; Białas, Magdalena; Bugajski, Andrzej; Thor, Piotr; Gil, Krzysztof

Salsolinol (1-methyl-6,7-dihydroxy-1,2,3,4-tetrahydroisoquinoline) is thought to regulate dopaminergic neurons and to act as a mediator in the neuroendocrine system. We have previously reported that exogenous salsolinol evokes enteric neuronal cell death, leading to the impairment of myenteric neurons density and abnormal intestinal transit in rats. We also observed significant reduction of body weight, related to the disrupted gastrointestinal homeostasis. e aim of current study was to evaluate the influence of prolonged salsolinol administration body weight, food intake, adipose tissue accumulation and fad pad adipocyte morphological parameters assessed by image analysis. Male Wistar rats were subjected to continuous intraperitoneal low dosing of salsolinol - 200 mg/kg in total with ALZET osmotic mini-pumps (Durtec, USA) for 2 or 4 weeks with either normal or high-fat diet. Appropriate groups served as the controls. Food intake, body weight were measured each morning. Both epididymal fat pads were dissected, weighted and processed for routine hematoxylin and eosin staining. e following parameters: cell area, perimeter, long and short axis, aspect ratio and circularity factor were assessed in stained specimens with the image analysis system (Multiscan, Poland). Salsolinol administration significantly reduced total body mass with no differences in total food intake between the groups. The epididymal fat pad weight over final body mass ratio was lower in salsolinol treated rats on high fat diet in comparison with the control groups. e area, perimeter, short and long axis of the fad pad adipocytes were significantly decreased in salsolinol treated animals in comparison with relevant controls. Salsolinol targets some regulatory mechanisms concerned with the basic rat metabolism. Prolonged peripheral salsolinol administration in rats significantly decreases the adipocyte size, and such effect is related to the weight loss and reduced adipose tissue accumulation.

Relationship between alertness, performance, and body temperature in humans.

PubMed

Wright, Kenneth P; Hull, Joseph T; Czeisler, Charles A

2002-12-01

Body temperature has been reported to influence human performance. Performance is reported to be better when body temperature is high/near its circadian peak and worse when body temperature is low/near its circadian minimum. We assessed whether this relationship between performance and body temperature reflects the regulation of both the internal biological timekeeping system and/or the influence of body temperature on performance independent of circadian phase. Fourteen subjects participated in a forced desynchrony protocol allowing assessment of the relationship between body temperature and performance while controlling for circadian phase and hours awake. Most neurobehavioral measures varied as a function of internal biological time and duration of wakefulness. A number of performance measures were better when body temperature was elevated, including working memory, subjective alertness, visual attention, and the slowest 10% of reaction times. These findings demonstrate that an increased body temperature, associated with and independent of internal biological time, is correlated with improved performance and alertness. These results support the hypothesis that body temperature modulates neurobehavioral function in humans.

Relationship between alertness, performance, and body temperature in humans

NASA Technical Reports Server (NTRS)

Wright, Kenneth P Jr; Hull, Joseph T.; Czeisler, Charles A.

2002-01-01

Body temperature has been reported to influence human performance. Performance is reported to be better when body temperature is high/near its circadian peak and worse when body temperature is low/near its circadian minimum. We assessed whether this relationship between performance and body temperature reflects the regulation of both the internal biological timekeeping system and/or the influence of body temperature on performance independent of circadian phase. Fourteen subjects participated in a forced desynchrony protocol allowing assessment of the relationship between body temperature and performance while controlling for circadian phase and hours awake. Most neurobehavioral measures varied as a function of internal biological time and duration of wakefulness. A number of performance measures were better when body temperature was elevated, including working memory, subjective alertness, visual attention, and the slowest 10% of reaction times. These findings demonstrate that an increased body temperature, associated with and independent of internal biological time, is correlated with improved performance and alertness. These results support the hypothesis that body temperature modulates neurobehavioral function in humans.

Real-time "x-ray vision" for healthcare simulation: an interactive projective overlay system to enhance intubation training and other procedural training.

PubMed

Samosky, Joseph T; Baillargeon, Emma; Bregman, Russell; Brown, Andrew; Chaya, Amy; Enders, Leah; Nelson, Douglas A; Robinson, Evan; Sukits, Alison L; Weaver, Robert A

2011-01-01

We have developed a prototype of a real-time, interactive projective overlay (IPO) system that creates augmented reality display of a medical procedure directly on the surface of a full-body mannequin human simulator. These images approximate the appearance of both anatomic structures and instrument activity occurring within the body. The key innovation of the current work is sensing the position and motion of an actual device (such as an endotracheal tube) inserted into the mannequin and using the sensed position to control projected video images portraying the internal appearance of the same devices and relevant anatomic structures. The images are projected in correct registration onto the surface of the simulated body. As an initial practical prototype to test this technique we have developed a system permitting real-time visualization of the intra-airway position of an endotracheal tube during simulated intubation training.

18-Degree-of-Freedom Controller Design for the ST7 Disturbance Reduction System

NASA Technical Reports Server (NTRS)

Markley, F. L.; Maghami, P. G.; Houghton, M. B.; Hsu, O. C.

2003-01-01

This paper presents the overall design and analysis process of the spacecraft controller being developed at NASA's Goddard Space Flight Center to close the loop between the GRS and the micro-newton colloidal thrusters. The essential dynamics of the ST7-DRS are captured in a simulation including eighteen rigid-body dynamic degrees of freedom: three translations and three rotations for the spacecraft and for each test mass. The ST7 DRS comprises three control systems: the attitude control system (ACS) to maintain a sun-pointing attitude; the drag free control (DFC) to center the spacecraft about the test masses; and the test mass suspension control. This paper summarizes the control design and analysis of the ST7-DRS 18-DOF model, and is an extension of previous analyses employing a 7-DOF planar model of ST-7.

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cotting, M. Christopher; Cox, Timothy H.

2005-01-01

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

Physiological and engineering study of advanced thermoregulatory systems for extravehicular space suits

NASA Technical Reports Server (NTRS)

Chato, J. C.; Hertig, B. A.

1972-01-01

Investigations of thermal control for extravehicular space suits are reported. The characteristics of independent cooling of temperature and removal of excess heat from separate regions of the body, and the applications of heat pipes in protective suits are discussed along with modeling of the human thermal system.

Clinical benefits of new immobilization system for hypofractionated radiotherapy of intrahepatic hepatocellular carcinoma by helical tomotherapy

