Minimum Variance Distortionless Response Beamformer with Enhanced Nulling Level Control via Dynamic Mutated Artificial Immune System

PubMed Central

Kiong, Tiong Sieh; Salem, S. Balasem; Paw, Johnny Koh Siaw; Sankar, K. Prajindra

2014-01-01

In smart antenna applications, the adaptive beamforming technique is used to cancel interfering signals (placing nulls) and produce or steer a strong beam toward the target signal according to the calculated weight vectors. Minimum variance distortionless response (MVDR) beamforming is capable of determining the weight vectors for beam steering; however, its nulling level on the interference sources remains unsatisfactory. Beamforming can be considered as an optimization problem, such that optimal weight vector should be obtained through computation. Hence, in this paper, a new dynamic mutated artificial immune system (DM-AIS) is proposed to enhance MVDR beamforming for controlling the null steering of interference and increase the signal to interference noise ratio (SINR) for wanted signals. PMID:25003136

Minimum variance distortionless response beamformer with enhanced nulling level control via dynamic mutated artificial immune system.

PubMed

Kiong, Tiong Sieh; Salem, S Balasem; Paw, Johnny Koh Siaw; Sankar, K Prajindra; Darzi, Soodabeh

2014-01-01

In smart antenna applications, the adaptive beamforming technique is used to cancel interfering signals (placing nulls) and produce or steer a strong beam toward the target signal according to the calculated weight vectors. Minimum variance distortionless response (MVDR) beamforming is capable of determining the weight vectors for beam steering; however, its nulling level on the interference sources remains unsatisfactory. Beamforming can be considered as an optimization problem, such that optimal weight vector should be obtained through computation. Hence, in this paper, a new dynamic mutated artificial immune system (DM-AIS) is proposed to enhance MVDR beamforming for controlling the null steering of interference and increase the signal to interference noise ratio (SINR) for wanted signals.

Lightweight computational steering of very large scale molecular dynamics simulations

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

Beazley, D.M.; Lomdahl, P.S.

1996-09-01

We present a computational steering approach for controlling, analyzing, and visualizing very large scale molecular dynamics simulations involving tens to hundreds of millions of atoms. Our approach relies on extensible scripting languages and an easy to use tool for building extensions and modules. The system is extremely easy to modify, works with existing C code, is memory efficient, and can be used from inexpensive workstations and networks. We demonstrate how we have used this system to manipulate data from production MD simulations involving as many as 104 million atoms running on the CM-5 and Cray T3D. We also show howmore » this approach can be used to build systems that integrate common scripting languages (including Tcl/Tk, Perl, and Python), simulation code, user extensions, and commercial data analysis packages.« less

Robust gaze-steering of an active vision system against errors in the estimated parameters

NASA Astrophysics Data System (ADS)

Han, Youngmo

2015-01-01

Gaze-steering is often used to broaden the viewing range of an active vision system. Gaze-steering procedures are usually based on estimated parameters such as image position, image velocity, depth and camera calibration parameters. However, there may be uncertainties in these estimated parameters because of measurement noise and estimation errors. In this case, robust gaze-steering cannot be guaranteed. To compensate for such problems, this paper proposes a gaze-steering method based on a linear matrix inequality (LMI). In this method, we first propose a proportional derivative (PD) control scheme on the unit sphere that does not use depth parameters. This proposed PD control scheme can avoid uncertainties in the estimated depth and camera calibration parameters, as well as inconveniences in their estimation process, including the use of auxiliary feature points and highly non-linear computation. Furthermore, the control gain of the proposed PD control scheme on the unit sphere is designed using LMI such that the designed control is robust in the presence of uncertainties in the other estimated parameters, such as image position and velocity. Simulation results demonstrate that the proposed method provides a better compensation for uncertainties in the estimated parameters than the contemporary linear method and steers the gaze of the camera more steadily over time than the contemporary non-linear method.

Steering Law Design for Redundant Single Gimbal Control Moment Gyro Systems. M.S. Thesis - Massachusetts Inst. of Technology.

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth Sarkis

1987-01-01

The correspondence between robotic manipulators and single gimbal Control Moment Gyro (CMG) systems was exploited to aid in the understanding and design of single gimbal CMG Steering laws. A test for null motion near a singular CMG configuration was derived which is able to distinguish between escapable and unescapable singular states. Detailed analysis of the Jacobian matrix null-space was performed and results were used to develop and test a variety of single gimbal CMG steering laws. Computer simulations showed that all existing singularity avoidance methods are unable to avoid Elliptic internal singularities. A new null motion algorithm using the Moore-Penrose pseudoinverse, however, was shown by simulation to avoid Elliptic type singularities under certain conditions. The SR-inverse, with appropriate null motion was proposed as a general approach to singularity avoidance, because of its ability to avoid singularities through limited introduction of torque error. Simulation results confirmed the superior performance of this method compared to the other available and proposed pseudoinverse-based Steering laws.

Parallel-Processing Test Bed For Simulation Software

NASA Technical Reports Server (NTRS)

Blech, Richard; Cole, Gary; Townsend, Scott

1996-01-01

Second-generation Hypercluster computing system is multiprocessor test bed for research on parallel algorithms for simulation in fluid dynamics, electromagnetics, chemistry, and other fields with large computational requirements but relatively low input/output requirements. Built from standard, off-shelf hardware readily upgraded as improved technology becomes available. System used for experiments with such parallel-processing concepts as message-passing algorithms, debugging software tools, and computational steering. First-generation Hypercluster system described in "Hypercluster Parallel Processor" (LEW-15283).

Flagellated Magnetotactic Bacteria as Controlled MRI-trackable Propulsion and Steering Systems for Medical Nanorobots Operating in the Human Microvasculature.

PubMed

Martel, Sylvain; Mohammadi, Mahmood; Felfoul, Ouajdi; Lu, Zhao; Pouponneau, Pierre

2009-04-01

Although nanorobots may play critical roles for many applications in the human body such as targeting tumoral lesions for therapeutic purposes, miniaturization of the power source with an effective onboard controllable propulsion and steering system have prevented the implementation of such mobile robots. Here, we show that the flagellated nanomotors combined with the nanometer-sized magnetosomes of a single Magnetotactic Bacterium (MTB) can be used as an effective integrated propulsion and steering system for devices such as nanorobots designed for targeting locations only accessible through the smallest capillaries in humans while being visible for tracking and monitoring purposes using modern medical imaging modalities such as Magnetic Resonance Imaging (MRI). Through directional and magnetic field intensities, the displacement speeds, directions, and behaviors of swarms of these bacterial actuators can be controlled from an external computer.

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

Multivariable control theory applied to hierarchial attitude control for planetary spacecraft

NASA Technical Reports Server (NTRS)

Boland, J. S., III; Russell, D. W.

1972-01-01

Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included.

Improvements to the FATOLA computer program including nosewheel steering: Supplemental instruction manual

NASA Technical Reports Server (NTRS)

Carden, H. D.; Mcgehee, J. R.

1978-01-01

Modifications to a multidegree of freedom flexible aircraft take-off and landing analysis (FATOLA) computer program, which improved its simulation capabilities, are discussed, and supplemental instructions for use of the program are included. Sample analytical results which illustrate the capabilities of an added nosewheel steering option indicate consistent behavior of the airplane tracking, attitude, motions, and loads for the landing cases and steering situations which were investigated.

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data.

PubMed

Shahriari, Navid; Heerink, Wout; van Katwijk, Tim; Hekman, Edsko; Oudkerk, Matthijs; Misra, Sarthak

2017-07-01

Lung cancer is the most common cause of cancer-related death, and early detection can reduce the mortality rate. Patients with lung nodules greater than 10 mm usually undergo a computed tomography (CT)-guided biopsy. However, aligning the needle with the target is difficult and the needle tends to deflect from a straight path. In this work, we present a CT-compatible robotic system, which can both position the needle at the puncture point and also insert and rotate the needle. The robot has a remote-center-of-motion arm which is achieved through a parallel mechanism. A new needle steering scheme is also developed where CT images are fused with electromagnetic (EM) sensor data using an unscented Kalman filter. The data fusion allows us to steer the needle using the real-time EM tracker data. The robot design and the steering scheme are validated using three experimental cases. Experimental Case I and II evaluate the accuracy and CT-compatibility of the robot arm, respectively. In experimental Case III, the needle is steered towards 5 real targets embedded in an anthropomorphic gelatin phantom of the thorax. The mean targeting error for the 5 experiments is 1.78 ± 0.70 mm. The proposed robotic system is shown to be CT-compatible with low targeting error. Small nodule size and large needle diameter are two risk factors that can lead to complications in lung biopsy. Our results suggest that nodules larger than 5 mm in diameter can be targeted using our method which may result in lower complication rate. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Evaluation of a Computer-aided Lung Auscultation System for Diagnosis of Bovine Respiratory Disease in Feedlot Cattle.

PubMed

Mang, A V; Buczinski, S; Booker, C W; Timsit, E

2015-01-01

A computer-aided lung auscultation (CALA) system was recently developed to diagnose bovine respiratory disease (BRD) in feedlot cattle. To determine, in a case-control study, the level of agreement between CALA and veterinary lung auscultation and to evaluate the sensitivity (Se) and specificity (Sp) of CALA to diagnose BRD in feedlot cattle. A total of 561 Angus cross-steers (initial body weight = 246 ± 45 kg) were observed during the first 50 day after entry to a feedlot. Case-control study. Steers with visual signs of BRD identified by pen checkers were examined by a veterinarian, including lung auscultation using a conventional stethoscope and CALA that produced a lung score from 1 (normal) to 5 (chronic). For each steer examined for BRD, 1 apparently healthy steer was selected as control and similarly examined. Agreement between CALA and veterinary auscultation was assessed by kappa statistic. CALA's Se and Sp were estimated using Bayesian latent class analysis. Of the 561 steers, 35 were identified with visual signs of BRD and 35 were selected as controls. Comparison of veterinary auscultation and CALA (using a CALA score ≥2 as a cut off) revealed a substantial agreement (kappa = 0.77). Using latent class analysis, CALA had a relatively high Se (92.9%; 95% credible interval [CI] = 0.71-0.99) and Sp (89.6%; 95% CI = 0.64-0.99) for diagnosing BRD compared with pen checking. CALA had good diagnostic accuracy (albeit with a relatively wide CI). Its use in feedlots could increase the proportion of cattle accurately diagnosed with BRD. Copyright © 2015 The Authors. Journal of Veterinary Internal Medicine published by Wiley Periodicals, Inc. on behalf of the American College of Veterinary Internal Medicine.

Noise-resilient quantum evolution steered by dynamical decoupling

PubMed Central

Liu, Gang-Qin; Po, Hoi Chun; Du, Jiangfeng; Liu, Ren-Bao; Pan, Xin-Yu

2013-01-01

Realistic quantum computing is subject to noise. Therefore, an important frontier in quantum computing is to implement noise-resilient quantum control over qubits. At the same time, dynamical decoupling can protect the coherence of qubits. Here we demonstrate non-trivial quantum evolution steered by dynamical decoupling control, which simultaneously suppresses noise effects. We design and implement a self-protected controlled-NOT gate on the electron spin of a nitrogen-vacancy centre and a nearby carbon-13 nuclear spin in diamond at room temperature, by employing an engineered dynamical decoupling control on the electron spin. Final state fidelity of 0.91(1) is observed in preparation of a Bell state using the gate. At the same time, the qubit coherence time is elongated at least 30 fold. The design scheme does not require the dynamical decoupling control to commute with the qubit interaction and therefore works for general qubit systems. This work marks a step towards implementing realistic quantum computing systems. PMID:23912335

Noise-resilient quantum evolution steered by dynamical decoupling.

PubMed

Liu, Gang-Qin; Po, Hoi Chun; Du, Jiangfeng; Liu, Ren-Bao; Pan, Xin-Yu

2013-01-01

Realistic quantum computing is subject to noise. Therefore, an important frontier in quantum computing is to implement noise-resilient quantum control over qubits. At the same time, dynamical decoupling can protect the coherence of qubits. Here we demonstrate non-trivial quantum evolution steered by dynamical decoupling control, which simultaneously suppresses noise effects. We design and implement a self-protected controlled-NOT gate on the electron spin of a nitrogen-vacancy centre and a nearby carbon-13 nuclear spin in diamond at room temperature, by employing an engineered dynamical decoupling control on the electron spin. Final state fidelity of 0.91(1) is observed in preparation of a Bell state using the gate. At the same time, the qubit coherence time is elongated at least 30 fold. The design scheme does not require the dynamical decoupling control to commute with the qubit interaction and therefore works for general qubit systems. This work marks a step towards implementing realistic quantum computing systems.

Mid-sized omnidirectional robot with hydraulic drive and steering

NASA Astrophysics Data System (ADS)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Robustness of controllability and observability of linear time-varying systems with application to the emergency control of power systems

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

Sastry, S. S.; Desoer, C. A.

1980-01-01

Fixed point methods from nonlinear anaysis are used to establish conditions under which the uniform complete controllability of linear time-varying systems is preserved under non-linear perturbations in the state dynamics and the zero-input uniform complete observability of linear time-varying systems is preserved under non-linear perturbation in the state dynamics and output read out map. Algorithms for computing the specific input to steer the perturbed systems from a given initial state to a given final state are also presented. As an application, a very specific emergency control of an interconnected power system is formulated as a steering problem and it ismore » shown that this emergency control is indeed possible in finite time.« less

New approaches to enhance active steering system functionalities: preliminary results

NASA Astrophysics Data System (ADS)

Serarslan, Benan

2014-09-01

An important development of the steering systems in general is active steering systems like active front steering and steer-by-wire systems. In this paper the current functional possibilities in application of active steering systems are explored. A new approach and additional functionalities are presented that can be implemented to the active steering systems without additional hardware such as new sensors and electronic control units. Commercial active steering systems are controlling the steering angle depending on the driving situation only. This paper introduce methods for enhancing active steering system functionalities depending not only on the driving situation but also vehicle parameters like vehicle mass, tyre and road condition. In this regard, adaptation of the steering ratio as a function of above mentioned vehicle parameters is presented with examples. With some selected vehicle parameter changes, the reduction of the undesired influences on vehicle dynamics of these parameter changes has been demonstrated theoretically with simulations and with real-time driving measurements.

46 CFR 58.25-80 - Automatic pilots and ancillary steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-80 Automatic pilots and ancillary steering gear. (a) Automatic pilots and ancillary steering gear, and steering-gear control systems, must be arranged to allow immediate resumption of manual operation of the steering-gear control system required in...

46 CFR 58.25-80 - Automatic pilots and ancillary steering gear.

Code of Federal Regulations, 2011 CFR

2011-10-01

... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-80 Automatic pilots and ancillary steering gear. (a) Automatic pilots and ancillary steering gear, and steering-gear control systems, must be arranged to allow immediate resumption of manual operation of the steering-gear control system required in...

Steering and Suspension Systems. Auto Mechanics Curriculum Guide. Module 5. Instructor's Guide.

ERIC Educational Resources Information Center

Rains, Larry

This module is the fifth of nine modules in the competency-based Missouri Auto Mechanics Curriculum Guide. Seventeen units cover: steering system design; diagnosing steering systems problems; inspecting and replacing steering linkage components; manual and power steering gear service; manual and power rack and pinion steering gear service; power…

Automated vehicle guidance using discrete reference markers. [road surface steering techniques

NASA Technical Reports Server (NTRS)

Johnston, A. R.; Assefi, T.; Lai, J. Y.

1979-01-01

Techniques for providing steering control for an automated vehicle using discrete reference markers fixed to the road surface are investigated analytically. Either optical or magnetic approaches can be used for the sensor, which generates a measurement of the lateral offset of the vehicle path at each marker to form the basic data for steering control. Possible mechanizations of sensor and controller are outlined. Techniques for handling certain anomalous conditions, such as a missing marker, or loss of acquisition, and special maneuvers, such as u-turns and switching, are briefly discussed. A general analysis of the vehicle dynamics and the discrete control system is presented using the state variable formulation. Noise in both the sensor measurement and in the steering servo are accounted for. An optimal controller is simulated on a general purpose computer, and the resulting plots of vehicle path are presented. Parameters representing a small multipassenger tram were selected, and the simulation runs show response to an erroneous sensor measurement and acquisition following large initial path errors.