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

Hu, Yong; Zhou, Yong-Kang; Chen, Yi-Xing

Objective: A comprehensive clinical evaluation was conducted, assessing the Body Pro-Lok immobilization and positioning system to facilitate hypofractionated radiotherapy of intrahepatic hepatocellular carcinoma (HCC), using helical tomotherapy to improve treatment precision. Methods: Clinical applications of the Body Pro-Lok system were investigated (as above) in terms of interfractional and intrafractional setup errors and compressive abdominal breath control. To assess interfractional setup errors, a total of 42 patients who were given 5 to 20 fractions of helical tomotherapy for intrahepatic HCC were analyzed. Overall, 15 patients were immobilized using simple vacuum cushion (group A), and the Body Pro-Lok system was used inmore » 27 patients (group B), performing megavoltage computed tomography (MVCT) scans 196 times and 435 times, respectively. Pretreatment MVCT scans were registered to the planning kilovoltage computed tomography (KVCT) for error determination, and group comparisons were made. To establish intrafractional setup errors, 17 patients with intrahepatic HCC were selected at random for immobilization by Body Pro-Lok system, undergoing MVCT scans after helical tomotherapy every week. A total of 46 MVCT re-scans were analyzed for this purpose. In researching breath control, 12 patients, randomly selected, were immobilized by Body Pro-Lok system and subjected to 2-phase 4-dimensional CT (4DCT) scans, with compressive abdominal control or in freely breathing states, respectively. Respiratory-induced liver motion was then compared. Results: Mean interfractional setup errors were as follows: (1) group A: X, 2.97 ± 2.47 mm; Y, 4.85 ± 4.04 mm; and Z, 3.77 ± 3.21 mm; pitch, 0.66 ± 0.62°; roll, 1.09 ± 1.06°; and yaw, 0.85 ± 0.82°; and (2) group B: X, 2.23 ± 1.79 mm; Y, 4.10 ± 3.36 mm; and Z, 1.67 ± 1.91 mm; pitch, 0.45 ± 0.38°; roll, 0.77 ± 0.63°; and yaw, 0.52 ± 0.49°. Between-group differences were statistically significant in 6 directions (p < 0.05). Mean intrafractional setup errors with use of the Body Pro-Lok system were as follows: X, 0.41 ± 0.46 mm; Y, 0.86 ± 0.80 mm; Z, 0.33 ± 0.44 mm; and roll, 0.12 ± 0.19°. Mean liver-induced respiratory motion determinations were as follows: (1) abdominal compression: X, 2.33 ± 1.22 mm; Y, 5.11 ± 2.05 mm; Z, 2.13 ± 1.05 mm; and 3D vector, 6.22 ± 1.94 mm; and (2) free breathing: X, 3.48 ± 1.14 mm; Y, 9.83 ± 3.00 mm; Z, 3.38 ± 1.59 mm; and 3D vector, 11.07 ± 3.16 mm. Between-group differences were statistically different in 4 directions (p < 0.05). Conclusions: The Body Pro-Lok system is capable of improving interfractional and intrafractional setup accuracy and minimizing tumor movement owing to respirations in patients with intrahepatic HCC during hypofractionated helical tomotherapy.« less

Flexible body control using neural networks

NASA Technical Reports Server (NTRS)

Mccullough, Claire L.

1992-01-01

Progress is reported on the control of Control Structures Interaction suitcase demonstrator (a flexible structure) using neural networks and fuzzy logic. It is concluded that while control by neural nets alone (i.e., allowing the net to design a controller with no human intervention) has yielded less than optimal results, the neural net trained to emulate the existing fuzzy logic controller does produce acceptible system responses for the initial conditions examined. Also, a neural net was found to be very successful in performing the emulation step necessary for the anticipatory fuzzy controller for the CSI suitcase demonstrator. The fuzzy neural hybrid, which exhibits good robustness and noise rejection properties, shows promise as a controller for practical flexible systems, and should be further evaluated.

Simulation of a steady-state integrated human thermal system.

NASA Technical Reports Server (NTRS)

Hsu, F. T.; Fan, L. T.; Hwang, C. L.

1972-01-01

The mathematical model of an integrated human thermal system is formulated. The system consists of an external thermal regulation device on the human body. The purpose of the device (a network of cooling tubes held in contact with the surface of the skin) is to maintain the human body in a state of thermoneutrality. The device is controlled by varying the inlet coolant temperature and coolant mass flow rate. The differential equations of the model are approximated by a set of algebraic equations which result from the application of the explicit forward finite difference method to the differential equations. The integrated human thermal system is simulated for a variety of combinations of the inlet coolant temperature, coolant mass flow rate, and metabolic rates.

The evolution of computer monitoring of real time data during the Atlas Centaur launch countdown

NASA Technical Reports Server (NTRS)

Thomas, W. F.

1981-01-01

In the last decade, improvements in computer technology have provided new 'tools' for controlling and monitoring critical missile systems. In this connection, computers have gradually taken a large role in monitoring all flights and ground systems on the Atlas Centaur. The wide body Centaur which will be launched in the Space Shuttle Cargo Bay will use computers to an even greater extent. It is planned to use the wide body Centaur to boost the Galileo spacecraft toward Jupiter in 1985. The critical systems which must be monitored prior to liftoff are examined. Computers have now been programmed to monitor all critical parameters continuously. At this time, there are two separate computer systems used to monitor these parameters.

Whole Body Melanoma Transcriptome Response in Medaka

PubMed Central

Schartl, Manfred; Shen, Yingjia; Maurus, Katja; Walter, Ron; Tomlinson, Chad; Wilson, Richard K.; Postlethwait, John; Warren, Wesley C.

2015-01-01

The incidence of malignant melanoma continues to increase each year with poor prognosis for survival in many relapse cases. To reverse this trend, whole body response measures are needed to discover collaborative paths to primary and secondary malignancy. Several species of fish provide excellent melanoma models because fish and human melanocytes both appear in the epidermis, and fish and human pigment cell tumors share conserved gene expression signatures. For the first time, we have examined the whole body transcriptome response to invasive melanoma as a prelude to using transcriptome profiling to screen for drugs in a medaka (Oryzias latipes) model. We generated RNA-seq data from whole body RNA isolates for controls and melanoma fish. After testing for differential expression, 396 genes had significantly different expression (adjusted p-value <0.02) in the whole body transcriptome between melanoma and control fish; 379 of these genes were matched to human orthologs with 233 having annotated human gene symbols and 14 matched genes that contain putative deleterious variants in human melanoma at varying levels of recurrence. A detailed canonical pathway evaluation for significant enrichment showed the top scoring pathway to be antigen presentation but also included the expected melanocyte development and pigmentation signaling pathway. Results revealed a profound down-regulation of genes involved in the immune response, especially the innate immune system. We hypothesize that the developing melanoma actively suppresses the immune system responses of the body in reacting to the invasive malignancy, and that this mal-adaptive response contributes to disease progression, a result that suggests our whole-body transcriptomic approach merits further use. In these findings, we also observed novel genes not yet identified in human melanoma expression studies and uncovered known and new candidate drug targets for further testing in this malignant melanoma medaka model. PMID:26714172

Whole Body Melanoma Transcriptome Response in Medaka.

PubMed

Schartl, Manfred; Shen, Yingjia; Maurus, Katja; Walter, Ron; Tomlinson, Chad; Wilson, Richard K; Postlethwait, John; Warren, Wesley C

2015-01-01

The incidence of malignant melanoma continues to increase each year with poor prognosis for survival in many relapse cases. To reverse this trend, whole body response measures are needed to discover collaborative paths to primary and secondary malignancy. Several species of fish provide excellent melanoma models because fish and human melanocytes both appear in the epidermis, and fish and human pigment cell tumors share conserved gene expression signatures. For the first time, we have examined the whole body transcriptome response to invasive melanoma as a prelude to using transcriptome profiling to screen for drugs in a medaka (Oryzias latipes) model. We generated RNA-seq data from whole body RNA isolates for controls and melanoma fish. After testing for differential expression, 396 genes had significantly different expression (adjusted p-value <0.02) in the whole body transcriptome between melanoma and control fish; 379 of these genes were matched to human orthologs with 233 having annotated human gene symbols and 14 matched genes that contain putative deleterious variants in human melanoma at varying levels of recurrence. A detailed canonical pathway evaluation for significant enrichment showed the top scoring pathway to be antigen presentation but also included the expected melanocyte development and pigmentation signaling pathway. Results revealed a profound down-regulation of genes involved in the immune response, especially the innate immune system. We hypothesize that the developing melanoma actively suppresses the immune system responses of the body in reacting to the invasive malignancy, and that this mal-adaptive response contributes to disease progression, a result that suggests our whole-body transcriptomic approach merits further use. In these findings, we also observed novel genes not yet identified in human melanoma expression studies and uncovered known and new candidate drug targets for further testing in this malignant melanoma medaka model.

Body fluid matrix evaluation on a Roche cobas 8000 system.

PubMed

Owen, William E; Thatcher, Mindy L; Crabtree, Karolyn J; Greer, Ryan W; Strathmann, Frederick G; Straseski, Joely A; Genzen, Jonathan R

2015-09-01

Chemical analysis of body fluids is commonly requested by physicians. Because most commercial FDA-cleared clinical laboratory assays are not validated by diagnostic manufacturers for "non-serum" and "non-plasma" specimens, laboratories may need to complete additional validation studies to comply with regulatory requirements regarding body fluid testing. The objective of this report is to perform recovery studies to evaluate potential body fluid matrix interferences for commonly requested chemistry analytes. Using an IRB-approved protocol, previously collected clinical body fluid specimens (biliary/hepatic, cerebrospinal, dialysate, drain, pancreatic, pericardial, peritoneal, pleural, synovial, and vitreous) were de-identified and frozen (-20°C) until experiments were performed. Recovery studies (spiking with high concentration serum, control, and/or calibrator) were conducted using 10% spiking solution by volume; n=5 specimens per analyte/body fluid investigated. Specimens were tested on a Roche cobas 8000 system (c502, c702, e602, and ISE modules). In all 80 analyte/body fluid combinations investigated (including amylase, total bilirubin, urea nitrogen, carbohydrate antigen 19-9, carcinoembryonic antigen, cholesterol, chloride, creatinine, glucose, potassium, lactate dehydrogenase, lipase, rheumatoid factor, sodium, total protein, triglycerides, and uric acid), the average percent recovery was within predefined acceptable limits (less than ±10% from the calculated ideal recovery). The present study provides evidence against the presence of any systematic matrix interference in the analyte/body fluid combinations investigated on the Roche cobas 8000 system. Such findings support the utility of ongoing body fluid validation initiatives conducted to maintain compliance with regulatory requirements. Copyright © 2015 The Canadian Society of Clinical Chemists. Published by Elsevier Inc. All rights reserved.

Multidisciplinary analysis of actively controlled large flexible spacecraft

NASA Technical Reports Server (NTRS)

Cooper, Paul A.; Young, John W.; Sutter, Thomas R.

1986-01-01

The control of Flexible Structures (COFS) program has supported the development of an analysis capability at the Langley Research Center called the Integrated Multidisciplinary Analysis Tool (IMAT) which provides an efficient data storage and transfer capability among commercial computer codes to aid in the dynamic analysis of actively controlled structures. IMAT is a system of computer programs which transfers Computer-Aided-Design (CAD) configurations, structural finite element models, material property and stress information, structural and rigid-body dynamic model information, and linear system matrices for control law formulation among various commercial applications programs through a common database. Although general in its formulation, IMAT was developed specifically to aid in the evaluation of the structures. A description of the IMAT system and results of an application of the system are given.

Development of a new measurement system to detect selectively volatile organic compounds derived from the human body.

PubMed

Kanou, S; Nagaoka, T; Kobayashi, N; Kurahashi, M; Takeda, S; Aoki, T; Tsuji, T; Urano, T; Abe, T; Magatani, K

2013-01-01

A new concept expired gas measurement system used double cold-trap method was developed. The system could detect selectively volatile organic compound (VOC) derived from the human body. The gas chromatography (GC) profiles of healthy volunteer's expired gas collected by our system were analyzed. As a result, 60 VOCs were detected from the healthy volunteer's expired gas. We examined 14 VOCs among them further, which could be converted to the concentration from the GC profiles. The concentration of almost VOCs decreased when the subjects inspired purified air compared with the atmosphere. On the other hand, isoprene was almost the same. It was strongly suggested that these VOCs were derived from the human body because the concentration of these VOCs in the atmosphere were nearly zero. Expired gas of two sleep apnea syndrome (SAS) patients were analyzed as preliminary study. As a result of the study, the concentration of some VOCs contained in the expired gas of the SAS patients showed higher value than a healthy controls.

Implementation of body area networks based on MICS/WMTS medical bands for healthcare systems.

PubMed

Yuce, Mehmet R; Ho, Chee Keong

2008-01-01

A multi-hoping sensor network system has been implemented to monitor physiological parameters from multiple patient bodies by means of medical communication standards MICS (Medical Implant Communication Service) and WMTS (Wireless Medical Telemetry Service). Unlike the other medical sensor networks (they usually use 2.4 GHz ISM band), we used the two medical standards occupying the frequency bands that are mainly assigned to medical applications. The prototype system uses the MICS band (402-405 MHz) between the sensor nodes and a remote central control unit (CCU). And WMTS frequencies (608-614MHz) are used between the CCUs and the remote base stations allowing for a much larger range acting as an intermediate node. The sensor nodes in the prototype can measure up to four body signals (i.e. 4-channel) where one is dedicated to a continuous physiological signal such as ECC/EEG. The system includes firmware and software designs that can provide a long distance data transfer through the internet or a mobile network.

Efficient tomography of a quantum many-body system

NASA Astrophysics Data System (ADS)

Lanyon, B. P.; Maier, C.; Holzäpfel, M.; Baumgratz, T.; Hempel, C.; Jurcevic, P.; Dhand, I.; Buyskikh, A. S.; Daley, A. J.; Cramer, M.; Plenio, M. B.; Blatt, R.; Roos, C. F.

2017-12-01

Quantum state tomography is the standard technique for estimating the quantum state of small systems. But its application to larger systems soon becomes impractical as the required resources scale exponentially with the size. Therefore, considerable effort is dedicated to the development of new characterization tools for quantum many-body states. Here we demonstrate matrix product state tomography, which is theoretically proven to allow for the efficient and accurate estimation of a broad class of quantum states. We use this technique to reconstruct the dynamical state of a trapped-ion quantum simulator comprising up to 14 entangled and individually controlled spins: a size far beyond the practical limits of quantum state tomography. Our results reveal the dynamical growth of entanglement and describe its complexity as correlations spread out during a quench: a necessary condition for future demonstrations of better-than-classical performance. Matrix product state tomography should therefore find widespread use in the study of large quantum many-body systems and the benchmarking and verification of quantum simulators and computers.

The use of the articulated total body model as a robot dynamics simulation tool

NASA Technical Reports Server (NTRS)

Obergfell, Louise A.; Avula, Xavier J. R.; Kalegs, Ints

1988-01-01

The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

Systemic administration of bevacizumab prolongs survival in an in vivo model of platinum pre-treated ovarian cancer

PubMed Central

REIN, DANIEL T.; VOLKMER, ANNE KATHRIN; VOLKMER, JENS; BEYER, INES M.; JANNI, WOLFGANG; FLEISCH, MARKUS C.; WELTER, ANNE KATHRIN; BAUERSCHLAG, DIRK; SCHÖNDORF, THOMAS; BREIDENBACH, MARTINA

2012-01-01

Ovarian cancer patients often suffer from malignant ascites and pleural effusion. Apart from worsening the outcome, this condition frequently impairs the quality of life in patients who are already distressed by ovarian cancer. This study investigated whether single intraperitoneal administration of the anti-VEGF antibody bevacizumab is capable of reducing the ascites-related body surface and prolonging survival. The study was performed in an orthotopic murine model of peritoneal disseminated platin-resistant ovarian cancer. Mice were treated with bevacizumab and/or paclitaxel or buffer (control). Reduction of body surface and increased survival rates were assessed as therapeutic success. Survival of mice in all treatment groups was significantly enhanced when compared to the non-treatment control group. The combination of paclitaxel plus bevacizumab significantly improved body surface as well as overall survival in comparison to a treatment with only one of the drugs. Treatment of malignant effusion with a single dose of bevacizumab as an intraperitoneal application, with or without cytostatic co-medication, may be a powerful alternative to systemic treatment. PMID:22740945

A Soft Parallel Kinematic Mechanism.

PubMed

White, Edward L; Case, Jennifer C; Kramer-Bottiglio, Rebecca

2018-02-01

In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.