A robotic wheelchair trainer: design overview and a feasibility study

PubMed Central

2010-01-01

Background Experiencing independent mobility is important for children with a severe movement disability, but learning to drive a powered wheelchair can be labor intensive, requiring hand-over-hand assistance from a skilled therapist. Methods To improve accessibility to training, we developed a robotic wheelchair trainer that steers itself along a course marked by a line on the floor using computer vision, haptically guiding the driver's hand in appropriate steering motions using a force feedback joystick, as the driver tries to catch a mobile robot in a game of "robot tag". This paper provides a detailed design description of the computer vision and control system. In addition, we present data from a pilot study in which we used the chair to teach children without motor impairment aged 4-9 (n = 22) to drive the wheelchair in a single training session, in order to verify that the wheelchair could enable learning by the non-impaired motor system, and to establish normative values of learning rates. Results and Discussion Training with haptic guidance from the robotic wheelchair trainer improved the steering ability of children without motor impairment significantly more than training without guidance. We also report the results of a case study with one 8-year-old child with a severe motor impairment due to cerebral palsy, who replicated the single-session training protocol that the non-disabled children participated in. This child also improved steering ability after training with guidance from the joystick by an amount even greater than the children without motor impairment. Conclusions The system not only provided a safe, fun context for automating driver's training, but also enhanced motor learning by the non-impaired motor system, presumably by demonstrating through intuitive movement and force of the joystick itself exemplary control to follow the course. The case study indicates that a child with a motor system impaired by CP can also gain a short-term benefit from driver's training with haptic guidance. PMID:20707886

A robotic wheelchair trainer: design overview and a feasibility study.

PubMed

Marchal-Crespo, Laura; Furumasu, Jan; Reinkensmeyer, David J

2010-08-13

Experiencing independent mobility is important for children with a severe movement disability, but learning to drive a powered wheelchair can be labor intensive, requiring hand-over-hand assistance from a skilled therapist. To improve accessibility to training, we developed a robotic wheelchair trainer that steers itself along a course marked by a line on the floor using computer vision, haptically guiding the driver's hand in appropriate steering motions using a force feedback joystick, as the driver tries to catch a mobile robot in a game of "robot tag". This paper provides a detailed design description of the computer vision and control system. In addition, we present data from a pilot study in which we used the chair to teach children without motor impairment aged 4-9 (n = 22) to drive the wheelchair in a single training session, in order to verify that the wheelchair could enable learning by the non-impaired motor system, and to establish normative values of learning rates. Training with haptic guidance from the robotic wheelchair trainer improved the steering ability of children without motor impairment significantly more than training without guidance. We also report the results of a case study with one 8-year-old child with a severe motor impairment due to cerebral palsy, who replicated the single-session training protocol that the non-disabled children participated in. This child also improved steering ability after training with guidance from the joystick by an amount even greater than the children without motor impairment. The system not only provided a safe, fun context for automating driver's training, but also enhanced motor learning by the non-impaired motor system, presumably by demonstrating through intuitive movement and force of the joystick itself exemplary control to follow the course. The case study indicates that a child with a motor system impaired by CP can also gain a short-term benefit from driver's training with haptic guidance.

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Power-driven steering systems. 169.623 Section 169.623 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.623 Power-driven steering systems. (a) Power-driven steering...

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Power-driven steering systems. 169.623 Section 169.623 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.623 Power-driven steering systems. (a) Power-driven steering...

Simulation development and evaluation of an improved longitudinal velocity vector control wheel steering mode and electronic display format

NASA Technical Reports Server (NTRS)

Steinmetz, G. G.

1980-01-01

Using simulation, an improved longitudinal velocity vector control wheel steering mode and an improved electronic display format for an advanced flight system were developed and tested. Guidelines for the development phase were provided by test pilot critique summaries of the previous system. The results include performances from computer generated step column inputs across the full airplane speed and configuration envelope, as well as piloted performance results taken from a reference line tracking task and an approach to landing task conducted under various environmental conditions. The analysis of the results for the reference line tracking and approach to landing tasks indicates clearly detectable improvement in pilot tracking accuracy with a reduction in physical workload. The original objectives of upgrading the longitudinal axis of the velocity vector control wheel steering mode were successfully met when measured against the test pilot critique summaries and the original purpose outlined for this type of augment control mode.

Experimental verification of multidimensional quantum steering

NASA Astrophysics Data System (ADS)

Li, Che-Ming; Lo, Hsin-Pin; Chen, Liang-Yu; Yabushita, Atsushi

2018-03-01

Quantum steering enables one party to communicate with another remote party even if the sender is untrusted. Such characteristics of quantum systems not only provide direct applications to quantum information science, but are also conceptually important for distinguishing between quantum and classical resources. While concrete illustrations of steering have been shown in several experiments, quantum steering has not been certified for higher dimensional systems. Here, we introduce a simple method to experimentally certify two different kinds of quantum steering: Einstein-Podolsky-Rosen (EPR) steering and single-system (SS) steering (i.e., temporal steering), for dimensionality (d) up to d = 16. The former reveals the steerability among bipartite systems, whereas the latter manifests itself in single quantum objects. We use multidimensional steering witnesses to verify EPR steering of polarization-entangled pairs and SS steering of single photons. The ratios between the measured witnesses and the maximum values achieved by classical mimicries are observed to increase with d for both EPR and SS steering. The designed scenario offers a new method to study further the genuine multipartite steering of large dimensionality and potential uses in quantum information processing.

Common Ada (tradename) Missile Package (CAMP) Project. Missile Software Parts. Volume 8. Detail Design Document

DTIC Science & Technology

1988-03-01

PACKAGE BODY ) TLCSC P661 (CATALOG #P106-0) This package contains the CAMP parts required to do the vaypoint steering portion of navigation. The...3.3.4.1.6 PROCESSING The following describes the processing performed by this part: package body WaypointSteering is package body ...Steering_Vector_Operations is separate; package body Steering_Vector_Operations_with_Arcsin is separate; procedure Compute Turn_Angle_and Direction (UnitNormal C

Development of a mobile robot for the 1995 AUVS competition

NASA Astrophysics Data System (ADS)

Matthews, Bradley O.; Ruthemeyer, Michael A.; Perdue, David; Hall, Ernest L.

1995-12-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors systems. The speed and steering control are supervised by a 486 computer through a 3-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. The is micro-controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system, where even computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating with the computer the X,Y coordinates of the lane marker. Testing of these systems yielded positive results by showing that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous controller applicable for any mobile vehicle with only minor adaptations.

Logical synchronization: how evidence and hypotheses steer atomic clocks

NASA Astrophysics Data System (ADS)

Myers, John M.; Madjid, F. Hadi

2014-05-01

A clock steps a computer through a cycle of phases. For the propagation of logical symbols from one computer to another, each computer must mesh its phases with arrivals of symbols from other computers. Even the best atomic clocks drift unforeseeably in frequency and phase; feedback steers them toward aiming points that depend on a chosen wave function and on hypotheses about signal propagation. A wave function, always under-determined by evidence, requires a guess. Guessed wave functions are coded into computers that steer atomic clocks in frequency and position—clocks that step computers through their phases of computations, as well as clocks, some on space vehicles, that supply evidence of the propagation of signals. Recognizing the dependence of the phasing of symbol arrivals on guesses about signal propagation elevates `logical synchronization.' from its practice in computer engineering to a dicipline essential to physics. Within this discipline we begin to explore questions invisible under any concept of time that fails to acknowledge the unforeseeable. In particular, variation of spacetime curvature is shown to limit the bit rate of logical communication.

Steering system for a train of rail-less vehicles

DOEpatents

Voight, Edward T.

1983-01-01

A steering system for use with a multiple vehicle train permits tracking without rails of one vehicle after another. This system is particularly useful for moving conveyor systems into and out of curved paths of room and pillar underground mine installations. The steering system features an elongated steering bar pivotally connected to each of adjacent vehicles at end portions of the bar permitting angular orientation of each vehicle in respect to the steering bar and other vehicles. Each end portion of the steering bar is linked to the near pair of vehicle wheels through wheel yoke pivot arms about king pin type pivots. Movement of the steering bar about its pivotal connection provides proportional turning of the wheels to effect steering and tracking of one vehicle following another in both forward and reverse directions.

Feasibility of Onboard Processing of Heuristic Path Planning and Navigation Algorithms within SUAS Autopilot Computational Constraints

DTIC Science & Technology

2014-03-01

brake_group > NONE </ brake_group > <retractable>0</retractable> </contact> <contact type="BOGEY" name="RIGHT_MLG...damping_coeff> <max_steer unit="DEG"> 0.0 </max_steer> < brake_group > NONE </ brake_group > <retractable>0</retractable...damping_coeff unit="LBS/FT/SEC"> 100 </damping_coeff> <max_steer unit="DEG"> 360.0 </max_steer> < brake_group > NONE

A multiarchitecture parallel-processing development environment

NASA Technical Reports Server (NTRS)

Townsend, Scott; Blech, Richard; Cole, Gary

1993-01-01

A description is given of the hardware and software of a multiprocessor test bed - the second generation Hypercluster system. The Hypercluster architecture consists of a standard hypercube distributed-memory topology, with multiprocessor shared-memory nodes. By using standard, off-the-shelf hardware, the system can be upgraded to use rapidly improving computer technology. The Hypercluster's multiarchitecture nature makes it suitable for researching parallel algorithms in computational field simulation applications (e.g., computational fluid dynamics). The dedicated test-bed environment of the Hypercluster and its custom-built software allows experiments with various parallel-processing concepts such as message passing algorithms, debugging tools, and computational 'steering'. Such research would be difficult, if not impossible, to achieve on shared, commercial systems.

Analysis of hydraulic steering system of tracked all-terrain vehicles' articulated mechanism

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

As for the researches on the dynamic characteristics of tracked all-terrain vehicles' articulated mechanism, the hydraulic feature of their steering system needs researching more, apart from the study on mechanical models. According to the maximum pressure required by the steering system of tracked all-terrain vehicle and the principle of the steering system, this paper conducts an analysis of the hydraulic steering system of the articulated mechanism. Based on the structure principle of the steering gear, a simulation model of the tracked all-terrain vehicle turning left is built. When building the simulation model of the steering gear, it makes a simulation analysis, taking the tracked all-terrain vehicle turning left as an example.

Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images

PubMed Central

Vrooijink, Gustaaf J.; Abayazid, Momen; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak

2015-01-01

Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimensional (2D) ultrasound images. The needle is steered to a moving target while avoiding moving obstacles in a three-dimensional (3D) non-static environment. Using a 2D ultrasound imaging device, our system accurately tracks the needle tip motion in 3D space in order to estimate the tip pose. The needle tip pose is used by a rapidly exploring random tree-based motion planner to compute a feasible needle path to the target. The motion planner is sufficiently fast such that replanning can be performed repeatedly in a closed-loop manner. This enables the system to correct for perturbations in needle motion, and movement in obstacle and target locations. Our needle steering experiments in a soft-tissue phantom achieves maximum targeting errors of 0.86 ± 0.35 mm (without obstacles) and 2.16 ± 0.88 mm (with a moving obstacle). PMID:26279600

VASA: Interactive Computational Steering of Large Asynchronous Simulation Pipelines for Societal Infrastructure.

PubMed

Ko, Sungahn; Zhao, Jieqiong; Xia, Jing; Afzal, Shehzad; Wang, Xiaoyu; Abram, Greg; Elmqvist, Niklas; Kne, Len; Van Riper, David; Gaither, Kelly; Kennedy, Shaun; Tolone, William; Ribarsky, William; Ebert, David S

2014-12-01

We present VASA, a visual analytics platform consisting of a desktop application, a component model, and a suite of distributed simulation components for modeling the impact of societal threats such as weather, food contamination, and traffic on critical infrastructure such as supply chains, road networks, and power grids. Each component encapsulates a high-fidelity simulation model that together form an asynchronous simulation pipeline: a system of systems of individual simulations with a common data and parameter exchange format. At the heart of VASA is the Workbench, a visual analytics application providing three distinct features: (1) low-fidelity approximations of the distributed simulation components using local simulation proxies to enable analysts to interactively configure a simulation run; (2) computational steering mechanisms to manage the execution of individual simulation components; and (3) spatiotemporal and interactive methods to explore the combined results of a simulation run. We showcase the utility of the platform using examples involving supply chains during a hurricane as well as food contamination in a fast food restaurant chain.

Iterative computation of generalized inverses, with an application to CMG steering laws

NASA Technical Reports Server (NTRS)

Steincamp, J. W.

1971-01-01

A cubically convergent iterative method for computing the generalized inverse of an arbitrary M X N matrix A is developed and a FORTRAN subroutine by which the method was implemented for real matrices on a CDC 3200 is given, with a numerical example to illustrate accuracy. Application to a redundant single-gimbal CMG assembly steering law is discussed.

Beam director design report: Volume 1

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

Younger, F.C.

1986-08-01

A design and fabrication effort for a beam director is documented. The conceptual design provides for the beam to pass first through a bending and focusing system (or ''achromat''), through a second achromat, through an air-to-vacuum interface (the ''beam window''), and finally through the vernier steering system. Following an initial concept study for a beam director, a prototype permanent magnet 30/sup 0/ beam-bending achromat and a prototype vernier steering magnet were designed and built. In volume I, the design requirements are stated, the design is summarized and illustrated, and detailed analysis and computations are provided. Also, a summary of materialsmore » used, a description of the manufacturing process, and a summary of project funding are provided. (LEW)« less

Steering a Tractor by Means of an EMG-Based Human-Machine Interface

PubMed Central

Gomez-Gil, Jaime; San-Jose-Gonzalez, Israel; Nicolas-Alonso, Luis Fernando; Alonso-Garcia, Sergio

2011-01-01

An electromiographic (EMG)-based human-machine interface (HMI) is a communication pathway between a human and a machine that operates by means of the acquisition and processing of EMG signals. This article explores the use of EMG-based HMIs in the steering of farm tractors. An EPOC, a low-cost human-computer interface (HCI) from the Emotiv Company, was employed. This device, by means of 14 saline sensors, measures and processes EMG and electroencephalographic (EEG) signals from the scalp of the driver. In our tests, the HMI took into account only the detection of four trained muscular events on the driver’s scalp: eyes looking to the right and jaw opened, eyes looking to the right and jaw closed, eyes looking to the left and jaw opened, and eyes looking to the left and jaw closed. The EMG-based HMI guidance was compared with manual guidance and with autonomous GPS guidance. A driver tested these three guidance systems along three different trajectories: a straight line, a step, and a circumference. The accuracy of the EMG-based HMI guidance was lower than the accuracy obtained by manual guidance, which was lower in turn than the accuracy obtained by the autonomous GPS guidance; the computed standard deviations of error to the desired trajectory in the straight line were 16 cm, 9 cm, and 4 cm, respectively. Since the standard deviation between the manual guidance and the EMG-based HMI guidance differed only 7 cm, and this difference is not relevant in agricultural steering, it can be concluded that it is possible to steer a tractor by an EMG-based HMI with almost the same accuracy as with manual steering. PMID:22164006

Steering a tractor by means of an EMG-based human-machine interface.

PubMed

Gomez-Gil, Jaime; San-Jose-Gonzalez, Israel; Nicolas-Alonso, Luis Fernando; Alonso-Garcia, Sergio

2011-01-01

An electromiographic (EMG)-based human-machine interface (HMI) is a communication pathway between a human and a machine that operates by means of the acquisition and processing of EMG signals. This article explores the use of EMG-based HMIs in the steering of farm tractors. An EPOC, a low-cost human-computer interface (HCI) from the Emotiv Company, was employed. This device, by means of 14 saline sensors, measures and processes EMG and electroencephalographic (EEG) signals from the scalp of the driver. In our tests, the HMI took into account only the detection of four trained muscular events on the driver's scalp: eyes looking to the right and jaw opened, eyes looking to the right and jaw closed, eyes looking to the left and jaw opened, and eyes looking to the left and jaw closed. The EMG-based HMI guidance was compared with manual guidance and with autonomous GPS guidance. A driver tested these three guidance systems along three different trajectories: a straight line, a step, and a circumference. The accuracy of the EMG-based HMI guidance was lower than the accuracy obtained by manual guidance, which was lower in turn than the accuracy obtained by the autonomous GPS guidance; the computed standard deviations of error to the desired trajectory in the straight line were 16 cm, 9 cm, and 4 cm, respectively. Since the standard deviation between the manual guidance and the EMG-based HMI guidance differed only 7 cm, and this difference is not relevant in agricultural steering, it can be concluded that it is possible to steer a tractor by an EMG-based HMI with almost the same accuracy as with manual steering.

46 CFR 115.814 - Steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Steering systems. 115.814 Section 115.814 Shipping COAST... Inspections § 115.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of the vessel and make them...

46 CFR 115.814 - Steering systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Steering systems. 115.814 Section 115.814 Shipping COAST... Inspections § 115.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of the vessel and make them...

46 CFR 115.814 - Steering systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Steering systems. 115.814 Section 115.814 Shipping COAST... Inspections § 115.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of the vessel and make them...

46 CFR 176.814 - Steering systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 7 2014-10-01 2014-10-01 false Steering systems. 176.814 Section 176.814 Shipping COAST...) INSPECTION AND CERTIFICATION Material Inspections § 176.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of...

46 CFR 176.814 - Steering systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 7 2013-10-01 2013-10-01 false Steering systems. 176.814 Section 176.814 Shipping COAST...) INSPECTION AND CERTIFICATION Material Inspections § 176.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of...

46 CFR 176.814 - Steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering systems. 176.814 Section 176.814 Shipping COAST...) INSPECTION AND CERTIFICATION Material Inspections § 176.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of...

Test Duration for Water Intake, Average Daily Gain, and Dry Matter Intake in Beef Cattle.

PubMed

Ahlberg, C M; Allwardt, K; Broocks, A; Bruno, K; McPhillips, L; Taylor, A; Krehbiel, C R; Calvo-Lorenzo, M; Richards, C J; Place, S E; DeSilva, U; VanOverbeke, D L; Mateescu, R G; Kuehn, L A; Weaber, R L; Bormann, J M; Rolf, M M

2018-05-22

Water is an essential nutrient, but the effect it has on performance generally receives little attention. There are few systems and guidelines for collection of water intake phenotypes in beef cattle, which makes large-scale research on water intake a challenge. The Beef Improvement Federation has established guidelines for feed intake and average daily gain tests, but no guidelines exist for water intake. The goal of this study was to determine the test duration necessary for collection of accurate water intake phenotypes. To facilitate this goal, individual daily water intake (WI) and feed intake (FI) records were collected on 578 crossbred steers for a total of 70 d using an Insentec system at the Oklahoma State University Willard Sparks Beef Research Unit. Steers were fed in 5 groups and were individually weighed every 14 days. Within each group, steers were blocked by body weight (low and high) and randomly assigned to 1 of 4 pens containing approximately 30 steers per pen. Each pen provided 103.0 m2 of shade and included an Insentec system containing 6 feed bunks and 1 water bunk. Steers were fed a constant diet across groups and dry matter intake was calculated using the average of weekly percent dry matter within group. Average feed and water intakes for each animal were computed for increasingly large test durations (7, 14, 21, 28, 35, 42, 49, 56, 63 and 70 d), and ADG was calculated using a regression formed from body weights (BW) taken every14 d (0, 14, 28, 42, 56, and 70 d). Intervals for all traits were computed starting from both the beginning (d 0) and the end of the testing period (d 70). Pearson and Spearman correlations were computed for phenotypes from each shortened test period and for the full 70-d test. Minimum test duration was determined when the Pearson correlations were greater than 0.95 for each trait. Our results indicated that minimum test duration for WI, DMI, and ADG were 35, 42, and 70 d, respectively. No comparable studies exist for WI; however, our results for FI and ADG are consistent with those in the literature. Although further testing in other populations of cattle and areas of the country should take place, our results suggest that WI phenotypes can be collected concurrently with DMI, without extending test duration, even if following procedures for decoupled intake and gain tests.

User guide to a command and control system; a part of a prelaunch wind monitoring program

NASA Technical Reports Server (NTRS)

Cowgill, G. R.

1976-01-01

A set of programs called Command and Control System (CCS), intended as a user manual, is described for the operation of CCS by the personnel supporting the wind monitoring portion of the launch mission. Wind data obtained by tracking balloons is sent by electronic means using telephone lines to other locations. Steering commands are computed from a system called ADDJUST for the on-board computer and relays this data. Data are received and automatically stored in a microprocessor, then via a real time program transferred to the UNIVAC 1100/40 computer. At this point the data is available to be used by the Command and Control system.

TRAGEN: Computer program to simulate an aircraft steered to follow a specified verticle profile. User's guide

NASA Technical Reports Server (NTRS)

1983-01-01

The longitudinal dynamics of a medium range twin-jet or tri-jet transport aircraft are simulated. For the climbing trajectory, the thrust is constrained to maximum value, and for descent, the thrust is set at idle. For cruise, the aircraft is held in the trim condition. For climb or descent, the aircraft is steered to follow either (a) a fixed profile which is input to the program or (b) a profile computed at the beginning of that segment of the run. For climb, the aircraft is steered to maintain the given airspeed as a function of altitude. For descent, the aircraft is steered to maintain the given altitude as a function of range-to-go. In both cases, the control variable is angle-of-attack. The given output trajectory is presented and compared with the input trajectory. Step climb is treated just as climb. For cruise, the Breguet equations are used to compute the fuel burned to achieve a given range and to connect given initial and final values of altitude and Mach number.

Laser Beam Steering/shaping for Free Space Optical Communication

NASA Technical Reports Server (NTRS)

Wang, Xinghua; Wang, Bin; Bos, Philip J.; Anderson, James E.; Pouch, John; Miranda, Felix; McManamon, Paul F.

2004-01-01

The 2-D Optical Phased Array (OPA) antenna based on a Liquid Crystal On Silicon (LCoS) device can be considered for use in free space optical communication as an active beam controlling device. Several examples of the functionality of the device include: beam steering in the horizontal and elevation direction; high resolution wavefront compensation in a large telescope; and beam shaping with the computer generated kinoform. Various issues related to the diffraction efficiency, steering range, steering accuracy as well as the magnitude of wavefront compensation are discussed.

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm system must be supplied by a circuit that: (a) Is independent of other steering gear system and steering...

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm system must be supplied by a circuit that: (a) Is independent of other steering gear system and steering...

Needle Steering in 3-D Via Rapid Replanning

PubMed Central

Patil, Sachin; Burgner, Jessica; Webster, Robert J.; Alterovitz, Ron

2014-01-01

Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in 3-D environments while avoiding obstacles and compensating for real-world uncertainties. Given a specification of anatomical obstacles and a clinical target (e.g., from preoperative medical images), our system plans and controls needle motion in a closed-loop fashion under sensory feedback to optimize a clinical metric. We unify planning and control using a new fast algorithm that continuously replans the needle motion. Our rapid replanning approach is enabled by an efficient sampling-based rapidly exploring random tree (RRT) planner that achieves orders-of-magnitude reduction in computation time compared with prior 3-D approaches by incorporating variable curvature kinematics and a novel distance metric for planning. Our system uses an electromagnetic tracking system to sense the state of the needle tip during the procedure. We experimentally evaluate our needle steering system using tissue phantoms and animal tissue ex vivo. We demonstrate that our rapid replanning strategy successfully guides the needle around obstacles to desired 3-D targets with an average error of less than 3 mm. PMID:25435829

A novel estimating method for steering efficiency of the driver with electromyography signals

NASA Astrophysics Data System (ADS)

Liu, Yahui; Ji, Xuewu; Hayama, Ryouhei; Mizuno, Takahiro

2014-05-01

The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering system especially the evaluation of its comfort, the steering efficiency of driver physiological output usually are not considered, because this physiological output is difficult to measure or to estimate, and the objective evaluation of steering comfort therefore cannot be conducted with movement efficiency perspective. In order to take a further step to the objective evaluation of steering comfort, an estimating method for the steering efficiency of the driver was developed based on the research of the relationship between the steering force and muscle activity. First, the steering forces in the steering wheel plane and the electromyography (EMG) signals of the primary muscles were measured. These primary muscles are the muscles in shoulder and upper arm which mainly produced the steering torque, and their functions in steering maneuver were identified previously. Next, based on the multiple regressions of the steering force and EMG signals, both the effective steering force and the total force capacity of driver in steering maneuver were calculated. Finally, the steering efficiency of driver was estimated by means of the estimated effective force and the total force capacity, which represented the information of driver physiological output of the primary muscles. This research develops a novel estimating method for driver steering efficiency of driver physiological output, including the estimation of both steering force and the force capacity of primary muscles with EMG signals, and will benefit to evaluate the steering comfort with an objective perspective.

Quick realization of a ship steering training simulation system by virtual reality

NASA Astrophysics Data System (ADS)

Sun, Jifeng; Zhi, Pinghua; Nie, Weiguo

2003-09-01

This paper addresses two problems of a ship handling simulator. Firstly, 360 scene generation, especially 3D dynamic sea wave modeling, is described. Secondly, a multi-computer complementation of ship handling simulator. This paper also gives the experimental results of the proposed ship handling simulator.

Spatial aliasing for efficient direction-of-arrival estimation based on steering vector reconstruction

NASA Astrophysics Data System (ADS)

Yan, Feng-Gang; Cao, Bin; Rong, Jia-Jia; Shen, Yi; Jin, Ming

2016-12-01

A new technique is proposed to reduce the computational complexity of the multiple signal classification (MUSIC) algorithm for direction-of-arrival (DOA) estimate using a uniform linear array (ULA). The steering vector of the ULA is reconstructed as the Kronecker product of two other steering vectors, and a new cost function with spatial aliasing at hand is derived. Thanks to the estimation ambiguity of this spatial aliasing, mirror angles mathematically relating to the true DOAs are generated, based on which the full spectral search involved in the MUSIC algorithm is highly compressed into a limited angular sector accordingly. Further complexity analysis and performance studies are conducted by computer simulations, which demonstrate that the proposed estimator requires an extremely reduced computational burden while it shows a similar accuracy to the standard MUSIC.

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

Prospective guidance in a free-swimming cell.

PubMed

Delafield-Butt, Jonathan T; Pepping, Gert-Jan; McCaig, Colin D; Lee, David N

2012-07-01

A systems theory of movement control in animals is presented in this article and applied to explaining the controlled behaviour of the single-celled Paramecium caudatum in an electric field. The theory-General Tau Theory-is founded on three basic principles: (i) all purposive movement entails prospectively controlling the closure of action-gaps (e.g. a distance gap when reaching, or an angle gap when steering); (ii) the sole informational variable required for controlling gaps is the relative rate of change of the gap (the time derivative of the gap size divided by the size), which can be directly sensed; and (iii) a coordinated movement is achieved by keeping the relative rates of change of gaps in a constant ratio. The theory is supported by studies of controlled movement in mammals, birds and insects. We now show for the first time that it is also supported by single-celled paramecia steering to the cathode in a bi-polar electric field. General Tau Theory is deployed to explain this guided steering by the cell. This article presents the first computational model of prospective perceptual control in a non-neural, single-celled system.

46 CFR 58.25-10 - Main and auxiliary steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Main and auxiliary steering gear. 58.25-10 Section 58.25... AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-10 Main and auxiliary steering gear. (a) Power-operated main and auxiliary steering gear must be separate systems that are independent throughout their...

Demonstration of Multisetting One-Way Einstein-Podolsky-Rosen Steering in Two-Qubit Systems

NASA Astrophysics Data System (ADS)

Xiao, Ya; Ye, Xiang-Jun; Sun, Kai; Xu, Jin-Shi; Li, Chuan-Feng; Guo, Guang-Can

2017-04-01

Einstein-Podolsky-Rosen (EPR) steering describes the ability of one party to remotely affect another's state through local measurements. One of the most distinguishable properties of EPR steering is its asymmetric aspect. Steering can work in one direction but fail in the opposite direction. This type of one-way steering, which is different from the symmetry concepts of entanglement and Bell nonlocality, has garnered much interest. However, an experimental demonstration of genuine one-way EPR steering in the simplest scenario, i.e., one that employs two-qubit systems, is still lacking. In this Letter, we experimentally demonstrate one-way EPR steering with multimeasurement settings for a class of two-qubit states, which are still one-way steerable even with infinite settings. The steerability is quantified by the steering radius, which represents a necessary and sufficient steering criterion. The demonstrated one-way steering in the simplest bipartite quantum system is of fundamental interest and may provide potential applications in one-way quantum information tasks.

Visual control of prey-capture flight in dragonflies.

PubMed

Olberg, Robert M

2012-04-01

Interacting with a moving object poses a computational problem for an animal's nervous system. This problem has been elegantly solved by the dragonfly, a formidable visual predator on flying insects. The dragonfly computes an interception flight trajectory and steers to maintain it during its prey-pursuit flight. This review summarizes current knowledge about pursuit behavior and neurons thought to control interception in the dragonfly. When understood, this system has the potential for explaining how a small group of neurons can control complex interactions with moving objects. Copyright © 2011 Elsevier Ltd. All rights reserved.

Driver behavior following an automatic steering intervention.

PubMed

Fricke, Nicola; Griesche, Stefan; Schieben, Anna; Hesse, Tobias; Baumann, Martin

2015-10-01

The study investigated driver behavior toward an automatic steering intervention of a collision mitigation system. Forty participants were tested in a driving simulator and confronted with an inevitable collision. They performed a naïve drive and afterwards a repeated exposure in which they were told to hold the steering wheel loosely. In a third drive they experienced a false alarm situation. Data on driving behavior, i.e. steering and braking behavior as well as subjective data was assessed in the scenarios. Results showed that most participants held on to the steering wheel strongly or counter-steered during the system intervention during the first encounter. Moreover, subjective data collected after the first drive showed that the majority of drivers was not aware of the system intervention. Data from the repeated drive in which participants were instructed to hold the steering wheel loosely, led to significantly more participants holding the steering wheel loosely and thus complying with the instruction. This study seems to imply that without knowledge and information of the system about an upcoming intervention, the most prevalent driving behavior is a strong reaction with the steering wheel similar to an automatic steering reflex which decreases the system's effectiveness. Results of the second drive show some potential for countermeasures, such as informing drivers shortly before a system intervention in order to prevent inhibiting reactions. Copyright © 2015 Elsevier Ltd. All rights reserved.

Modeling of electronic power steering system for IKCO SAMAND vehicle and investigating on its performance via CARSIM software

NASA Astrophysics Data System (ADS)

Haghgoo, Esmail; Zamani, Mohammad; Sharbati, Ali

2017-02-01

The point of this article is introducing the usage of electronic power steering (ESP) system in IKCO SAMAND vehicle and investigating on it's benefit's. Also the operation of electronic steering system and it's performance in IKCO SAMAND vehicle have been described. The optimization of IC engine efficiency and it's fuel consumption have been simulated via ADVISOR software used in MATLAB software. Usually, mechanical steering systems and hydraulic steering systems are producing inside IRAN that the mechanical types have not accepted because of it's too many disadvantages. The hydraulic steering systems, that have been replaced with mechanical types, indeed have the same features with mechanical types but with a difference which they have a hydraulic booster to facilitate the rotation of steering wheel. Beside advantages in hydraulic systems, they are some disadvantages in this system that one of the most important of them is reducing the output power of engine. To restore this power dissipated, we use ESP systems. In this article output diagrams given by software, are showing that IKCO SAMAND vehicle which equipped with ESP system, exerts less torque and power on steering wheel. This improves the safety of driver and also performance of the vehicle at high speeds and reduces fuel consumption beside increasing the efficiency of IC engine.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system.

PubMed

Hartbauer, Manfred

2017-02-15

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the 'collision-detector neurons' of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a 'danger zone', in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200  ×  100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system

PubMed Central

Hartbauer, Manfred

2018-01-01

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the ‘collision-detector neurons’ of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a ‘danger zone’, in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200 × 100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly. PMID:28091394

Design and evaluation of a computed tomography (CT)-compatible needle insertion device using an electromagnetic tracking system and CT images.

PubMed

Shahriari, Navid; Hekman, Edsko; Oudkerk, Matthijs; Misra, Sarthak

2015-11-01

Percutaneous needle insertion procedures are commonly used for diagnostic and therapeutic purposes. Although current technology allows accurate localization of lesions, they cannot yet be precisely targeted. Lung cancer is the most common cause of cancer-related death, and early detection reduces the mortality rate. Therefore, suspicious lesions are tested for diagnosis by performing needle biopsy. In this paper, we have presented a novel computed tomography (CT)-compatible needle insertion device (NID). The NID is used to steer a flexible needle (φ0.55 mm) with a bevel at the tip in biological tissue. CT images and an electromagnetic (EM) tracking system are used in two separate scenarios to track the needle tip in three-dimensional space during the procedure. Our system uses a control algorithm to steer the needle through a combination of insertion and minimal number of rotations. Noise analysis of CT images has demonstrated the compatibility of the device. The results for three experimental cases (case 1: open-loop control, case 2: closed-loop control using EM tracking system and case 3: closed-loop control using CT images) are presented. Each experimental case is performed five times, and average targeting errors are 2.86 ± 1.14, 1.11 ± 0.14 and 1.94 ± 0.63 mm for case 1, case 2 and case 3, respectively. The achieved results show that our device is CT-compatible and it is able to steer a bevel-tipped needle toward a target. We are able to use intermittent CT images and EM tracking data to control the needle path in a closed-loop manner. These results are promising and suggest that it is possible to accurately target the lesions in real clinical procedures in the future.

Surviving OR computerization.