Gesture-Controlled Interfaces for Self-Service Machines

NASA Technical Reports Server (NTRS)

Cohen, Charles J.; Beach, Glenn

2006-01-01

Gesture-controlled interfaces are software- driven systems that facilitate device control by translating visual hand and body signals into commands. Such interfaces could be especially attractive for controlling self-service machines (SSMs) for example, public information kiosks, ticket dispensers, gasoline pumps, and automated teller machines (see figure). A gesture-controlled interface would include a vision subsystem comprising one or more charge-coupled-device video cameras (at least two would be needed to acquire three-dimensional images of gestures). The output of the vision system would be processed by a pure software gesture-recognition subsystem. Then a translator subsystem would convert a sequence of recognized gestures into commands for the SSM to be controlled; these could include, for example, a command to display requested information, change control settings, or actuate a ticket- or cash-dispensing mechanism. Depending on the design and operational requirements of the SSM to be controlled, the gesture-controlled interface could be designed to respond to specific static gestures, dynamic gestures, or both. Static and dynamic gestures can include stationary or moving hand signals, arm poses or motions, and/or whole-body postures or motions. Static gestures would be recognized on the basis of their shapes; dynamic gestures would be recognized on the basis of both their shapes and their motions. Because dynamic gestures include temporal as well as spatial content, this gesture- controlled interface can extract more information from dynamic than it can from static gestures.

Delayed Sleep Phase Disorder In Temporal Isolation

PubMed Central

Campbell, Scott S.; Murphy, Patricia J.

2007-01-01

Study Objectives: This study sought to characterize sleep and the circadian rhythm of body core temperature of an individual with delayed sleep phase disorder (DSPD) in the absence of temporal cues and social entrainment and to compare those measures to age-matched normal control subjects studied under identical conditions. Design: Polysomnography and body temperature were recorded continuously for 4 days in entrained conditions, followed immediately by 17 days in a “free-running” environment. Setting: Temporal isolation facility in the Laboratory of Human Chronobiology, Weill Cornell Medical College. Participants: One individual who met criteria for delayed sleep phase disorder according to the International Classification of Sleep Disorders Diagnostic and Coding Manual (ICSD-2) and 3 age-matched control subjects. Interventions: None. Measurements and Results: The DSPD subject had a spontaneous period length (tau) of 25.38 hours compared to an average tau of 24.44 hours for the healthy controls. The DSPD subject also showed an altered phase relationship between sleep/wake and body temperature rhythms, as well as longer sleep latency, poorer sleep efficiency, and altered distribution of slow wave sleep (SWS) within sleep episodes, compared to control subjects. Conclusions: Delayed sleep phase disorder may be the reflection of an abnormal circadian timing system characterized not only by a long tau, but also by an altered internal phase relationship between the sleep/wake system and the circadian rhythm of body temperature. The latter results in significantly disturbed sleep, even when DSPD patients are permitted to sleep and wake at their preferred times. Citation: Campbell SS; Murphy PJ. Delayed sleep phase disorder in temporal isolation. SLEEP 2007;30(9):1225-1228. PMID:17910395

Regulation of the Yersinia type III secretion system: traffic control

PubMed Central

Dewoody, Rebecca S.; Merritt, Peter M.; Marketon, Melanie M.

2013-01-01

Yersinia species, as well as many other Gram-negative pathogens, use a type III secretion system (T3SS) to translocate effector proteins from the bacterial cytoplasm to the host cytosol. This T3SS resembles a molecular syringe, with a needle-like shaft connected to a basal body structure, which spans the inner and outer bacterial membranes. The basal body of the injectisome shares a high degree of homology with the bacterial flagellum. Extending from the T3SS basal body is the needle, which is a polymer of a single protein, YscF. The distal end of the needle serves as a platform for the assembly of a tip complex composed of LcrV. Though never directly observed, prevailing models assume that LcrV assists in the insertion of the pore-forming proteins YopB and YopD into the host cell membrane. This completes a bridge between the bacterium and host cell to provide a continuous channel through which effectors are delivered. Significant effort has gone into understanding how the T3SS is assembled, how its substrates are recognized and how substrate delivery is controlled. Arguably the latter topic is the least understood; however, recent advances have provided new insight, and therefore, this review will focus primarily on summarizing the current state of knowledge regarding the control of substrate delivery by the T3SS. Specifically, we will discuss the roles of YopK, as well as YopN and YopE, which have long been linked to regulation of translocation. We also propose models whereby the YopK regulator communicates with the basal body of the T3SS to control translocation. PMID:23390616

Balance control during gait initiation: State-of-the-art and research perspectives.

PubMed

Yiou, Eric; Caderby, Teddy; Delafontaine, Arnaud; Fourcade, Paul; Honeine, Jean-Louis

2017-11-18

It is well known that balance control is affected by aging, neurological and orthopedic conditions. Poor balance control during gait and postural maintenance are associated with disability, falls and increased mortality. Gait initiation - the transient period between the quiet standing posture and steady state walking - is a functional task that is classically used in the literature to investigate how the central nervous system (CNS) controls balance during a whole-body movement involving change in the base of support dimensions and center of mass progression. Understanding how the CNS in able-bodied subjects exerts this control during such a challenging task is a pre-requisite to identifying motor disorders in populations with specific impairments of the postural system. It may also provide clinicians with objective measures to assess the efficiency of rehabilitation programs and better target interventions according to individual impairments. The present review thus proposes a state-of-the-art analysis on: (1) the balance control mechanisms in play during gait initiation in able bodied subjects and in the case of some frail populations; and (2) the biomechanical parameters used in the literature to quantify dynamic stability during gait initiation. Balance control mechanisms reviewed in this article included anticipatory postural adjustments, stance leg stiffness, foot placement, lateral ankle strategy, swing foot strike pattern and vertical center of mass braking. Based on this review, the following viewpoints were put forward: (1) dynamic stability during gait initiation may share a principle of homeostatic regulation similar to most physiological variables, where separate mechanisms need to be coordinated to ensure stabilization of vital variables, and consequently; and (2) rehabilitation interventions which focus on separate or isolated components of posture, balance, or gait may limit the effectiveness of current clinical practices.

Balance control during gait initiation: State-of-the-art and research perspectives

PubMed Central

Yiou, Eric; Caderby, Teddy; Delafontaine, Arnaud; Fourcade, Paul; Honeine, Jean-Louis

2017-01-01

It is well known that balance control is affected by aging, neurological and orthopedic conditions. Poor balance control during gait and postural maintenance are associated with disability, falls and increased mortality. Gait initiation - the transient period between the quiet standing posture and steady state walking - is a functional task that is classically used in the literature to investigate how the central nervous system (CNS) controls balance during a whole-body movement involving change in the base of support dimensions and center of mass progression. Understanding how the CNS in able-bodied subjects exerts this control during such a challenging task is a pre-requisite to identifying motor disorders in populations with specific impairments of the postural system. It may also provide clinicians with objective measures to assess the efficiency of rehabilitation programs and better target interventions according to individual impairments. The present review thus proposes a state-of-the-art analysis on: (1) the balance control mechanisms in play during gait initiation in able bodied subjects and in the case of some frail populations; and (2) the biomechanical parameters used in the literature to quantify dynamic stability during gait initiation. Balance control mechanisms reviewed in this article included anticipatory postural adjustments, stance leg stiffness, foot placement, lateral ankle strategy, swing foot strike pattern and vertical center of mass braking. Based on this review, the following viewpoints were put forward: (1) dynamic stability during gait initiation may share a principle of homeostatic regulation similar to most physiological variables, where separate mechanisms need to be coordinated to ensure stabilization of vital variables, and consequently; and (2) rehabilitation interventions which focus on separate or isolated components of posture, balance, or gait may limit the effectiveness of current clinical practices. PMID:29184756

Exploiting Many-Body Bus States for Multi-Qubit Entanglement

DTIC Science & Technology

2013-06-06

ancilla qubits . We studied electron-spin-photon coupling in a single-spin double quantum dot embedded in a superconducting stripline cavity. We... qubit to a superconducting stripline cavity,” Xuedong Hu, Yu-xi Liu, and Franco Nori, Phys. Rev. B 86, 035314 (2012). [9] “Controllable exchange...DARPA) EXPLOITING MANY-BODY BUS STATES FOR MULTI- QUBIT ENTANGLEMENT MARK FRIESEN UNIVERSITY OF WISCONSIN SYSTEM 06/06/2013 Final Report

A double-inverted pendulum model for studying the adaptability of postural control to frequency during human stepping in place.