PubMed

Beach, Myra Jo; Sions, Jacqueline A

2011-02-01

In 2007, a steering committee at West Virginia University Hospitals, Morgantown, began a three-year, accelerated design, computer implementation project to institute an automated perioperative record. The process included budgeting, selecting a vendor, designing and building the system, educating perioperative staff members, implementing the system, and re-evaluating the system for upgrades. Important steps in designing and building the system included mapping patient care and documentation processes, assessing software and hardware needs, and creating a new preference card system and surgical scheduling system. Staff members were educated to use the new computer applications via contests, inservice programs, hands-on learning modules, and a preimplementation rehearsal. Role-based security ensures that staff members are granted access to the computer applications they need to perform the work defined by their scope of practice. Planning ensures that the computer system will be maintained and enhanced over time. Copyright © 2011 AORN, Inc. Published by Elsevier Inc. All rights reserved.

46 CFR 130.140 - Steering on OSVs of 100 or more gross tons.

Code of Federal Regulations, 2014 CFR

2014-10-01

... maximum astern speed. (2) A hydraulic system with a maximum allowable working pressure of not more than 12... of this chapter; or (2) Requirements for a hydraulic-helm steering-system in paragraph (b) of this section. (b) Each hydraulic-helm steering-system must have the following: (1) A main steering gear of...

BEAMLINE-CONTROLLED STEERING OF SOURCE-POINT ANGLE AT THE ADVANCED PHOTON SOURCE

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

Emery, L.; Fystro, G.; Shang, H.

An EPICS-based steering software system has been implemented for beamline personnel to directly steer the angle of the synchrotron radiation sources at the Advanced Photon Source. A script running on a workstation monitors "start steering" beamline EPICS records, and effects a steering given by the value of the "angle request" EPICS record. The new system makes the steering process much faster than before, although the older steering protocols can still be used. The robustness features of the original steering remain. Feedback messages are provided to the beamlines and the accelerator operators. Underpinning this new steering protocol is the recent refinementmore » of the global orbit feedback process whereby feedforward of dipole corrector set points and orbit set points are used to create a local steering bump in a rapid and seamless way.« less

Monogamy of Einstein-Podolsky-Rosen Steering in the Background of an Asymptotically Flat Black Hole

NASA Astrophysics Data System (ADS)

Wang, Jieci; Jing, Jiliang; Fan, Heng

2018-03-01

We study the behavior of monogamy deficit and monogamy asymmetry for Einstein-Podolsky-Rosen steering of Gaussian states under the influence of the Hawking effect. We demonstrate that the monogamy of quantum steering shows an extreme scenario in the curved spacetime: the first part of a tripartite system cannot individually steer two other parties, but it can steer the collectivity of the remaining two parties. We also find that the monogamy deficit of Gaussian steering, a quantifier of genuine tripartite steering, are generated due to the influence of the Hawking thermal bath. Our results elucidate the structure of quantum steering in tripartite quantum systems in curved spacetime.

From Pipe Dream to Reality: Creating a Technology-Rich School Environment.

ERIC Educational Resources Information Center

Crafton, John A.

1998-01-01

Methuen Public Schools, Massachusetts, has become a wired school system with computers in every classroom, Internet access, and state-of-the-art mixed-media. Five citizens who work in the technology industry formed a steering committee to drive the project. A long-term partnership with a private vendor, Lucent Technologies, addresses the…

Microphone array measurement system for analysis of directional and spatial variations of sound fields.

PubMed

Gover, Bradford N; Ryan, James G; Stinson, Michael R

2002-11-01

A measurement system has been developed that is capable of analyzing the directional and spatial variations in a reverberant sound field. A spherical, 32-element array of microphones is used to generate a narrow beam that is steered in 60 directions. Using an omnidirectional loudspeaker as excitation, the sound pressure arriving from each steering direction is measured as a function of time, in the form of pressure impulse responses. By subsequent analysis of these responses, the variation of arriving energy with direction is studied. The directional diffusion and directivity index of the arriving sound can be computed, as can the energy decay rate in each direction. An analysis of the 32 microphone responses themselves allows computation of the point-to-point variation of reverberation time and of sound pressure level, as well as the spatial cross-correlation coefficient, over the extent of the array. The system has been validated in simple sound fields in an anechoic chamber and in a reverberation chamber. The system characterizes these sound fields as expected, both quantitatively from the measures and qualitatively from plots of the arriving energy versus direction. It is anticipated that the system will be of value in evaluating the directional distribution of arriving energy and the degree and diffuseness of sound fields in rooms.

An assisted navigation training framework based on judgment theory using sparse and discrete human-machine interfaces.

PubMed

Lopes, Ana C; Nunes, Urbano

2009-01-01

This paper aims to present a new framework to train people with severe motor disabilities steering an assisted mobile robot (AMR), such as a powered wheelchair. Users with high level of motor disabilities are not able to use standard HMIs, which provide a continuous command signal (e. g. standard joystick). For this reason HMIs providing a small set of simple commands, which are sparse and discrete in time must be used (e. g. scanning interface, or brain computer interface), making very difficult to steer the AMR. In this sense, the assisted navigation training framework (ANTF) is designed to train users driving the AMR, in indoor structured environments, using this type of HMIs. Additionally it provides user characterization on steering the robot, which will later be used to adapt the AMR navigation system to human competence steering the AMR. A rule-based lens (RBL) model is used to characterize users on driving the AMR. Individual judgment performance choosing the best manoeuvres is modeled using a genetic-based policy capturing (GBPC) technique characterized to infer non-compensatory judgment strategies from human decision data. Three user models, at three different learning stages, using the RBL paradigm, are presented.

An investigation on the relationship among marbling features, physiological age and Warner-Bratzler Shear force of steer longissimus dorsi muscle.

PubMed

Luo, Lingying; Guo, Dandan; Zhou, Guanghong; Chen, Kunjie

2018-04-01

Researchers nowadays have paid much attention to the relationships between tenderness and marbling, or physiological age. While the marbling was mainly evaluated qualitatively with scores or grades, and rarely related with physiological age. Present study was carried out to analyze the marbling features of longissimus dorsi muscle between the 12th and 13th ribs from 18, 36, 54 and 72 months old Simmental steers were quantitatively described with area and perimeter using computer vision technique. Relationship between Warner-Bratzler Shear force (WBSF), physiological age and the marbling features were examined performing regression analysis. The results revealed that WBSF positively correlated with physiological age, but negatively with marbling area and perimeter. Regression analysis showed that the relationship between the shear force and the steers' age was more close to the quadratic curve (R 2  = 0.996) and exponential curve (R 2  = 0.957). It was observed during study that marbling grew with steers age. Marbling features were in linear correlation with the steers' age, with R 2  = 0.927 for marbling area and R 2  = 0.935 for marbling perimeter. The industries in future may speculate beef tenderness and physiological age based on the marbling features (area and perimeter), which can be determined through the online image acquisition system and image processing.

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... systems must have means to be brought into operation from a dead ship condition, without external aid. The... steering systems from the main steering control location must include, as applicable— (1) Control of any...

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... systems must have means to be brought into operation from a dead ship condition, without external aid. The... steering systems from the main steering control location must include, as applicable— (1) Control of any...

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... systems must have means to be brought into operation from a dead ship condition, without external aid. The... steering systems from the main steering control location must include, as applicable— (1) Control of any...

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2011 CFR

2011-07-01

... remote steering gear control system. (ii) Each steering position located on the navigating bridge. (iii) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle indicator in relation to the actual position of the rudder. (v) Each remote steering gear control system...

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2010 CFR

2010-07-01

... remote steering gear control system. (ii) Each steering position located on the navigating bridge. (iii) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle indicator in relation to the actual position of the rudder. (v) Each remote steering gear control system...

Method for controlling a vehicle with two or more independently steered wheels

DOEpatents

Reister, D.B.; Unseren, M.A.

1995-03-28

A method is described for independently controlling each steerable drive wheel of a vehicle with two or more such wheels. An instantaneous center of rotation target and a tangential velocity target are inputs to a wheel target system which sends the velocity target and a steering angle target for each drive wheel to a pseudo-velocity target system. The pseudo-velocity target system determines a pseudo-velocity target which is compared to a current pseudo-velocity to determine a pseudo-velocity error. The steering angle targets and the steering angles are inputs to a steering angle control system which outputs to the steering angle encoders, which measure the steering angles. The pseudo-velocity error, the rate of change of the pseudo-velocity error, and the wheel slip between each pair of drive wheels are used to calculate intermediate control variables which, along with the steering angle targets are used to calculate the torque to be applied at each wheel. The current distance traveled for each wheel is then calculated. The current wheel velocities and steering angle targets are used to calculate the cumulative and instantaneous wheel slip and the current pseudo-velocity. 6 figures.

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2015-05-01

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn-Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

Software Surface Modeling and Grid Generation Steering Committee

NASA Technical Reports Server (NTRS)

Smith, Robert E. (Editor)

1992-01-01

It is a NASA objective to promote improvements in the capability and efficiency of computational fluid dynamics. Grid generation, the creation of a discrete representation of the solution domain, is an essential part of computational fluid dynamics. However, grid generation about complex boundaries requires sophisticated surface-model descriptions of the boundaries. The surface modeling and the associated computation of surface grids consume an extremely large percentage of the total time required for volume grid generation. Efficient and user friendly software systems for surface modeling and grid generation are critical for computational fluid dynamics to reach its potential. The papers presented here represent the state-of-the-art in software systems for surface modeling and grid generation. Several papers describe improved techniques for grid generation.

Feed efficiency differences and reranking in beef steers fed grower and finisher diets.

PubMed

Durunna, O N; Mujibi, F D N; Goonewardene, L; Okine, E K; Basarab, J A; Wang, Z; Moore, S S

2011-01-01

This 3-yr study used 490 steers to determine whether feedlot steers changed their feed efficiency (FE) ranking when fed a grower diet, then a finisher diet. The steers were crossbreds and were between 5 to 7 mo of age. There were 2 feeding periods each year. Within each year, approximately 90 steers had their diet switched from a grower to a finisher diet (feed-swap group), whereas another 90 steers were fed either the grower (grower-fed group) or the finisher (finisher-fed group) diet throughout the feeding trial. Each feeding test lasted for a minimum of 10 wk, and all steers were fed ad libitum. Individual animal feed intakes were collected using the GrowSafe feeding system, and BW were measured every 2 wk. Residual feed intake (RFI), G:F, and Kleiber ratio (KR) were computed at the end of each feeding period. For each measure of efficiency, animals were classified as low, medium, or high based on 0.5 SD from the mean. The majority of steers did not maintain the previous efficiency class in the second period. Approximately 58, 51, and 51% of steers in the feed-swap group, finisher-fed group, and the grower-fed group, respectively, changed their RFI measure by 0.5 SD. A low rank correlation occurred in all test groups but was less in the feed-swap group. Spearman rank correlations between the 2 feeding periods in the feed-swap group were 0.33, 0.20, and 0.31 for RFI, G:F, and KR, respectively. Classifications based on G:F and KR showed that a greater number of steers (P < 0.05) in the feed-swap group did not maintain their FE class from 1 feeding regimen to the other, whereas classification based on RFI did not show any difference (P > 0.05) between the proportions of individuals that changed or maintained their FE class. In the groups without a feed-swap, there was no difference (P > 0.05) in the proportion of steers that changed or maintained the same FE class for all FE measures. Our results suggest that diet type and feeding period affect the FE ranking in beef steers. A feedlot diet is ideal for evaluating the FE potential of steers for feedlot profitability; however, we suggest that tests involving less dense diets should be examined in an effort to understand the relationships between FE and feeder profitability.

46 CFR 182.610 - Main steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Main steering gear. 182.610 Section 182.610 Shipping...) MACHINERY INSTALLATION Steering Systems § 182.610 Main steering gear. (a) A vessel must be provided with a main steering gear that is: (1) Of adequate strength and capable of steering the vessel at all service...

Determination of Steering Wheel Angles during CAR Alignment by Image Analysis Methods

NASA Astrophysics Data System (ADS)

Mueller, M.; Voegtle, T.

2016-06-01

Optical systems for automatic visual inspections are of increasing importance in the field of automation in the industrial domain. A new application is the determination of steering wheel angles during wheel track setting of the final inspection of car manufacturing. The camera has to be positioned outside the car to avoid interruptions of the processes and therefore, oblique images of the steering wheel must be acquired. Three different approaches of computer vision are considered in this paper, i.e. a 2D shape-based matching (by means of a plane to plane rectification of the oblique images and detection of a shape model with a particular rotation), a 3D shape-based matching approach (by means of a series of different perspectives of the spatial shape of the steering wheel derived from a CAD design model) and a point-to-point matching (by means of the extraction of significant elements (e.g. multifunctional buttons) of a steering wheel and a pairwise connection of these points to straight lines). The HALCON system (HALCON, 2016) was used for all software developments and necessary adaptions. As reference a mechanical balance with an accuracy of 0.1° was used. The quality assessment was based on two different approaches, a laboratory test and a test during production process. In the laboratory a standard deviation of ±0.035° (2D shape-based matching), ±0.12° (3D approach) and ±0.029° (point-to-point matching) could be obtained. The field test of 291 measurements (27 cars with varying poses and angles of the steering wheel) results in a detection rate of 100% and ±0.48° (2D matching) and ±0.24° (point-to-point matching). Both methods also fulfil the request of real time processing (three measurements per second).

46 CFR 58.25-55 - Overcurrent protection for steering-gear systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... overcurrent protection except short-circuit protection that is instantaneous and rated at 400% to 500% of— (1... for steering-gear systems. (a) Each feeder circuit for steering must be protected by a circuit breaker... motor for an alternating-current motor. (b) No feeder circuit for steering may have any overcurrent...

Multipartite steering inequalities based on entropic uncertainty relations

NASA Astrophysics Data System (ADS)

Riccardi, Alberto; Macchiavello, Chiara; Maccone, Lorenzo

2018-05-01

We investigate quantum steering for multipartite systems by using entropic uncertainty relations. We introduce entropic steering inequalities whose violation certifies the presence of different classes of multipartite steering. These inequalities witness both steerable states and genuine multipartite steerable states. Furthermore, we study their detection power for several classes of states of a three-qubit system.

Monogamy inequalities for the Einstein-Podolsky-Rosen paradox and quantum steering

NASA Astrophysics Data System (ADS)

Reid, M. D.

2013-12-01

Monogamy inequalities for the way bipartite Einstein-Podolsky-Rosen (EPR) steering can be distributed among N systems are derived. One set of inequalities is based on witnesses with two measurement settings, and may be used to demonstrate correlation of outcomes between two parties, that cannot be shared with more parties. It is shown that the monogamy for steering is directional. Two parties cannot independently demonstrate steering of a third system, using the same two-setting steering witness, but it is possible for one party to steer two independent systems. This result explains the monogamy of two-setting Bell inequality violations and the sensitivity of the continuous variable (CV) EPR criterion to losses on the steering party. We generalize to m settings. A second type of monogamy relation gives the quantitative amount of sharing possible, when the number of parties is less than or equal to m, and takes a form similar to the Coffman-Kundu-Wootters relation for entanglement. The results enable characterization of the tripartite steering for CV Gaussian systems and qubit Greenberger-Horne-Zeilinger and W states.

Self-testing through EPR-steering

NASA Astrophysics Data System (ADS)

Šupić, Ivan; Hoban, Matty J.

2016-07-01

The verification of quantum devices is an important aspect of quantum information, especially with the emergence of more advanced experimental implementations of quantum computation and secure communication. Within this, the theory of device-independent robust self-testing via Bell tests has reached a level of maturity now that many quantum states and measurements can be verified without direct access to the quantum systems: interaction with the devices is solely classical. However, the requirements for this robust level of verification are daunting and require high levels of experimental accuracy. In this paper we discuss the possibility of self-testing where we only have direct access to one part of the quantum device. This motivates the study of self-testing via EPR-steering, an intermediate form of entanglement verification between full state tomography and Bell tests. Quantum non-locality implies EPR-steering so results in the former can apply in the latter, but we ask what advantages may be gleaned from the latter over the former given that one can do partial state tomography? We show that in the case of self-testing a maximally entangled two-qubit state, or ebit, EPR-steering allows for simpler analysis and better error tolerance than in the case of full device-independence. On the other hand, this improvement is only a constant improvement and (up to constants) is the best one can hope for. Finally, we indicate that the main advantage in self-testing based on EPR-steering could be in the case of self-testing multi-partite quantum states and measurements. For example, it may be easier to establish a tensor product structure for a particular party’s Hilbert space even if we do not have access to their part of the global quantum system.

Structural Performance of Advanced Composite Tow-Steered Shells With Cutouts

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Turpin, Jason D.; Stanford, Bret K.; Martin, Robert A.

2014-01-01

The structural performance of two advanced composite tow-steered shells with cutouts, manufactured using an automated fiber placement system, is assessed using both experimental and analytical methods. The shells' fiber orientation angles vary continuously around their circumference from +/-10 degrees on the crown and keel, to +/-45 degrees on the sides. The raised surface features on one shell result from application of all 24 tows during each fiber placement system pass, while the second shell uses the system's tow drop/add capability to achieve a more uniform wall thickness. These unstiffened shells were previously tested in axial compression and buckled elastically. A single cutout, scaled to represent a passenger door on a commercial aircraft, is then machined into one side of each shell. The prebuckling axial stiffnesses and bifurcation buckling loads of the shells with cutouts are also computed using linear finite element structural analyses for initial comparisons with test data. When retested, large deflections were observed around the cutouts, but the shells carried an average of 92 percent of the axial stiffness, and 86 percent of the buckling loads, of the shells without cutouts. These relatively small reductions in performance demonstrate the potential for using tow steering to mitigate the adverse effects of typical design features on the overall structural performance.

46 CFR 185.320 - Steering gear, controls, and communication system tests.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 7 2012-10-01 2012-10-01 false Steering gear, controls, and communication system tests... gear, controls, and communication system tests. The master of a vessel shall have examined and tested the steering gear, signaling whistle, propulsion controls, and communication systems of the vessel...

46 CFR 185.320 - Steering gear, controls, and communication system tests.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 7 2014-10-01 2014-10-01 false Steering gear, controls, and communication system tests... gear, controls, and communication system tests. The master of a vessel shall have examined and tested the steering gear, signaling whistle, propulsion controls, and communication systems of the vessel...

46 CFR 185.320 - Steering gear, controls, and communication system tests.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Steering gear, controls, and communication system tests... gear, controls, and communication system tests. The master of a vessel shall have examined and tested the steering gear, signaling whistle, propulsion controls, and communication systems of the vessel...

Collision-model approach to steering of an open driven qubit

NASA Astrophysics Data System (ADS)

Beyer, Konstantin; Luoma, Kimmo; Strunz, Walter T.

2018-03-01

We investigate quantum steering of an open quantum system by measurements on its environment in the framework of collision models. As an example we consider a coherently driven qubit dissipatively coupled to a bath. We construct local nonadaptive and adaptive as well as nonlocal measurement scenarios specifying explicitly the measured observable on the environment. Our approach shows transparently how the conditional evolution of the open system depends on the type of the measurement scenario and the measured observables. These can then be optimized for steering. The nonlocal measurement scenario leads to maximal violation of the used steering inequality at zero temperature. Further, we investigate the robustness of the constructed scenarios against thermal noise. We find generally that steering becomes harder at higher temperatures. Surprisingly, the system can be steered even when bipartite entanglement between the system and individual subenvironments vanishes.

The study on servo-control system in the large aperture telescope

NASA Astrophysics Data System (ADS)

Hu, Wei; Zhenchao, Zhang; Daxing, Wang

2008-08-01

Large astronomical telescope or extremely enormous astronomical telescope servo tracking technique will be one of crucial technology that must be solved in researching and manufacturing. To control technique feature of large astronomical telescope or extremely enormous astronomical telescope, this paper design a sort of large astronomical telescope servo tracking control system. This system composes a principal and subordinate distributed control system, host computer sends steering instruction and receive slave computer functional mode, slave computer accomplish control algorithm and execute real-time control. Large astronomical telescope servo control use direct drive machine, and adopt DSP technology to complete direct torque control algorithm, Such design can not only increase control system performance, but also greatly reduced volume and costs of control system, which has a significant occurrence. The system design scheme can be proved reasonably by calculating and simulating. This system can be applied to large astronomical telescope.

Chaos in quantum steering in high-dimensional systems

NASA Astrophysics Data System (ADS)

He, Guang Ping

2018-04-01

Quantum steering means that in some bipartite quantum systems the local measurements on one side can determine the state of the other side. Here we show that in high-dimensional systems there exists a specific entangled state which can display a kind of chaos effect when being adopted for steering. That is, a subtle difference in the measurement results on one side can steer the other side into completely orthogonal states. Moreover, by expanding the result to infinite-dimensional systems, we find two sets of states for which, contrary to common belief, even though their density matrices approach being identical, the steering between them is impossible. This property makes them very useful for quantum cryptography.

Simplified planar model of a car steering system with rack and pinion and McPherson suspension

NASA Astrophysics Data System (ADS)

Knapczyk, J.; Kucybała, P.

2016-09-01

The paper presents the analysis and optimization of steering system with rack and pinion and McPherson suspension using spatial model and equivalent simplified planar model. The dimension of the steering linkage that give minimum steering error can be estimated using planar model. The steering error is defined as the difference between the actual angle made by the outer front wheel during steering manoeuvers and the calculated angle for the same wheel based on the Ackerman principle. For a given linear rack displacement, a specified steering arms angular displacements are determined while simultaneously ensuring best transmission angle characteristics (i) without and (ii) with imposing linear correlation between input and output. Numerical examples are used to illustrate the proposed method.

Comparison of manual steering and steering via joystick of a flexible rhino endoscope.

PubMed

Eckl, R; Gumprecht, J J; Strauss, G; Hofer, M; Dietz, A; Lueth, T C

2010-01-01

Flexible endoscopes are used in ENT surgery for examination tasks in cases wherever rigid endoscopes are unsuitable to reach certain positions in the nasal cavity. Until today they are steered by hand and no robotized system has been put into clinical practice. One qualification a robot manipulator system has to fulfill to be accepted is not to create new disadvantages compared to the conventional method in surgery. An important factor is the time needed to steer the new system compared to the time needed to steer the conventional system. In this article a robot manipulator system and an experiment are presented to compare the particular times test persons need to perform a certain task. This approach offers the possibility to benchmark the developed robot manipulator system and future systems for flexible rhino endoscopes.

46 CFR 58.25-70 - Steering-gear control systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-70 Steering-gear control systems. (a) Each power-driven... arranged so that one operation of the switch's lever automatically supplies power to a complete system and its associated power unit or units. This switch must be— (1) Operated by one lever; (2) Arranged so...

46 CFR 58.25-70 - Steering-gear control systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-70 Steering-gear control systems. (a) Each power-driven... arranged so that one operation of the switch's lever automatically supplies power to a complete system and its associated power unit or units. This switch must be— (1) Operated by one lever; (2) Arranged so...

Counterfactual Rydberg gate for photons

NASA Astrophysics Data System (ADS)

Garcia-Escartin, Juan Carlos; Chamorro-Posada, Pedro

2012-03-01

Quantum computation with photons requires efficient two-photon gates. We put forward a two-photon entangling gate which uses an intermediate atomic system. The system includes a single Rydberg atom which can switch on and off photon absorption in an ensemble using the dipole blockade. The gate is based in a counterfactual protocol. The mere possibility of an absorption that can only occur with a vanishing probability steers the photons to the desired final state.

Effect of yearling steer sequence grazing of perennial and annual forages in an integrated crop and livestock system on grazing performance, delayed feedlot entry, finishing performance, carcass measurements, and systems economics.

PubMed

Sentürklü, Songul; Landblom, Douglas G; Maddock, Robert; Petry, Tim; Wachenheim, Cheryl J; Paisley, Steve I

2018-06-04

In a 2-yr study, spring-born yearling steers (n = 144), previously grown to gain <0.454 kg·steer-1·d-1, following weaning in the fall, were stratified by BW and randomly assigned to three retained ownership rearing systems (three replications) in early May. Systems were 1) feedlot (FLT), 2) steers that grazed perennial crested wheatgrass (CWG) and native range (NR) before FLT entry (PST), and 3) steers that grazed perennial CWG and NR, and then field pea-barley (PBLY) mix and unharvested corn (UC) before FLT entry (ANN). The PST and ANN steers grazed 181 d before FLT entry. During grazing, ADG of ANN steers (1.01 ± SE kg/d) and PST steers (0.77 ± SE kg/d) did not differ (P = 0.31). But even though grazing cost per steer was greater (P = 0.002) for ANN vs. PST, grazing cost per kg of gain did not differ (P = 0.82). The ANN forage treatment improved LM area (P = 0.03) and percent i.m. fat (P = 0.001). The length of the finishing period was greatest (P < 0.001) for FLT (142 d), intermediate for PST (91 d), and least for ANN (66 d). Steer starting (P = 0.015) and ending finishing BW (P = 0.022) of ANN and PST were greater than FLT steers. Total FLT BW gain was greater for FLT steers (P = 0.017), but there were no treatment differences for ADG, (P = 0.16), DMI (P = 0.21), G: F (P = 0.82), and feed cost per kg of gain (P = 0.61). However, feed cost per steer was greatest for FLT ($578.30), least for ANN ($276.12), and intermediate for PST ($381.18) (P = 0.043). There was a tendency for FLT steer HCW to be less than ANN and PST, which did not differ (P = 0.076). There was no difference between treatments for LM area (P = 0.094), backfat depth (P = 0.28), marbling score (P = 0.18), USDA yield grade (P = 0.44), and quality grade (P = 0.47). Grazing steer net return ranged from an ANN system high of $9.09/steer to a FLT control system net loss of -$298 and a PST system that was slightly less than the ANN system (-$30.10). Ten-year (2003 to 2012) hedging and net return sensitivity analysis revealed that the FLT treatment underperformed 7 of 10 yr and futures hedging protection against catastrophic losses were profitable 40, 30, and 20% of the time period for ANN, PST, and FLT, respectively. Retained ownership from birth through slaughter coupled with delayed FLT entry grazing perennial and annual forages has the greatest profitability potential.

Biomechanical effects of mobile computer location in a vehicle cab.

PubMed

Saginus, Kyle A; Marklin, Richard W; Seeley, Patricia; Simoneau, Guy G; Freier, Stephen

2011-10-01

The objective of this research is to determine the best location to place a conventional mobile computer supported by a commercially available mount in a light truck cab. U.S. and Canadian electric utility companies are in the process of integrating mobile computers into their fleet vehicle cabs. There are no publications on the effect of mobile computer location in a vehicle cab on biomechanical loading, performance, and subjective assessment. The authors tested four locations of mobile computers in a light truck cab in a laboratory study to determine how location affected muscle activity of the lower back and shoulders; joint angles of the shoulders, elbows, and wrist; user performance; and subjective assessment. A total of 22 participants were tested in this study. Placing the mobile computer closer to the steering wheel reduced low back and shoulder muscle activity. Joint angles of the shoulders, elbows, and wrists were also closer to neutral angle. Biomechanical modeling revealed substantially less spinal compression and trunk muscle force. In general, there were no practical differences in performance between the locations. Subjective assessment indicated that users preferred the mobile computer to be as close as possible to the steering wheel. Locating the mobile computer close to the steering wheel reduces risk of injuries, such as low back pain and shoulder tendonitis. Results from the study can guide electric utility companies in the installation of mobile computers into vehicle cabs. Results may also be generalized to other industries that use trucklike vehicles, such as construction.

Automated laser guidance of neuronal growth cones using a spatial light modulator.

PubMed

Carnegie, David J; Cizmár, Tomás; Baumgartl, Jörg; Gunn-Moore, Frank J; Dholakia, Kishan

2009-11-01

The growth cone of a developing neuron can be guided using a focused infra-red (IR) laser beam [1]. In previous setups this process has required a significant amount of user intervention to adjust continuously the laser beam to guide the growing neuron. Previously, a system using an acousto-optical deflector (AOD) has been developed to steer the beam [2]. However, to enhance the controllability of this system, here we demonstrate the use of a computer controlled spatial light modulator (SLM) to steer and manipulate the shape of a laser beam for use in guided neuronal growth. This new experimental setup paves the way to enable a comprehensive investigation into beam shaping effects on neuronal growth and we show neuronal growth initiated by a Bessel light mode. This is a robust platform to explore the biochemistry of this novel phenomenon. (c) 2009 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim

Fatal accident cause and conclusion.

PubMed

Tsach, Tsadok; Cohen, Aviva; Finegold, George

2009-01-01

The Toolmarks Laboratory prepared a report concerning a traffic accident involving the death of a road workman. The driver of the vehicle that hit the workman claimed that the wheels had failed to respond when turning left at a roundabout. A traffic investigator photographed the rack and pinion assembly of the steering system, which was subsequently removed and brought to the Toolmarks Laboratory. The rack and pinion assembly of the steering system was rebuilt, and examination showed that the system functioned properly. Specifically, the front wheels responded correctly to the steering input. Laboratory photographs of the steering system were taken in two different positions, from the same angles as the investigator's photographs at the scene of the accident. It was clear that the steering system had not been assembled properly in the garage.

Third-harmonic entanglement and Einstein-Podolsky-Rosen steering over a frequency range of more than an octave

NASA Astrophysics Data System (ADS)

Olsen, M. K.

2018-03-01

The development of quantum technologies which use quantum states of the light field interacting with other systems creates a demand for such states over wide frequency ranges. In this work we compare the bipartite entanglement and Einstein-Podolsky-Rosen (EPR) -steering properties of the two different parametric schemes which produce third-harmonic optical fields from an input field at the fundamental frequency. The first scheme uses second harmonic cascaded with sum-frequency generation, while the second uses triply degenerate four- wave mixing, also known as direct third-harmonic generation. We find that both schemes produce continuous-variable bipartite entanglement and EPR steering over a frequency range which has previously been unobtainable. The direct scheme produces a greater degree of EPR steering, while the cascaded scheme allows for greater flexibility in having three available bipartitions, thus allowing for greater flexibility in the tailoring of light matter interfaces. There are also parameter regimes in both for which classical mean-field analyses fail to predict the mean-field solutions. Both schemes may be very useful for applications in quantum communication and computation networks, as well as providing for quantum interfaces between a wider range of light and atomic ensembles than is presently practicable.

NASA Exhibits

NASA Technical Reports Server (NTRS)

Deardorff, Glenn; Djomehri, M. Jahed; Freeman, Ken; Gambrel, Dave; Green, Bryan; Henze, Chris; Hinke, Thomas; Hood, Robert; Kiris, Cetin; Moran, Patrick;

Magnetorheological fluid based automotive steer-by-wire systems

NASA Astrophysics Data System (ADS)

Ahmadkhanlou, Farzad; Washington, Gregory N.; Bechtel, Stephen E.; Wang, Yingru

2006-03-01

The idea of this paper is to design a Magnetorheological (MR) fluid based damper for steer-by-wire systems to provide sensory feedback to the driver. The advantages of using MR fluids in haptic devices stem from the increase in transparency gained from the lightweight semiactive system and controller implementation. The performance of MR fluid based steer-by wire system depends on MR fluid model and specifications, MR damper geometry, and the control algorithm. All of these factors are addressed in this study. The experimental results show the improvements in steer-by-wire by adding force feedback to the system.

Matching vehicle responses using the model-following control method

DOT National Transportation Integrated Search

1997-02-24

The Variable Dynamic Testbed Vehicle (VDTV) is presently being developed by the National Highway Traffic Safety Administration (NHTSA). It is being designed to have a steer-by-wire" front steering system and an independent rear steering system. Th...

Numerical simulation of the flow around a steerable propulsion unit

NASA Astrophysics Data System (ADS)

Pacuraru, F.; Lungu, A.; Ungureanu, C.; Marcu, O.

2010-08-01

Azimuth propulsion units have become during the last decade a more and more popular solution for all kinds of vessels. Azimuth thruster system, combining the propulsion and steering units of conventional ships replaces traditional propellers and lengthy drive shafts and rudders ensuring an excellent vessel steering. In many cases the interaction between the propeller and other components of the propulsion system strongly affects the inflow to the propeller and therefore its performance. The correct estimation of this influence is important for propulsion systems which consist of more than one element, such as pods (shaft, gondola and propeller), ducted propellers (duct, struts and propeller) or bow thrusters (ship form, tunnel, gondola and propeller). The paper proposes a numerical investigation based on RANS computation for solving the viscous flow around an azimuth thruster system to provide a detailed insight into the critical flow regions for determining the optimum inclination angle for struts, for studying the hydrodynamic interactions between various components of the system, for predicting the hydrodynamic performance of the propulsion system and to investigate regions with possible flow separations.

Practicality of electronic beam steering for MST/ST radars, part 6.2A

NASA Technical Reports Server (NTRS)

Clark, W. L.; Green, J. L.

1984-01-01

Electronic beam steering is described as complex and expensive. The Sunset implementation of electronic steering is described, and it is demonstrated that such systems are cost effective, versatile, and no more complex than fixed beam alternatives, provided three or more beams are needed. The problem of determining accurate meteorological wind components in the presence of spatial variation is considered. A cost comparison of steerable and fixed systems allowing solution of this problem is given. The concepts and relations involved in phase steering are given, followed by the description of the Sunset ST radar steering system. The implications are discussed, references to the competing SAD method are provided, and a recommendation concerning the design of the future Doppler ST/MST systems is made.