PubMed

Breniere, Y; Ribreau, C

1998-10-01

In order to analyze the influence of gravity and body characteristics on the control of center of mass (CM) oscillations in stepping in place, equations of motion in oscillating systems were developed using a double-inverted pendulum model which accounts for both the head-arms-trunk (HAT) segment and the two-legged system. The principal goal of this work is to propose an equivalent model which makes use of the usual anthropometric data for the human body, in order to study the ability of postural control to adapt to the step frequency in this particular paradigm of human gait. This model allows the computation of CM-to-CP amplitude ratios, when the center of foot pressure (CP) oscillates, as a parametric function of the stepping in place frequency, whose parameters are gravity and major body characteristics. Motion analysis from a force plate was used to test the model by comparing experimental and simulated values of variations of the CM-to-CP amplitude ratio in the frontal plane versus the frequency. With data from the literature, the model is used to calculate the intersegmental torque which stabilizes the HAT when the Leg segment is subjected to a harmonic torque with an imposed frequency.

Special report on the data collection programs for the ground based nitrogen washout experiment. Volume 1: User's guide

NASA Technical Reports Server (NTRS)

Bueker, P. A.

1982-01-01

The Nitrogen Washout System measures nitrogen elimination on a breath basis from the body tissues of a subject breathing pure oxygen. The system serves as a prototype for a Space Shuttle Life Sciences experiment and in the Environmental Physiology Laboratory. Typically, a subject washes out body nitrogen for three hours while breathing oxygen from a mask enclosed in a positive-pressure oxygen tent. A nitrogen washout requires one test operator and the test subject. A DEC LSI-11/02 computer is used to (1) control and calibrate the mass spectrometer and Skylab spirometer, (2) gather and store experimental data and (3) provide limited real time analysis and more extensive post-experiment analysis. Five programs are used to gather and store the experimental data and perform all the real time control and analysis.

Central mechanisms for force and motion--towards computational synthesis of human movement.

PubMed

Hemami, Hooshang; Dariush, Behzad

2012-12-01

Anatomical, physiological and experimental research on the human body can be supplemented by computational synthesis of the human body for all movement: routine daily activities, sports, dancing, and artistic and exploratory involvements. The synthesis requires thorough knowledge about all subsystems of the human body and their interactions, and allows for integration of known knowledge in working modules. It also affords confirmation and/or verification of scientific hypotheses about workings of the central nervous system (CNS). A simple step in this direction is explored here for controlling the forces of constraint. It requires co-activation of agonist-antagonist musculature. The desired trajectories of motion and the force of contact have to be provided by the CNS. The spinal control involves projection onto a muscular subset that induces the force of contact. The projection of force in the sensory motor cortex is implemented via a well-defined neural population unit, and is executed in the spinal cord by a standard integral controller requiring input from tendon organs. The sensory motor cortex structure is extended to the case for directing motion via two neural population units with vision input and spindle efferents. Digital computer simulations show the feasibility of the system. The formulation is modular and can be extended to multi-link limbs, robot and humanoid systems with many pairs of actuators or muscles. It can be expanded to include reticular activating structures and learning. Copyright © 2012 Elsevier Ltd. All rights reserved.

Adaptive plasticity in vestibular influences on cardiovascular control

NASA Technical Reports Server (NTRS)

Yates, B. J.; Holmes, M. J.; Jian, B. J.

2000-01-01

Data collected in both human subjects and animal models indicate that the vestibular system influences the control of blood pressure. In animals, peripheral vestibular lesions diminish the capacity to rapidly and accurately make cardiovascular adjustments to changes in posture. Thus, one role of vestibulo-cardiovascular influences is to elicit changes in blood distribution in the body so that stable blood pressure is maintained during movement. However, deficits in correcting blood pressure following vestibular lesions diminish over time, and are less severe when non-labyrinthine sensory cues regarding body position in space are provided. These observations show that pathways that mediate vestibulo-sympathetic reflexes can be subject to plastic changes. This review considers the adaptive plasticity in cardiovascular responses elicited by the central vestibular system. Recent data indicate that the posterior cerebellar vermis may play an important role in adaptation of these responses, such that ablation of the posterior vermis impairs recovery of orthostatic tolerance following subsequent vestibular lesions. Furthermore, recent experiments suggest that non-labyrinthine inputs to the central vestibular system may be important in controlling blood pressure during movement, particularly following vestibular dysfunction. A number of sensory inputs appear to be integrated to produce cardiovascular adjustments during changes in posture. Although loss of any one of these inputs does not induce lability in blood pressure, it is likely that maximal blood pressure stability is achieved by the integration of a variety of sensory cues signaling body position in space.

The remapping of space in motor learning and human-machine interfaces

PubMed Central

Mussa-Ivaldi, F.A.; Danziger, Z.

2009-01-01

Studies of motor adaptation to patterns of deterministic forces have revealed the ability of the motor control system to form and use predictive representations of the environment. One of the most fundamental elements of our environment is space itself. This article focuses on the notion of Euclidean space as it applies to common sensory motor experiences. Starting from the assumption that we interact with the world through a system of neural signals, we observe that these signals are not inherently endowed with metric properties of the ordinary Euclidean space. The ability of the nervous system to represent these properties depends on adaptive mechanisms that reconstruct the Euclidean metric from signals that are not Euclidean. Gaining access to these mechanisms will reveal the process by which the nervous system handles novel sophisticated coordinate transformation tasks, thus highlighting possible avenues to create functional human-machine interfaces that can make that task much easier. A set of experiments is presented that demonstrate the ability of the sensory-motor system to reorganize coordination in novel geometrical environments. In these environments multiple degrees of freedom of body motions are used to control the coordinates of a point in a two-dimensional Euclidean space. We discuss how practice leads to the acquisition of the metric properties of the controlled space. Methods of machine learning based on the reduction of reaching errors are tested as a means to facilitate learning by adaptively changing he map from body motions to controlled device. We discuss the relevance of the results to the development of adaptive human machine interfaces and optimal control. PMID:19665553

A new standing posture detector to enable people with multiple disabilities to control environmental stimulation by changing their standing posture through a commercial Wii Balance Board.

PubMed

Shih, Ching-Hsiang; Shih, Ching-Tien; Chiang, Ming-Shan

2010-01-01

This study assessed whether two persons with multiple disabilities would be able to control environmental stimulation using body swing (changing standing posture) and a Wii Balance Board with a newly developed standing posture detection program (i.e. a new software program turns a Wii Balance Board into a precise standing posture detector). The study was performed according to an ABAB design, in which A represented baseline and B represented intervention phases. Both participants significantly increased their target response (body swing) to activate the control system to produce environmental stimulation during the intervention phases. Practical and developmental implications of the findings were discussed.

Water pollution control technology and strategy for river-lake systems: a case study in Gehu Lake and Taige Canal.