A study of space shuttle energy management, approach and landing analysis

NASA Technical Reports Server (NTRS)

Morth, R.

1973-01-01

The steering system of the space shuttle vehicle is presented for the several hundred miles of flight preceding landing. The guidance scheme is characterized by a spiral turn to dissipate excess potential energy (altitude) prior to a standard straight-in final approach. In addition, the system features pilot oriented control, drag brakes, phugoid damping, and a navigational capacity founded upon an inertial measurement unit and an on-board computer. Analytic formulas are used to calculate, represent, and insure the workability of the system's specifications

Laser-phased-array beam steering based on crystal fiber

NASA Astrophysics Data System (ADS)

Yang, Deng-cai; Zhao, Si-si; Wang, Da-yong; Wang, Zhi-yong; Zhang, Xiao-fei

2011-06-01

Laser-phased-array system provides an elegant means for achieving the inertial-free, high-resolution, rapid and random beam steering. In laser-phased-array system, phase controlling is the most important factor that impacts the system performance. A novel scheme is provided in this paper, the beam steering is accomplished by using crystal fiber array, the difference length between adjacent fiber is fixed. The phase difference between adjacent fiber decides the direction of the output beam. When the wavelength of the input fiber laser is tuned, the phase difference between the adjacent elements has changed. Therefore, the laser beam direction has changed and the beam steering has been accomplished. In this article, based on the proposed scheme, the steering angle of the laser beam is calculated and analyzed theoretically. Moreover, the far-field steering beam quality is discussed.

Quantum Steering Beyond Instrumental Causal Networks

NASA Astrophysics Data System (ADS)

Nery, R. V.; Taddei, M. M.; Chaves, R.; Aolita, L.

2018-04-01

We theoretically predict, and experimentally verify with entangled photons, that outcome communication is not enough for hidden-state models to reproduce quantum steering. Hidden-state models with outcome communication correspond, in turn, to the well-known instrumental processes of causal inference but in the one-sided device-independent scenario of one black-box measurement device and one well-characterized quantum apparatus. We introduce one-sided device-independent instrumental inequalities to test against these models, with the appealing feature of detecting entanglement even when communication of the black box's measurement outcome is allowed. We find that, remarkably, these inequalities can also be violated solely with steering, i.e., without outcome communication. In fact, an efficiently computable formal quantifier—the robustness of noninstrumentality—naturally arises, and we prove that steering alone is enough to maximize it. Our findings imply that quantum theory admits a stronger form of steering than known until now, with fundamental as well as practical potential implications.

Systemic Integration and Macro Steering

ERIC Educational Resources Information Center

Bleiklie, Ivar

2007-01-01

The article deals with the development of national higher education systems and the emergence of macro steering in Europe and to some extent in the USA. It is based on the assumption that this process of integration of higher education systems through macro steering will increasingly be felt as a forceful influence on higher education. Integration…

46 CFR 185.320 - Steering gear, controls, and communication system tests.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 7 2013-10-01 2013-10-01 false Steering gear, controls, and communication system tests. 185.320 Section 185.320 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) OPERATIONS Miscellaneous Operating Requirements § 185.320 Steering gear, controls, and communication system...

AUTOMOTIVE DIESEL MAINTENANCE 1. UNIT XXIII, I--MAINTAINING THE FUEL SYSTEM, PART II--CATERPILLAR DIESEL ENGINE, II--UNDERSTANDING STEERING SYSTEMS.

ERIC Educational Resources Information Center

Minnesota State Dept. of Education, St. Paul. Div. of Vocational and Technical Education.

THIS MODULE OF A 30-MODULE COURSE IS DESIGNED TO DEVELOP AN UNDERSTANDING OF THE OPERATION AND MAINTENANCE OF THE DIESEL ENGINE FUEL INJECTION SYSTEM AND THE STEERING SYSTEM OF DIESEL POWERED VEHICLES. TOPICS ARE FUEL INJECTION SECTION, AND DESCRIPTION OF THE STEERING SYSTEM. THE MODULE CONSISTS OF A SELF-INSTRUCTIONAL BRANCH PROGRAMED TRAINING…

Production systems comparing early weaning to normal weaning with or without creep feeding for beef steers.

PubMed

Myers, S E; Faulkner, D B; Ireland, F A; Berger, L L; Parrett, D F

1999-02-01

A 2-yr study was conducted to determine the effects of three weaning management systems on cow and steer performance. Cow-calf pairs were randomly assigned to one of three treatments, in which the steer calves were 1) early-weaned (yr 1, 177 +/- 9 d; yr 2, 158 +/- 21 d of age) and placed on a finishing diet (EW), 2) supplemented with grain for 55 d on pasture (yr 1, 177 to 231 d; yr 2, 158 to 213 d of age) while nursing their dams and then placed on a finishing diet (NWC), and 3) on pasture for 55 d while nursing their dams (yr 1, 177 to 231 d; yr 2, 158 to 213 d of age) and then placed on a finishing diet (NW). In yr 2, potential breed differences were evaluated using steers of three breed types: 1) Angus x Hereford (BRI); 2) Angus x Simmental (CON); and 3) Angus x Wagyu (WAG). In yr 1, EW steers gained 100% faster (P = .0001) than the average of NWC and NW steers, and NWC steers gained 32% faster (P = .02) than NW steers before weaning. In the feedlot, EW steers had lower intakes (7.70 vs 8.16 kg/d, P = .008) and better feed conversions (.170 vs .153, P = .002) than the average of NWC and NW steers. Marbling score was improved for EW steers compared with the average of NWC and NW steers (P = .003). In yr 2, EW steers had higher gains (P = .0006) during the entire study than the average of NWC and NW steers, and NWC steers had higher gains (P = .003) than NW steers. The EW steers had lower intakes (7.29 vs 7.68 kg/d, P = .0008) and better feed conversions (.160 vs .141, P = .0001) than the average of NWC and NW steers. The CON steers were heavier at slaughter than BRI steers (P = .01), and BRI steers were heavier than WAG steers (P =.0004). Early weaning improved the percentage of steers grading Average Choice or higher by 40%. The percentage of BRI steers grading Choice or greater was 21% higher and percentage of steers grading Average Choice or greater was 33% higher than CON. Cows with EW steers had higher ADG than cows with NW steers (.38 vs -.17 kg/d, P = .0001) before weaning. Cows with EW steers gained in body condition score (.23 vs .00, P = .04), and cows with NW steers did not change. Early weaning improved feed efficiency and quality grades of beef steers.

A Scheme for Short-Term Prediction of Hydrometeors Using Advection and Physical Forcing.

DTIC Science & Technology

1984-07-01

D.A. Lowry, 1978: Use of a real - time computer graphics system for diagnosis and forecasting . Preprints, Conf. on Wes. Forecasting and Analysis and...28 Figure 4.2.1. Graph for forecasting the night minimum temperature from observations at 1800-2000 local time . From Zverev (1972...3u 1. 2 much weather is produced by organized systems that translate, and forecast gains were made through use of the concepts of steering

Structural Characterization of Advanced Composite Tow-Steered Shells with Large Cutouts

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Turpin, Jason D.; Gardner, Nathaniel W.; Stanford, Bret K.; Martin, Robert A.

2015-01-01

The structural performance of two advanced composite tow-steered shells with large cutouts, manufactured using an automated fiber placement system, is assessed using both experimental and analytical methods. The fiber orientation angles of the shells vary continuously around their circumference from +/- 10 degrees on the crown and keel, to +/- 45 degrees on the sides. The raised surface features on one shell result from application of all 24 tows during each fiber placement system pass, while the second shell uses the tow drop/add capability of the system to achieve a more uniform wall thickness. These unstiffened shells, both without and with small cutouts, were previously tested in axial compression and buckled elastically. In this study, a single unreinforced cutout, scaled to represent a cargo door on a commercial aircraft, is machined into one side of each shell. The prebuckling axial stiffnesses and bifurcation buckling loads of these shells with large cutouts are also computed using linear finite element structural analyses for preliminary comparisons with test data. During testing, large displacements are observed around the large cutouts, but the shells maintain an average of 91 percent of the axial stiffness, and also carry 85 percent of the buckling loads, when compared to the pristine shells without cutouts. These relatively small reductions indicate that there is great potential for using tow steering to mitigate the adverse effects of large cutouts on the overall structural performance.

Analysing Finnish Steering System from the Perspective of Social Space: The Case of the "Campus University"

ERIC Educational Resources Information Center

Treuthardt, Leena; Valimaa, Jussi

2008-01-01

The present study analyses Finnish higher education steering system, management by results, from the perspective of higher education institutions. We ask what happens inside a higher education institution, called here the "Campus University", during the actual negotiations related to the national steering system. We analyse not only the…

46 CFR 130.140 - Steering on OSVs of 100 or more gross tons.

Code of Federal Regulations, 2012 CFR

2012-10-01

... hydraulic-helm steering-system in paragraph (b) of this section. (b) Each hydraulic-helm steering-system... the vessel at every service speed without being damaged at maximum astern speed. (2) A hydraulic system with a maximum allowable working pressure of not more than 12,411 kPa (1,800 psi), dedicated to...

46 CFR 130.140 - Steering on OSVs of 100 or more gross tons.

Code of Federal Regulations, 2013 CFR

2013-10-01

... hydraulic-helm steering-system in paragraph (b) of this section. (b) Each hydraulic-helm steering-system... the vessel at every service speed without being damaged at maximum astern speed. (2) A hydraulic system with a maximum allowable working pressure of not more than 12,411 kPa (1,800 psi), dedicated to...

46 CFR 130.140 - Steering on OSVs of 100 or more gross tons.

Code of Federal Regulations, 2011 CFR

2011-10-01

... hydraulic-helm steering-system in paragraph (b) of this section. (b) Each hydraulic-helm steering-system... the vessel at every service speed without being damaged at maximum astern speed. (2) A hydraulic system with a maximum allowable working pressure of not more than 12,411 kPa (1,800 psi), dedicated to...

Modelling and enhanced molecular dynamics to steer structure-based drug discovery.

PubMed

Kalyaanamoorthy, Subha; Chen, Yi-Ping Phoebe

2014-05-01

The ever-increasing gap between the availabilities of the genome sequences and the crystal structures of proteins remains one of the significant challenges to the modern drug discovery efforts. The knowledge of structure-dynamics-functionalities of proteins is important in order to understand several key aspects of structure-based drug discovery, such as drug-protein interactions, drug binding and unbinding mechanisms and protein-protein interactions. This review presents a brief overview on the different state of the art computational approaches that are applied for protein structure modelling and molecular dynamics simulations of biological systems. We give an essence of how different enhanced sampling molecular dynamics approaches, together with regular molecular dynamics methods, assist in steering the structure based drug discovery processes. Copyright © 2013 Elsevier Ltd. All rights reserved.

Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

NASA Astrophysics Data System (ADS)

Kurata, Yoshinori; Wada, Takahiro; Kamiji, Norimasa; Doi, Shun'ichi

Disturbances decrease vehicle stability and increase driver's mental and physical workload. Especially unexpected disturbances such as lateral winds have severe effect on vehicle stability and driver's workload. This study aims at building a driver model of steering operations in lateral wind toward developing effective driver assistance system. First, the relationship between the driver's lateral motion and its reactive quick steering behavior is investigated using driving simulator with lateral 1dof motion. In the experiments, four different wind patterns are displayed by the simulator. As the results, strong correlation was found between the driver's head lateral jerk by the lateral disturbance and the angular acceleration of the steering wheel. Then, we build a mathematical model of driver's steering model from lateral disturbance input to steering torque of the reactive quick feed-forward steering based on the experimental results. Finally, validity of the proposed model is shown by comparing the steering torque of experimental results and that of simulation results.

Hybrid Steered Molecular Dynamics-Docking: An Efficient Solution to the Problem of Ranking Inhibitor Affinities Against a Flexible Drug Target.

PubMed

Whalen, Katie L; Chang, Kevin M; Spies, M Ashley

2011-05-16

Existing techniques which attempt to predict the affinity of protein-ligand interactions have demonstrated a direct relationship between computational cost and prediction accuracy. We present here the first application of a hybrid ensemble docking and steered molecular dynamics scheme (with a minimized computational cost), which achieves a binding affinity rank-ordering of ligands with a Spearman correlation coefficient of 0.79 and an RMS error of 0.7 kcal/mol. The scheme, termed Flexible Enzyme Receptor Method by Steered Molecular Dynamics (FERM-SMD), is applied to an in-house collection of 17 validated ligands of glutamate racemase. The resulting improved accuracy in affinity prediction allows elucidation of the key structural components of a heretofore unreported glutamate racemase inhibitor (K(i) = 9 µM), a promising new lead in the development of antibacterial therapeutics.

Pointing Device Performance in Steering Tasks.

PubMed

Senanayake, Ransalu; Goonetilleke, Ravindra S

2016-06-01

Use of touch-screen-based interactions is growing rapidly. Hence, knowing the maneuvering efficacy of touch screens relative to other pointing devices is of great importance in the context of graphical user interfaces. Movement time, accuracy, and user preferences of four pointing device settings were evaluated on a computer with 14 participants aged 20.1 ± 3.13 years. It was found that, depending on the difficulty of the task, the optimal settings differ for ballistic and visual control tasks. With a touch screen, resting the arm increased movement time for steering tasks. When both performance and comfort are considered, whether to use a mouse or a touch screen for person-computer interaction depends on the steering difficulty. Hence, a input device should be chosen based on the application, and should be optimized to match the graphical user interface. © The Author(s) 2016.

A programming environment for distributed complex computing. An overview of the Framework for Interdisciplinary Design Optimization (FIDO) project. NASA Langley TOPS exhibit H120b

NASA Technical Reports Server (NTRS)

Townsend, James C.; Weston, Robert P.; Eidson, Thomas M.

1993-01-01

The Framework for Interdisciplinary Design Optimization (FIDO) is a general programming environment for automating the distribution of complex computing tasks over a networked system of heterogeneous computers. For example, instead of manually passing a complex design problem between its diverse specialty disciplines, the FIDO system provides for automatic interactions between the discipline tasks and facilitates their communications. The FIDO system networks all the computers involved into a distributed heterogeneous computing system, so they have access to centralized data and can work on their parts of the total computation simultaneously in parallel whenever possible. Thus, each computational task can be done by the most appropriate computer. Results can be viewed as they are produced and variables changed manually for steering the process. The software is modular in order to ease migration to new problems: different codes can be substituted for each of the current code modules with little or no effect on the others. The potential for commercial use of FIDO rests in the capability it provides for automatically coordinating diverse computations on a networked system of workstations and computers. For example, FIDO could provide the coordination required for the design of vehicles or electronics or for modeling complex systems.

Two-dimensional beam steering using a thermo-optic silicon photonic optical phased array

NASA Astrophysics Data System (ADS)

Rabinovich, William S.; Goetz, Peter G.; Pruessner, Marcel W.; Mahon, Rita; Ferraro, Mike S.; Park, Doe; Fleet, Erin; DePrenger, Michael J.

2016-11-01

Many components for free-space optical (FSO) communication systems have shrunken in size over the last decade. However, the steering systems have remained large and power hungry. Nonmechanical beam steering offers a path to reducing the size of these systems. Optical phased arrays can allow integrated beam steering elements. One of the most important aspects of an optical phased array technology is its scalability to a large number of elements. Silicon photonics can potentially offer this scalability using CMOS foundry techniques. A phased array that can steer in two dimensions using the thermo-optic effect is demonstrated. No wavelength tuning of the input laser is needed and the design allows a simple control system with only two inputs. A benchtop FSO link with the phased array in both transmit and receive mode is demonstrated.

75 FR 45159 - Delphi Steering Currently Known as Nexteer Automotive Including On-Site Leased Workers From Acro...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-02

..., Inc., Continental, Inc., Dynamic Corp., G-Tech Professional Staffing, Inc., Globaledgetechnologies... Corporation, Aerotek, Inc., Continental, Inc., Dynamic Corp., G-Tech Professional Staffing, Inc., Globaledge... steering systems and components such as steering columns, gears, pumps and electronic power steering...

One-way EPR steering and genuine multipartite EPR steering

NASA Astrophysics Data System (ADS)

He, Qiongyi; Reid, Margaret D.

2012-11-01

We propose criteria and experimental strategies to realise the Einstein-Podolsky-Rosen (EPR) steering nonlocality. One-way steering can be obtained where there is asymmetry of thermal noise on each system. We also present EPR steering inequalities that act as signatures and suggest how to optimise EPR correlations in specific schemes so that the genuine multipartite EPR steering nonlocality (EPR paradox) can also possibly be realised. The results presented here also apply to the spatially separated macroscopic atomic ensembles.

Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

1998-08-01

A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

Continuous Beam Steering From a Segmented Liquid Crystal Optical Phased Array

NASA Technical Reports Server (NTRS)

Titus, Charles M.; Pouch, John; Nguyen, Hung; Miranda, Felix; Bos, Philip J.

2002-01-01

Optical communications to and from deep space probes will require beams possessing divergence on the order of a microradian, and must be steered with sub-microradian precision. Segmented liquid crystal spatial phase modulators, a type of optical phased array, are considered for this ultra-high resolution beam steering. It is shown here that in an ideal device of this type, there are ultimately no restrictions on the angular resolution. Computer simulations are used to obtain that result, and to analyze the influence of beam truncation and substrate flatness on the performance of this type of device.

Continuous Beam Steering From A Segmented Liquid Crystal Optical Phased Array

NASA Technical Reports Server (NTRS)

Pouch, John; Nguyen, Hung; Miranda, Felix; Titus, Charles M.; Bos, Philip J.

2002-01-01

Optical communications to and from deep space probes will require beams possessing divergence on the order of a microradian, and must be steered with sub-microradian precision. Segmented liquid crystal spatial phase modulators, a type of optical phased array, are considered for this ultra-high resolution beam steering. It is shown here that in an ideal device of this type, there are ultimately no restrictions on the angular resolution. Computer simulations are used to obtain that result, and to analyze the influence of beam truncation and substrate flatness on the performance of this type of device.

46 CFR 185.320 - Steering gear, controls, and communication system tests.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering gear, controls, and communication system tests. 185.320 Section 185.320 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) OPERATIONS Miscellaneous Operating Requirements § 185.320 Steering...

A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

ERIC Educational Resources Information Center

Elder, David M.; Grossberg, Stephen; Mingolla, Ennio

2009-01-01

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3-dimensional virtual reality environment to determine the position of objects on the basis of motion discontinuities and computes heading direction,…

Robust path planning for flexible needle insertion using Markov decision processes.

PubMed

Tan, Xiaoyu; Yu, Pengqian; Lim, Kah-Bin; Chui, Chee-Kong

2018-05-11

Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue-needle interactions. This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue-needle interaction. Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue-needle interactions. Future work will involve experiment with biological tissue in vivo. The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.

Risk of thoracic injury from direct steering wheel impact in frontal crashes.

PubMed

Chen, Rong; Gabler, Hampton C

2014-06-01

The combination of airbag and seat belt is considered to be the most effective vehicle safety system. However, despite the widespread availability of airbags and a belt use rate of more than 85%, US drivers involved in crashes continue to be at risk of serious thoracic injury. The objective of this study was to determine the influence of steering wheel deformation on driver injury risk in frontal automobile crash. The analysis is based on cases extracted from the National Automotive Sampling System Crashworthiness Data System database for case years 1993 to 2011. The approach was to compare the adjusted odds of frontal crash injury experienced by drivers in vehicles with and without steering wheel deformation. Among frontal crash cases with belted drivers, observable steering wheel deformation occurred in less than 4% of all cases but accounted for 30% of belted drivers with serious (Abbreviated Injury Scale [AIS] score, 3+) thoracic injuries. Similarly, steering wheel deformation occurred in approximately 13% of unbelted drivers but accounted for 60% of unbelted drivers with serious thoracic injuries. Belted drivers in frontal crashes with steering wheel deformation were found to have two times greater odds of serious thoracic injury. Unbelted drivers were found to have four times greater odds of serious thoracic injury in crashes with steering wheel deformation. In frontal crashes, steering wheel deformation was more likely to occur in unbelted drivers than belted drivers, as well as higher severity crashes and with heavier drivers. The results of the present study show that airbag deployment and seat belt restraint do not completely eliminate the possibility of steering wheel contact. Even with the most advanced restraint systems, there remains an opportunity for further reduction in thoracic injury by continued enhancement to the seat belt and airbag systems. Furthermore, the results showed that steering wheel deformation is an indicator of potential serious thoracic injury and can be useful to prehospital personnel in improving the diagnosis of serious injuries. Prognostic study, level III.

Method for controlling a vehicle with two or more independently steered wheels

DOEpatents

Reister, David B.; Unseren, Michael A.

1995-01-01

A method (10) for independently controlling each steerable drive wheel (W.sub.i) of a vehicle with two or more such wheels (W.sub.i). An instantaneous center of rotation target (ICR) and a tangential velocity target (v.sup.G) are inputs to a wheel target system (30) which sends the velocity target (v.sub.i.sup.G) and a steering angle target (.theta..sub.i.sup.G) for each drive wheel (W.sub.i) to a pseudovelocity target system (32). The pseudovelocity target system (32) determines a pseudovelocity target (v.sub.P.sup.G) which is compared to a current pseudovelocity (v.sub.P.sup.m) to determine a pseudovelocity error (.epsilon.). The steering angle targets (.theta..sup.G) and the steering angles (.theta..sup.m) are inputs to a steering angle control system (34) which outputs to the steering angle encoders (36), which measure the steering angles (.theta..sup.m). The pseudovelocity error (.epsilon.), the rate of change of the pseudovelocity error ( ), and the wheel slip between each pair of drive wheels (W.sub.i) are used to calculate intermediate control variables which, along with the steering angle targets (.theta..sup.G) are used to calculate the torque to be applied at each wheel (W.sub.i). The current distance traveled for each wheel (W.sub.i) is then calculated. The current wheel velocities (v.sup.m) and steering angle targets (.theta..sup.G) are used to calculate the cumulative and instantaneous wheel slip (e, ) and the current pseudovelocity (v.sub.P.sup.m).

Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

NASA Astrophysics Data System (ADS)

Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

2017-03-01

In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

Sustained sensorimotor control as intermittent decisions about prediction errors: computational framework and application to ground vehicle steering.

PubMed

Markkula, Gustav; Boer, Erwin; Romano, Richard; Merat, Natasha

2018-06-01

A conceptual and computational framework is proposed for modelling of human sensorimotor control and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency and extends on existing models by suggesting that the nervous system implements intermittent control using a combination of (1) motor primitives, (2) prediction of sensory outcomes of motor actions, and (3) evidence accumulation of prediction errors. It is shown that approximate but useful sensory predictions in the intermittent control context can be constructed without detailed forward models, as a superposition of simple prediction primitives, resembling neurobiologically observed corollary discharges. The proposed mathematical framework allows straightforward extension to intermittent behaviour from existing one-dimensional continuous models in the linear control and ecological psychology traditions. Empirical data from a driving simulator are used in model-fitting analyses to test some of the framework's main theoretical predictions: it is shown that human steering control, in routine lane-keeping and in a demanding near-limit task, is better described as a sequence of discrete stepwise control adjustments, than as continuous control. Results on the possible roles of sensory prediction in control adjustment amplitudes, and of evidence accumulation mechanisms in control onset timing, show trends that match the theoretical predictions; these warrant further investigation. The results for the accumulation-based model align with other recent literature, in a possibly converging case against the type of threshold mechanisms that are often assumed in existing models of intermittent control.

46 CFR 58.25-25 - Indicating and alarm systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... rudder angle must be provided both at the main steering station in the pilothouse and in the steering-gear compartment. The rudder-angle indicator must be independent of control systems for steering gear. (b) Each electric-type rudder-angle indicator must comply with § 113.40-10 of this chapter and, in...

46 CFR 58.25-25 - Indicating and alarm systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... rudder angle must be provided both at the main steering station in the pilothouse and in the steering-gear compartment. The rudder-angle indicator must be independent of control systems for steering gear. (b) Each electric-type rudder-angle indicator must comply with § 113.40-10 of this chapter and, in...

46 CFR 130.140 - Steering on OSVs of 100 or more gross tons.

Code of Federal Regulations, 2010 CFR

2010-10-01

... pilothouse. (11) Instantaneous protection against short circuit for electrical power, and control circuits... normal steering power. (c) For compliance with paragraph (b) of this section, a common piping system for... VESSEL CONTROL, AND MISCELLANEOUS EQUIPMENT AND SYSTEMS Vessel Control § 130.140 Steering on OSVs of 100...

Research on Performance of Wire-controlled Hydraulic Steering System Based on Four-wheel Steering

NASA Astrophysics Data System (ADS)

Tao, P.; Jin, X. H.

2018-05-01

In this paper, the steering stability and control strategy of forklift are put forward. Drive based on yawing moment distribution of rotary torque coordination control method, through analyzing the linear two degree of freedom model of forklift truck, forklift yawing angular velocity and mass center side-slip Angle of expectations, as the control target parameters system, using fuzzy controller output driving forklift steering the yawing moment, to drive rotary torque distribution, make the forklift truck to drive horizontal pendulum angular velocity and side-slip Angle tracking reference model very well. In this paper, the lateral stability control system were designed, the joint simulation in MATLAB/Simulink, the simulation results show that under the different partial load, the control system can effectively to control side forklift lateral stability, enhanced the forklift driving safety, for the side forklift steering stability study provides a theoretical basis.

A Hierarchical Model Predictive Tracking Control for Independent Four-Wheel Driving/Steering Vehicles with Coaxial Steering Mechanism

NASA Astrophysics Data System (ADS)

Itoh, Masato; Hagimori, Yuki; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

In this study, we apply a hierarchical model predictive control to omni-directional mobile vehicle, and improve the tracking performance. We deal with an independent four-wheel driving/steering vehicle (IFWDS) equipped with four coaxial steering mechanisms (CSM). The coaxial steering mechanism is a special one composed of two steering joints on the same axis. In our previous study with respect to IFWDS with ideal steering, we proposed a model predictive tracking control. However, this method did not consider constraints of the coaxial steering mechanism which causes delay of steering. We also proposed a model predictive steering control considering constraints of this mechanism. In this study, we propose a hierarchical system combining above two control methods for IFWDS. An upper controller, which deals with vehicle kinematics, runs a model predictive tracking control, and a lower controller, which considers constraints of coaxial steering mechanism, runs a model predictive steering control which tracks the predicted steering angle optimized an upper controller. We verify the superiority of this method by comparing this method with the previous method.

Toward Intelligent Systems for Testing. Technical Report LSP-1.

ERIC Educational Resources Information Center

Lesgold, Alan; And Others

This report illustrates one way in which the technologies of testing might combine with cognitive science techniques to help steer instruction. Steering testing is brief diagnostic testing that steers, or individualizes, the course of instruction. Steering testing uses simple heuristics for reasoning about the level of a student's competence in a…

Experimental Demonstration of the Einstein-Podolsky-Rosen Steering Game Based on the All-Versus-Nothing Proof

NASA Astrophysics Data System (ADS)

Sun, Kai; Xu, Jin-Shi; Ye, Xiang-Jun; Wu, Yu-Chun; Chen, Jing-Ling; Li, Chuan-Feng; Guo, Guang-Can

2014-10-01

Einstein-Podolsky-Rosen (EPR) steering, a generalization of the original concept of "steering" proposed by Schrödinger, describes the ability of one system to nonlocally affect another system's states through local measurements. Some experimental efforts to test EPR steering in terms of inequalities have been made, which usually require many measurement settings. Analogy to the "all-versus-nothing" (AVN) proof of Bell's theorem without inequalities, testing steerability without inequalities would be more strong and require less resources. Moreover, the practical meaning of steering implies that it should also be possible to store the state information on the side to be steered, a result that has not yet been experimentally demonstrated. Using a recent AVN criterion for two-qubit entangled states, we experimentally implement a practical steering game using quantum memory. Furthermore, we develop a theoretical method to deal with the noise and finite measurement statistics within the AVN framework and apply it to analyze the experimental data. Our results clearly show the facilitation of the AVN criterion for testing steerability and provide a particularly strong perspective for understanding EPR steering.

46 CFR 58.25-20 - Piping for steering gear.

Code of Federal Regulations, 2011 CFR

2011-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-20 Piping for steering gear. (a) Pressure piping must comply with subpart 58.30 of this part. (b) Relief valves must be fitted in any part of a hydraulic system that can be isolated and in which pressure can be generated from the power units or from external...

46 CFR 58.25-20 - Piping for steering gear.

Code of Federal Regulations, 2013 CFR

2013-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-20 Piping for steering gear. (a) Pressure piping must comply with subpart 58.30 of this part. (b) Relief valves must be fitted in any part of a hydraulic system that can be isolated and in which pressure can be generated from the power units or from external...

46 CFR 58.25-20 - Piping for steering gear.

Code of Federal Regulations, 2012 CFR

2012-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-20 Piping for steering gear. (a) Pressure piping must comply with subpart 58.30 of this part. (b) Relief valves must be fitted in any part of a hydraulic system that can be isolated and in which pressure can be generated from the power units or from external...

46 CFR 58.25-20 - Piping for steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-20 Piping for steering gear. (a) Pressure piping must comply with subpart 58.30 of this part. (b) Relief valves must be fitted in any part of a hydraulic system that can be isolated and in which pressure can be generated from the power units or from external...

46 CFR 58.25-20 - Piping for steering gear.

Code of Federal Regulations, 2014 CFR

2014-10-01

... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-20 Piping for steering gear. (a) Pressure piping must comply with subpart 58.30 of this part. (b) Relief valves must be fitted in any part of a hydraulic system that can be isolated and in which pressure can be generated from the power units or from external...

Free-space transmission with passive 2D beam steering for multi-gigabit-per-second per-beam indoor optical wireless networks.

PubMed

Oh, Chin Wan; Cao, Zizheng; Tangdiongga, Eduward; Koonen, Ton

2016-08-22

In order to circumvent radio spectrum congestion, we propose an innovative system which can provide multiple infrared optical wireless beams simultaneously where each beam supports multi-gigabit-per-second communication. Scalable two-dimensional beam steering by means of wavelength tuning is proposed. A passive beam-steering module constructed with cascaded reflection gratings is designed for simultaneous multi-user coverage. We experimentally characterized the beam-steered system and thoroughly evaluated the performance of steered channels using the spectrally efficient and robust discrete multitone modulation in a bandwidth-limited system deploying 10 GHz telecom transceivers. This study reports the achievement of at least 37 Gbps free-space transmission per beam over a distance of up to 2 m over 5.61° × 12.66° scanning angles.

Field Test of Wake Steering at an Offshore Wind Farm

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

Fleming, Paul; Annoni, Jennifer; Shah, Jigar J.

In this paper, a field test of wake steering control is presented. The field test is the result of a collaboration between the National Renewable Energy Laboratory (NREL) and Envision Energy, a smart energy management company and turbine manufacturer. In the campaign, an array of turbines within an operating commercial offshore wind farm in China have the normal yaw controller modified to implement wake steering according to a yaw control strategy. The strategy was designed using NREL wind farm models, including a computational fluid dynamics model, SOWFA, for understanding wake dynamics and an engineering model, FLORIS, for yaw control optimization.more » Results indicate that, within the certainty afforded by the data, the wake-steering controller was successful in increasing power capture, by amounts similar to those predicted from the models.« less

Field Test of Wake Steering at an Offshore Wind Farm

DOE PAGES

Fleming, Paul; Annoni, Jennifer; Shah, Jigar J.; ...

2017-02-06

In this paper, a field test of wake steering control is presented. The field test is the result of a collaboration between the National Renewable Energy Laboratory (NREL) and Envision Energy, a smart energy management company and turbine manufacturer. In the campaign, an array of turbines within an operating commercial offshore wind farm in China have the normal yaw controller modified to implement wake steering according to a yaw control strategy. The strategy was designed using NREL wind farm models, including a computational fluid dynamics model, SOWFA, for understanding wake dynamics and an engineering model, FLORIS, for yaw control optimization.more » Results indicate that, within the certainty afforded by the data, the wake-steering controller was successful in increasing power capture, by amounts similar to those predicted from the models.« less

STRIPE: Remote Driving Using Limited Image Data

NASA Technical Reports Server (NTRS)

Kay, Jennifer S.

1997-01-01

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

Force and Stress along Simulated Dissociation Pathways of Cucurbituril-Guest Systems.

PubMed

Velez-Vega, Camilo; Gilson, Michael K

2012-03-13

The field of host-guest chemistry provides computationally tractable yet informative model systems for biomolecular recognition. We applied molecular dynamics simulations to study the forces and mechanical stresses associated with forced dissociation of aqueous cucurbituril-guest complexes with high binding affinities. First, the unbinding transitions were modeled with constant velocity pulling (steered dynamics) and a soft spring constant, to model atomic force microscopy (AFM) experiments. The computed length-force profiles yield rupture forces in good agreement with available measurements. We also used steered dynamics with high spring constants to generate paths characterized by a tight control over the specified pulling distance; these paths were then equilibrated via umbrella sampling simulations and used to compute time-averaged mechanical stresses along the dissociation pathways. The stress calculations proved to be informative regarding the key interactions determining the length-force profiles and rupture forces. In particular, the unbinding transition of one complex is found to be a stepwise process, which is initially dominated by electrostatic interactions between the guest's ammoniums and the host's carbonyl groups, and subsequently limited by the extraction of the guest's bulky bicyclooctane moiety; the latter step requires some bond stretching at the cucurbituril's extraction portal. Conversely, the dissociation of a second complex with a more slender guest is mainly driven by successive electrostatic interactions between the different guest's ammoniums and the host's carbonyl groups. The calculations also provide information on the origins of thermodynamic irreversibilities in these forced dissociation processes.