PubMed

Zhang, Yimin; Zhang, Yongchun; Gao, Yuexiang; Zhang, Houhu; Cao, Jianying; Cai, Jinbang; Kong, Xiangji

2011-07-01

The Taoge water system is located in the upstream of Taihu Lake basin and is characterized by its multi-connected rivers and lakes. In this paper, current analyses of hydrology, hydrodynamics and water pollution of Gehu Lake and Taige Canal are presented. Several technologies are proposed for pollution prevention and control, and water environmental protection in the Taihu Lake basin. These included water pollution control integration technology for the water systems of Gehu Lake, Taige Canal and Caoqiao River. Additionally, river-lake water quality and quantity regulation technology, ecological restoration technology for polluted and degraded water bodies, and water environmental integration management and optimization strategies were also examined. The main objectives of these strategies are to: (a) improve environmental quality of relative water bodies, prevent pollutants from entering Gehu Lake and Taige Canal, and ensure that the clean water after the pre-treatment through Gehu Lake is not polluted before entering the Taihu Lake through Taige Canal; (b) stably and efficiently intercept and decrease the pollution load entering the lake through enhancing the river outlet ecological system structure function and water self-purifying capacity, and (c) designate Gehu Lake as a regulation system for water quality and water quantity in the Taoge water system and thus guarantee the improvement of the water quality of the inflow into Taihu Lake.

One dimensional two-body collisions experiment based on LabVIEW interface with Arduino

NASA Astrophysics Data System (ADS)

Saphet, Parinya; Tong-on, Anusorn; Thepnurat, Meechai

2017-09-01

The purpose of this work is to build a physics lab apparatus that is modern, low-cost and simple. In one dimensional two-body collisions experiment, we used the Arduino UNO R3 as a data acquisition system which was controlled by LabVIEW program. The photogate sensors were designed using LED and LDR to measure position as a function of the time. Aluminium frame houseware and blower were used for the air track system. In both totally inelastic and elastic collision experiments, the results of momentum and energy conservation are in good agreement with the theoretical calculations.

Verification and Validation Challenges for Adaptive Flight Control of Complex Autonomous Systems

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2018-01-01

Autonomy of aerospace systems requires the ability for flight control systems to be able to adapt to complex uncertain dynamic environment. In spite of the five decades of research in adaptive control, the fact still remains that currently no adaptive control system has ever been deployed on any safety-critical or human-rated production systems such as passenger transport aircraft. The problem lies in the difficulty with the certification of adaptive control systems since existing certification methods cannot readily be used for nonlinear adaptive control systems. Research to address the notion of metrics for adaptive control began to appear in the recent years. These metrics, if accepted, could pave a path towards certification that would potentially lead to the adoption of adaptive control as a future control technology for safety-critical and human-rated production systems. Development of certifiable adaptive control systems represents a major challenge to overcome. Adaptive control systems with learning algorithms will never become part of the future unless it can be proven that they are highly safe and reliable. Rigorous methods for adaptive control software verification and validation must therefore be developed to ensure that adaptive control system software failures will not occur, to verify that the adaptive control system functions as required, to eliminate unintended functionality, and to demonstrate that certification requirements imposed by regulatory bodies such as the Federal Aviation Administration (FAA) can be satisfied. This presentation will discuss some of the technical issues with adaptive flight control and related V&V challenges.

Ares-I Bending Filter Design using a Constrained Optimization Approach

NASA Technical Reports Server (NTRS)

Hall, Charles; Jang, Jiann-Woei; Hall, Robert; Bedrossian, Nazareth

2008-01-01

The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output is required to ensure adequate stable response to guidance commands while minimizing trajectory deviations. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares-I time-varying dynamics and control system can be frozen over a short period of time, the bending filters are designed to stabilize all the selected frozen-time launch control systems in the presence of parameter uncertainty. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constrains minimizes performance degradation caused by the addition of the bending filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The bending filter designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC MAVERIC 6DOF nonlinear time domain simulation.

Experiencing the body during pregnancy: A qualitative research study among Spanish sportswomen.

PubMed

Martinez-Pascual, Beatriz; Abuín-Porras, Vanesa; Pérez-de-Heredia-Torres, Marta; Martínez-Piedrola, Rosa María; Fernández-de-las-Peñas, César; Palacios-Ceña, Domingo

2016-01-01

The aim of the current qualitative phenomenological study was to describe the body experiences during pregnancy among Spanish elite sportswomen. Twenty Spanish sportswomen with the following criteria were included: (1) aged between 18 and 65 years; (2) had been pregnant during their professional sporting career; and (3) after the end of their pregnancy, had returned to their professional sports career for at least 1 year. A qualitative thematic analysis was conducted. Data were collected from May 2010 to April 2012 using in-depth personal interviews, investigator's field notes, and extracts from the participants' personal letters. Identified themes included: (1) a new body; (2) body control; (3) to feel their bodies and communicate with them; and (4) body's beauty ideal. Understanding the meaning of the body experience for elite Spanish sportswomen might provide us with deeper insight into their expectations and might help in the development of training systems focused on them.

A variable structure approach to robust control of VTOL aircraft

NASA Technical Reports Server (NTRS)

Calise, A. J.; Kramer, F.

1982-01-01

This paper examines the application of variable structure control theory to the design of a flight control system for the AV-8A Harrier in a hover mode. The objective in variable structure design is to confine the motion to a subspace of the total state space. The motion in this subspace is insensitive to system parameter variations and external disturbances that lie in the range space of the control. A switching type of control law results from the design procedure. The control system was designed to track a vector velocity command defined in the body frame. For comparison purposes, a proportional controller was designed using optimal linear regulator theory. Both control designs were first evaluated for transient response performance using a linearized model, then a nonlinear simulation study of a hovering approach to landing was conducted. Wind turbulence was modeled using a 1052 destroyer class air wake model.

Vehicle height and posture control of the electronic air suspension system using the hybrid system approach

NASA Astrophysics Data System (ADS)

Sun, Xiaoqiang; Cai, Yingfeng; Chen, Long; Liu, Yanling; Wang, Shaohua

2016-03-01

The electronic air suspension (EAS) system can improve ride comfort, fuel economy and handling safety of vehicles by adjusting vehicle height. This paper describes the development of a novel controller using the hybrid system approach to adjust the vehicle height (height control) and to regulate the roll and pitch angles of the vehicle body during the height adjustment process (posture control). The vehicle height adjustment system of EAS poses challenging hybrid control problems, since it features different discrete modes of operation, where each mode has an associated linear continuous-time dynamic. In this paper, we propose a novel approach to the modelling and controller design problem for the vehicle height adjustment system of EAS. The system model is described firstly in the hybrid system description language (HYSDEL) to obtain a mixed logical dynamical (MLD) hybrid model. For the resulting model, a hybrid model predictive controller is tuned to improve the vehicle height and posture tracking accuracy and to achieve the on-off statuses direct control of solenoid valves. The effectiveness and performance of the proposed approach are demonstrated by simulations and actual vehicle tests.

Airborne Simulation of Launch Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Miller, Christopher J.; Orr, Jeb S.; Hanson, Curtis E.; Gilligan, Eric T.

2015-01-01

In this paper we present a technique for approximating the short-period dynamics of an exploration-class launch vehicle during flight test with a high-performance surrogate aircraft in relatively benign endoatmospheric flight conditions. The surrogate vehicle relies upon a nonlinear dynamic inversion scheme with proportional-integral feedback to drive a subset of the aircraft states into coincidence with the states of a time-varying reference model that simulates the unstable rigid body dynamics, servodynamics, and parasitic elastic and sloshing dynamics of the launch vehicle. The surrogate aircraft flies a constant pitch rate trajectory to approximate the boost phase gravity turn ascent, and the aircraft's closed-loop bandwidth is sufficient to simulate the launch vehicle's fundamental lateral bending and sloshing modes by exciting the rigid body dynamics of the aircraft. A novel control allocation scheme is employed to utilize the aircraft's relatively fast control effectors in inducing various failure modes for the purposes of evaluating control system performance. Sufficient dynamic similarity is achieved such that the control system under evaluation is configured for the full-scale vehicle with no changes to its parameters, and pilot-control system interaction studies can be performed to characterize the effects of guidance takeover during boost. High-fidelity simulation and flight-test results are presented that demonstrate the efficacy of the design in simulating the Space Launch System (SLS) launch vehicle dynamics using the National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Fullscale Advanced Systems Testbed (FAST), a modified F/A-18 airplane (McDonnell Douglas, now The Boeing Company, Chicago, Illinois), over a range of scenarios designed to stress the SLS's Adaptive Augmenting Control (AAC) algorithm.

Design and assembly of an 8 tesla whole-body MR scanner.

PubMed

Robitaille, P M; Warner, R; Jagadeesh, J; Abduljalil, A M; Kangarlu, A; Burgess, R E; Yu, Y; Yang, L; Zhu, H; Jiang, Z; Bailey, R E; Chung, W; Somawiharja, Y; Feynan, P; Rayner, D L

1999-01-01

The purpose of this report is to describe the design and construction of an 8 T/80 cm whole-body MRI system operating at 340 MHz. The 8 T/80 cm magnet was constructed from 414 km of niobium titanium superconducting wire. The winding of this wire on four aluminum formers resulted in a total inductance of 4,155 H. Gradient subsystems included either a body gradient or a head gradient along with a removable shim insert. The magnet and gradient subsystems were interfaced to two spectrometers. These provided the control of the gradient amplifiers and the two sets of four RF power amplifiers. The latter provide in excess of 8 kW of RF power from 10 to 140 MHz and 10 kW of RF power from 245 to 345 MHz. A dedicated computer-controlled patient table was designed and assembled. The entire system is located in a clinical setting, facilitating patient-based studies. The 8 T/80 cm magnet was energized without complication and achieved persistent operation using 198.9 A of current, thereby storing 81.5 MJ of magnetic energy. Exceptional performance was observed for nearly all components both in isolation and when combined within the complete system. An 8 T/80 cm MRI system has been assembled. The magnet subsystem is extremely stable and is characterized by good homogeneity and acceptable boil-off rates.

Small Body Hopper Mobility Concepts

NASA Technical Reports Server (NTRS)

Howe, A. Scott; Gernhardt, Michael L.; Lee, Dave E.; Crues, E. Zack; Dexter, Dan E.; Abercromby, Andrew F. J.; Chappell, Steve P.; Nguyen, Hung T.

2015-01-01

A propellant-saving hopper mobility system was studied that could help facilitate the exploration of small bodies such as Phobos for long-duration human missions. The NASA Evolvable Mars Campaign (EMC) has proposed a mission to the moons of Mars as a transitional step for eventual Mars surface exploration. While a Mars transit habitat would be parked in High-Mars Orbit (HMO), crew members would visit the surface of Phobos multiple times for up to 14 days duration (up to 50 days at a time with logistics support). This paper describes a small body surface mobility concept that is capable of transporting a small, two-person Pressurized Exploration Vehicle (PEV) cabin to various sites of interest in the low-gravity environment. Using stored kinetic energy between bounces, a propellant-saving hopper mobility system can release the energy to vector the vehicle away from the surface in a specified direction. Alternatively, the stored energy can be retained for later use while the vehicle is stationary in respect to the surface. The hopper actuation was modeled using a variety of launch velocities, and the hopper mobility was evaluated using NASA Exploration Systems Simulations (NExSyS) for transit between surface sites of interest. A hopper system with linear electromagnetic motors and mechanical spring actuators coupled with Control Moment Gyroscope (CMG) for attitude control will use renewable electrical power, resulting in a significant propellant savings.

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform.

PubMed

Zhou, Xiangyang; Zhao, Beilei; Gong, Guohao

2015-08-14

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS(®); then, to analyze the system's kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB(®) SIMULINK(®) controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.

Cinanserin reduces plasma extravasation after burn plasma transfer in rats.

PubMed

Hernekamp, Jochen-Frederick; Hu, Sissi; Schmidt, Karsten; Walther, Andreas; Kneser, Ulrich; Kremer, Thomas

2013-09-01

Thermal injuries greater than 20% body surface area (BSA) lead to systemic edema and hypovolemic shock. Capillary leakage is induced by different immunomodulative cytokines. Serotonin (5-HT) plays an important role in inflammation, vasodilatation and vasoconstriction and many other pathways such as systemic inflammation in endotoxemia and burns. Cinanserin, a specific 5-HT2 receptor blocking agent was administered to observe whether burn induced systemic edema can be reduced. Donor animals underwent thermal injury (100°C water, 30% BSA, 12s) for positive controls and negative controls underwent a shamburn procedure (37°C water, 30% BSA, 12s). Donor rat-plasma was transferred to healthy individuals after bolus injection of Cinanserin (5mg/kg body weight) was performed in recipient animals. Intravital microscopy was performed in mesenteric venules (0/60/120min) to asses systemic edema by FITC-albumin extravasation. Additionally, leukocyte activation (cells/mm(2)) was observed. Burnplasma-transfer results in systemic capillary leakage that is not observed in sham burn controls. Intraveneous application of Cinanserin significantly reduces systemic burn edema to shamburn levels. Leukocyte-endothelial interactions are significantly reduced by administration of Cinanserin. Specific 5-HT2 antagonism reduces systemic burn edema and leukocyte activation after plasma transfer. Reduction of capillary leakage may be partially mediated by leukocyte dependent as well as independent mechanisms. Future studies need to evaluate specific 5-HT2 receptor subtypes to distinguish between local and systemic effects of serotonin antagonists. Copyright © 2013 Elsevier Ltd and ISBI. All rights reserved.

Models for the Effects of G-seat Cuing on Roll-axis Tracking Performance

NASA Technical Reports Server (NTRS)

Levison, W. H.; Mcmillan, G. R.; Martin, E. A.

1984-01-01

Including whole-body motion in a flight simulator improves performance for a variety of tasks requiring a pilot to compensate for the effects of unexpected disturbances. A possible mechanism for this improvement is that whole-body motion provides high derivative vehicle state information whic allows the pilot to generate more lead in responding to the external disturbances. During development of motion simulating algorithms for an advanced g-cuing system it was discovered that an algorithm based on aircraft roll acceleration producted little or no performance improvement. On the other hand, algorithms based on roll position or roll velocity produced performance equivalent to whole-body motion. The analysis and modeling conducted at both the sensory system and manual control performance levels to explain the above results are described.

Stokes's Cradle: Newton's Cradle with Liquid Coating

NASA Astrophysics Data System (ADS)

Donahue, C. M.; Hrenya, C. M.; Davis, R. H.

2010-07-01

Granular flows involving liquid-coated solids are ubiquitous in nature (pollen capture, avalanches) and industry (filtration, pharmaceutical mixing). In this Letter, three-body collisions between liquid-coated spheres are investigated experimentally using a “Stokes’s cradle,” which resembles the popular desktop toy Newton’s cradle (NC). Surprisingly, previous work shows that every possible outcome was observed in the Stokes’s cradle except the traditional NC outcome. Here, we experimentally achieve NC via guidance from a theory, which revealed that controlling the liquid-bridge volume connecting two target particles is the key in attaining the NC outcome. These three-body experiments also provide direct evidence that the fluid resistance upon rebound cannot be completely neglected due to presumed cavitation; this resistance also influences two-body systems yet cannot be isolated experimentally in such systems.

Anti-sway control of tethered satellite systems using attitude control of the main satellite

NASA Astrophysics Data System (ADS)

Yousefian, Peyman; Salarieh, Hassan

2015-06-01

In this study a new method is introduced to suppress libration of a tethered satellite system (TSS). It benefits from coupling between satellites and tether libration dynamics. The control concept uses the main satellite attitude maneuvers to suppress librational motion of the tether, and the main satellite's actuators for attitude control are used as the only actuation in the system. The study considers planar motion of a two body TSS system in a circular orbit and it is assumed that the tether's motion will not change it. Governing dynamic equations of motion are derived using the extended Lagrange method. Controllability of the system around the equilibrium state is studied and a linear LQG controller is designed to regulate libration of the system. Tether tension and satellite attitude are assumed as only measurable outputs of the system. The Extended Kalman Filter (EKF) is used to estimate states of the system to be used as feedback to the controller. The designed controller and observer are implemented to the nonlinear plant and simulations demonstrate that the controller lead to reduction of the tether libration propoerly. By the way, because the controller is linear, it is applicable only at low amplitudes in the vicinity of equilibrium point. To reach global stability, a nonlinear controller is demanded.

Roles of interstitial fluid pH in diabetes mellitus: Glycolysis and mitochondrial function

PubMed Central

Marunaka, Yoshinori

2015-01-01

The pH of body fluids is one the most important key factors regulating various cell function such as enzyme activity and protein-protein interaction via modification of its binding affinity. Therefore, to keep cell function normal, the pH of body fluids is maintained constant by various systems. Insulin resistance is one of the most important, serious factors making the body condition worse in diabetes mellitus. I have recently found that the pH of body (interstitial) fluids is lower in diabetes mellitus than that in non-diabetic control, and that the lowered pH is one of the causes producing insulin resistance. In this review article, I introduce importance of body (interstitial) fluid pH in regulation of body function, evidence on abnormal regulation of body fluid pH in diabetes mellitus, and relationship between the body fluid pH and insulin resistance. Further, this review proposes perspective therapies on the basis of regulation of body fluid pH including propolis (honeybee product) diet. PMID:25685283

The effect of low force chiropractic adjustments for 4 weeks on body surface electromagnetic field.

PubMed

Zhang, John; Snyder, Brian J

2005-01-01

To study the effects of 4 weeks of low-force chiropractic adjustments on body surface electromagnetic fields (EMFs). Thirty-five chiropractic students randomly assigned into control (17 subjects) and experimental groups (28 subjects). A triaxial fluxgate magnetometer was used for EMF detection. The subjects' body surface EMF was determined in the prone position before and after the chiropractic adjustment. A Toftness low-force chiropractic adjustment was applied to the cervical, thoracic, lumbar, and sacral areas as determined by the practitioner. Heart rate variability analysis was recorded once a week to determine autonomic nervous system activity in both the control and experimental groups. The EMF on the subjects' body surface decreased after chiropractic adjustment at the cervical, thoracic, lumbar, and sacral regions in all 6 visits during the 4-week treatment period. The EMF showed a downtrend over the 4-week period after the low-force adjustment. The same changes were not observed in the control group. The chiropractic adjustment group had a slight decrease in heart rate over the 4-week treatment period, and no significant change was observed in the control group. Heart rate variability analysis did not show consistent changes before and after the low-force adjustments during the treatment period. Low-force chiropractic adjustment in the cervical and thoracic areas resulted in a consistent reduction of the body surface EMF after 4 weeks of active treatment. No statistically significant differences were found in the heart rate and heart rate variability in the 4-week study.

Robotic investigation on effect of stretch reflex and crossed inhibitory response on bipedal hopping

PubMed Central

Rosendo, Andre; Ikemoto, Shuhei; Shimizu, Masahiro; Hosoda, Koh

2018-01-01

To maintain balance during dynamic locomotion, the effects of proprioceptive sensory feedback control (e.g. reflexive control) should not be ignored because of its simple sensation and fast reaction time. Scientists have identified the pathways of reflexes; however, it is difficult to investigate their effects during locomotion because locomotion is controlled by a complex neural system and current technology does not allow us to change the control pathways in living humans. To understand these effects, we construct a musculoskeletal bipedal robot, which has similar body structure and dynamics to those of a human. By conducting experiments on this robot, we investigate the effects of reflexes (stretch reflex and crossed inhibitory response) on posture during hopping, a simple and representative bouncing gait with complex dynamics. Through over 300 hopping trials, we confirm that both the stretch reflex and crossed response can contribute to reducing the lateral inclination during hopping. These reflexive pathways do not use any prior knowledge of the dynamic information of the body such as its inclination. Beyond improving the understanding of the human neural system, this study provides roboticists with biomimetic ideas for robot locomotion control. PMID:29593088

Near-Body Grid Adaption for Overset Grids

NASA Technical Reports Server (NTRS)

Buning, Pieter G.; Pulliam, Thomas H.

2016-01-01

A solution adaption capability for curvilinear near-body grids has been implemented in the OVERFLOW overset grid computational fluid dynamics code. The approach follows closely that used for the Cartesian off-body grids, but inserts refined grids in the computational space of original near-body grids. Refined curvilinear grids are generated using parametric cubic interpolation, with one-sided biasing based on curvature and stretching ratio of the original grid. Sensor functions, grid marking, and solution interpolation tasks are implemented in the same fashion as for off-body grids. A goal-oriented procedure, based on largest error first, is included for controlling growth rate and maximum size of the adapted grid system. The adaption process is almost entirely parallelized using MPI, resulting in a capability suitable for viscous, moving body simulations. Two- and three-dimensional examples are presented.

Neuromechanic: a computational platform for simulation and analysis of the neural control of movement

PubMed Central

Bunderson, Nathan E.; Bingham, Jeffrey T.; Sohn, M. Hongchul; Ting, Lena H.; Burkholder, Thomas J.

2015-01-01

Neuromusculoskeletal models solve the basic problem of determining how the body moves under the influence of external and internal forces. Existing biomechanical modeling programs often emphasize dynamics with the goal of finding a feed-forward neural program to replicate experimental data or of estimating force contributions or individual muscles. The computation of rigid-body dynamics, muscle forces, and activation of the muscles are often performed separately. We have developed an intrinsically forward computational platform (Neuromechanic, www.neuromechanic.com) that explicitly represents the interdependencies among rigid body dynamics, frictional contact, muscle mechanics, and neural control modules. This formulation has significant advantages for optimization and forward simulation, particularly with application to neural controllers with feedback or regulatory features. Explicit inclusion of all state dependencies allows calculation of system derivatives with respect to kinematic states as well as muscle and neural control states, thus affording a wealth of analytical tools, including linearization, stability analyses and calculation of initial conditions for forward simulations. In this review, we describe our algorithm for generating state equations and explain how they may be used in integration, linearization and stability analysis tools to provide structural insights into the neural control of movement. PMID:23027632

Neuromechanic: a computational platform for simulation and analysis of the neural control of movement.

PubMed

Bunderson, Nathan E; Bingham, Jeffrey T; Sohn, M Hongchul; Ting, Lena H; Burkholder, Thomas J

2012-10-01

Neuromusculoskeletal models solve the basic problem of determining how the body moves under the influence of external and internal forces. Existing biomechanical modeling programs often emphasize dynamics with the goal of finding a feed-forward neural program to replicate experimental data or of estimating force contributions or individual muscles. The computation of rigid-body dynamics, muscle forces, and activation of the muscles are often performed separately. We have developed an intrinsically forward computational platform (Neuromechanic, www.neuromechanic.com) that explicitly represents the interdependencies among rigid body dynamics, frictional contact, muscle mechanics, and neural control modules. This formulation has significant advantages for optimization and forward simulation, particularly with application to neural controllers with feedback or regulatory features. Explicit inclusion of all state dependencies allows calculation of system derivatives with respect to kinematic states and muscle and neural control states, thus affording a wealth of analytical tools, including linearization, stability analyses and calculation of initial conditions for forward simulations. In this review, we describe our algorithm for generating state equations and explain how they may be used in integration, linearization, and stability analysis tools to provide structural insights into the neural control of movement. Copyright © 2012 John Wiley & Sons, Ltd.