49 CFR 571.126 - Standard No. 126; Electronic stability control systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... counterclockwise steering, and the other series uses clockwise steering. The maximum time permitted between each... or side slip derivative with respect to time; (4) That has a means to monitor driver steering inputs... dwell steering input (time T0 + 1 in Figure 1) must not exceed 35 percent of the first peak value of yaw...

49 CFR 571.126 - Standard No. 126; Electronic stability control systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... counterclockwise steering, and the other series uses clockwise steering. The maximum time permitted between each... or side slip derivative with respect to time; (4) That has a means to monitor driver steering inputs... dwell steering input (time T0 + 1 in Figure 1) must not exceed 35 percent of the first peak value of yaw...

Rapid communication: Computational simulation and analysis of a candidate for the design of a novel silk-based biopolymer.

PubMed

Golas, Ewa I; Czaplewski, Cezary

2014-09-01

This work theoretically investigates the mechanical properties of a novel silk-derived biopolymer as polymerized in silico from sericin and elastin-like monomers. Molecular Dynamics simulations and Steered Molecular Dynamics were the principal computational methods used, the latter of which applies an external force onto the system and thereby enables an observation of its response to stress. The models explored herein are single-molecule approximations, and primarily serve as tools in a rational design process for the preliminary assessment of properties in a new material candidate. © 2014 Wiley Periodicals, Inc.

Design requirements and development of an airborne descent path definition algorithm for time navigation

NASA Technical Reports Server (NTRS)

Izumi, K. H.; Thompson, J. L.; Groce, J. L.; Schwab, R. W.

1986-01-01

The design requirements for a 4D path definition algorithm are described. These requirements were developed for the NASA ATOPS as an extension of the Local Flow Management/Profile Descent algorithm. They specify the processing flow, functional and data architectures, and system input requirements, and recommended the addition of a broad path revision (reinitialization) function capability. The document also summarizes algorithm design enhancements and the implementation status of the algorithm on an in-house PDP-11/70 computer. Finally, the requirements for the pilot-computer interfaces, the lateral path processor, and guidance and steering function are described.

Beam Steering Devices Reduce Payload Weight

NASA Technical Reports Server (NTRS)

2012-01-01

Scientists have long been able to shift the direction of a laser beam, steering it toward a target, but often the strength and focus of the light is altered. For precision applications, where the quality of the beam cannot be compromised, scientists have typically turned to mechanical steering methods, redirecting the source of the beam by swinging the entire laser apparatus toward the target. Just as the mechanical methods used for turning cars has evolved into simpler, lighter, power steering methods, so has the means by which researchers can direct lasers. Some of the typical contraptions used to redirect lasers are large and bulky, relying on steering gimbals pivoted, rotating supports to shift the device toward its intended target. These devices, some as large and awkward as a piece of heavy luggage, are subject to the same issues confronted by mechanical parts: Components rub, wear out, and get stuck. The poor reliability and bulk not to mention the power requirements to run one of the machines have made mechanical beam steering components less than ideal for use in applications where weight, bulk, and maneuverability are prime concerns, such as on an unmanned aerial vehicle (UAV) or a microscope. The solution to developing reliable, lighter weight, nonmechanical steering methods to replace the hefty steering boxes was to think outside the box, and a NASA research partner did just that by developing a new beam steering method that bends and redirects the beam, as opposed to shifting the entire apparatus. The benefits include lower power requirements, a smaller footprint, reduced weight, and better control and flexibility in steering capabilities. Such benefits are realized without sacrificing aperture size, efficiency, or scanning range, and can be applied to myriad uses: propulsion systems, structures, radiation protection systems, and landing systems.

Application of a computer model to predict optimum slaughter end points for different biological types of feeder cattle.

PubMed

Williams, C B; Bennett, G L

1995-10-01

A bioeconomic model was developed to predict slaughter end points of different genotypes of feeder cattle, where profit/rotation and profit/day were maximized. Growth, feed intake, and carcass weight and composition were simulated for 17 biological types of steers. Distribution of carcass weight and proportion in four USDA quality and five USDA yield grades were obtained from predicted carcass weights and composition. Average carcass value for each genotype was calculated from these distributions under four carcass pricing systems that varied from value determined on quality grade alone to value determined on yield grade alone. Under profitable market conditions, rotation length was shorter and carcass weights lighter when the producer's goal was maximum profit/day, compared with maximum profit/rotation. A carcass value system based on yield grade alone resulted in greater profit/rotation and in lighter and leaner carcasses than a system based on quality grade alone. High correlations ( > .97) were obtained between breed profits obtained with different sets of input/output prices and carcass price discount weight ranges. This suggests that breed rankings on the basis of breed profits may not be sensitive to changes in input/output market prices. Steers that were on a grower-stocker system had leaner carcasses, heavier optimum carcass weight, greater profits, and less variation in optimum carcass weights between genotypes than steers that were started on a high-energy finishing diet at weaning. Overall results suggest that breed choices may change with different carcass grading and value systems and postweaning production systems. This model has potential to provide decision support in marketing fed cattle.

A Driving Behaviour Model of Electrical Wheelchair Users

PubMed Central

Hamam, Y.; Djouani, K.; Daachi, B.; Steyn, N.

2016-01-01

In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user's steering behaviour. This paper contributes to wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory regression analysis results. PMID:27148362

Displacement and force coupling control design for automotive active front steering system

NASA Astrophysics Data System (ADS)

Zhao, Wanzhong; Zhang, Han; Li, Yijun

2018-06-01

A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.

Computation in Dynamically Bounded Asymmetric Systems

PubMed Central

Rutishauser, Ueli; Slotine, Jean-Jacques; Douglas, Rodney

2015-01-01

Previous explanations of computations performed by recurrent networks have focused on symmetrically connected saturating neurons and their convergence toward attractors. Here we analyze the behavior of asymmetrical connected networks of linear threshold neurons, whose positive response is unbounded. We show that, for a wide range of parameters, this asymmetry brings interesting and computationally useful dynamical properties. When driven by input, the network explores potential solutions through highly unstable ‘expansion’ dynamics. This expansion is steered and constrained by negative divergence of the dynamics, which ensures that the dimensionality of the solution space continues to reduce until an acceptable solution manifold is reached. Then the system contracts stably on this manifold towards its final solution trajectory. The unstable positive feedback and cross inhibition that underlie expansion and divergence are common motifs in molecular and neuronal networks. Therefore we propose that very simple organizational constraints that combine these motifs can lead to spontaneous computation and so to the spontaneous modification of entropy that is characteristic of living systems. PMID:25617645

Evaluation of protein-ligand affinity prediction using steered molecular dynamics simulations.

PubMed

Okimoto, Noriaki; Suenaga, Atsushi; Taiji, Makoto

2017-11-01

In computational drug design, ranking a series of compound analogs in a manner that is consistent with experimental affinities remains a challenge. In this study, we evaluated the prediction of protein-ligand binding affinities using steered molecular dynamics simulations. First, we investigated the appropriate conditions for accurate predictions in these simulations. A conic harmonic restraint was applied to the system for efficient sampling of work values on the ligand unbinding pathway. We found that pulling velocity significantly influenced affinity predictions, but that the number of collectable trajectories was less influential. We identified the appropriate pulling velocity and collectable trajectories for binding affinity predictions as 1.25 Å/ns and 100, respectively, and these parameters were used to evaluate three target proteins (FK506 binding protein, trypsin, and cyclin-dependent kinase 2). For these proteins using our parameters, the accuracy of affinity prediction was higher and more stable when Jarzynski's equality was employed compared with the second-order cumulant expansion equation of Jarzynski's equality. Our results showed that steered molecular dynamics simulations are effective for predicting the rank order of ligands; thus, they are a potential tool for compound selection in hit-to-lead and lead optimization processes.

Comparison of vibration damping of standard and PDCPD housing of the electric power steering system

NASA Astrophysics Data System (ADS)

Płaczek, M.; Wróbel, A.; Baier, A.

2017-08-01

A comparison of two different types of electric power steering system housing is presented. The first considered type of the housing was a standard one that is made of an aluminium alloy. The second one is made of polydicyclopentadiene polymer (PDCPD) and was produced using the RIM technology. Considered elements were analysed in order to verify their properties of vibrations damping. This property is very important taking into account noise generated by elements of a car’s power steering system. During the carried out tests vibrations of analysed power steering housings were measured using Marco Fiber Composite (MFC) piezoelectric transducers. Results obtained for both considered power steering housings in case of the same parameters of vibrations excitations were measured and juxtaposed. Obtained results were analysed in order to verify if the housing made of PDCPD polymer has better properties of vibration damping than the standard one.

Land vehicle antennas for satellite mobile communications

NASA Technical Reports Server (NTRS)

Haddad, H. A.; Paschen, D.; Pieper, B. V.

1985-01-01

Antenna designs applicable to future satellite mobile vehicle communications are examined. Microstrip disk, quadrifilar helix, cylindrical microstrip, and inverted V and U crossed-dipole low gain antennas (3-5 dBic) that provide omnidirectional coverage are described. Diagrams of medium gain antenna (9-12 dBic) concepts are presented; the antennas are classified into three types: (1) electronically steered with digital phase shifters; (2) electronically switched with switchable power divider/combiner; and (3) mechanically steered with motor. The operating characteristics of a conformal antenna with electronic beam steering and a nonconformal design with mechanical steering are evaluated with respect to isolation levels in a multiple satellite system. Vehicle antenna pointing systems and antenna system costs are investigated.

Quantum steering and entanglement in three-mode triangle Bose-Hubbard system

NASA Astrophysics Data System (ADS)

Kalaga, J. K.; Leoński, W.; Szczȩśniak, R.

2017-11-01

We consider the possibility of generation steerable states in Bose-Hubbard system composed of three interacting wells in the form of a triangle. We show that although our system still fulfills the monogamy relations, the presence of additional coupling which transforms a chain of wells onto triangle gives a variety of new possibilities for the generation of steerable quantum states. Deriving analytical formulas for the parameters describing steering and bipartite entanglement, we show that interplay between two couplings influences quantum correlations of various types. We compare the time evolution of steering parameters to those describing bipartite entanglement and find the relations between the appearance of maximal entanglement and disappearance of steering effect.

Precision orbit raising trajectories. [solar electric propulsion orbital transfer program

NASA Technical Reports Server (NTRS)

Flanagan, P. F.; Horsewood, J. L.; Pines, S.

1975-01-01

A precision trajectory program has been developed to serve as a test bed for geocentric orbit raising steering laws. The steering laws to be evaluated have been developed using optimization methods employing averaging techniques. This program provides the capability of testing the steering laws in a precision simulation. The principal system models incorporated in the program are described, including the radiation environment, the solar array model, the thrusters and power processors, the geopotential, and the solar system. Steering and array orientation constraints are discussed, and the impact of these constraints on program design is considered.

Holographic memory using beam steering

NASA Technical Reports Server (NTRS)

Chao, Tien-Hsin (Inventor); Hanan, Jay C. (Inventor); Reyes, George F. (Inventor); Zhou, Hanying (Inventor)

2006-01-01

A method, apparatus, and system provide the ability for storing holograms at high speed. A single laser diode emits a collimated laser beam to both write to and read from a photorefractice crystal. One or more liquid crystal beam steering spatial light modulators (BSSLMs) or Micro-Electro-Mechanical Systems (MEMS) mirrors steer a reference beam, split from the collimated laser beam, at high speed to the photorefractive crystal.

--No Title--

Science.gov Websites

interoperability emerging infrastructure for data management on computational grids Software Packages Services : ATLAS: Management and Steering: Computing Management Board Software Project Management Board Database Model Group Computing TDR: 4.5 Event Data 4.8 Database and Data Management Services 6.3.4 Production and

Steering law design for redundant single-gimbal control moment gyroscopes. [for spacecraft attitude control

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth S.; Paradiso, Joseph; Bergmann, Edward V.; Rowell, Derek

1990-01-01

Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

Stereo depth and the control of locomotive heading

NASA Astrophysics Data System (ADS)

Rushton, Simon K.; Harris, Julie M.

1998-04-01

Does the addition of stereoscopic depth aid steering--the perceptual control of locomotor heading--around an environment? This is a critical question when designing a tele-operation or Virtual Environment system, with implications for computational resources and visual comfort. We examined the role of stereoscopic depth in the perceptual control of heading by employing an active steering task. Three conditions were tested: stereoscopic depth; incorrect stereoscopic depth and no stereoscopic depth. Results suggest that stereoscopic depth does not improve performance in a visual control task. A further set of experiments examined the importance of a ground plane. As a ground plane is a common feature of all natural environments and provides a pictorial depth cue, it has been suggested that the visual system may be especially attuned to exploit its presence. Thus it would be predicted that a ground plane would aid judgments of locomotor heading. Results suggest that the presence of rich motion information in the lower visual field produces significant performance advantages and that provision of such information may prove a better target for system resources than stereoscopic depth. These findings have practical consequences for a system designer and also challenge previous theoretical and psychophysical perceptual research.

Effects of beef production system on animal performance and carcass characteristics.

PubMed

Maxwell, C L; Krehbiel, C R; Wilson, B K; Johnson, B T; Bernhard, B C; O'Neill, C F; VanOverbeke, D L; Mafi, G G; Step, D L; Richards, C J

2014-12-01

The objective of this study was to evaluate conventional (CONV) and natural (NAT) beef production systems from annual pasture through finishing through grazing. Beef steers (n=180, initial BW=250±19 kg) were assigned randomly to 2 treatments in the pasture phase. Steers were implanted with 40 mg of trenbolone acetate (TBA), 8 mg estradiol, and 29 mg tylosin tartrate (CONV), or received no implant (NAT). Steers on the 2 treatments grazed wheat or cereal rye for 109 d. Conventional steers had an 18.5% improvement in ADG (1.22 vs. 1.03 kg/d, P<0.01) and a heavier final BW (385 vs. 366 kg, P<0.01) compared with NAT steers. Following the pasture phase, steers (n=160 steers, 5 steers/pen, 8 pens/treatment) were assigned to a 2×2 factorial in the feedlot phase. Production system (NAT vs. CONV) was maintained from the pasture phase, and the second factor was 7 vs. 12% low-quality roughage (DM basis, LOW vs. HIGH). During finishing, CONV steers were given 120 mg of TBA and 24 mg estradiol at processing, fed monensin and tylosin, and fed zilpaterol hydrochloride for the last 20 d of the experiment. There were no program×roughage level interactions (P>0.07). The CONV steers ate 6.9% more feed (11.8 vs. 11.0 kg/d, P<0.01), gained 28.4% faster (1.90 vs. 1.48 kg/d, P<0.01), and were 24.2% more efficient (0.164 vs. 0.132, P<0.01) compared with NAT steers. The LOW steers had greater G:F (0.153 vs. 0.144, P<0.01) compared with HIGH steers. There was a 28.3% improvement in estimated carcass weight gain (1.36 vs. 1.06 kg/d), 18.6% improvement in carcass efficiency (0.115 vs. 0.097, P<0.01), and 21.6% improvement (1.52 vs. 1.25 Mcal/kg, P<0.01) in calculated dietary NEg for CONV compared with NAT steers. Hot carcass weight was increased by 62 kg (424 vs. 362 kg, P<0.01) and LM area was increased by 16.9 cm2 (100.9 vs. 84.0 cm2, P<0.01), decreasing USDA yield grade (YG, 3.09 vs. 3.54, P<0.01) for CONV steers compared with NAT steers. Natural steers had a greater percentage of carcasses in the upper 2/3 of USDA Choice grade (48.7 vs. 18.7%, P<0.01), a greater percentage of YG 4 and 5 carcasses (25.4 vs. 9.3%, P<0.01), and a greater percentage of abscessed livers (39.6 vs. 10.5%, P<0.01) compared with CONV steers. The results show that CONV production results in more rapid and efficient production that resulted in heavier carcasses with superior YG and desirable quality grades with both roughage levels.

Control Aspects of Highly Constrained Guidance Techniques

DTIC Science & Technology

1978-02-01

cycle. The advantages of this approach are (1) it requires only one time- consuming computation of the platform-to-body transformation matrix from...of steering gain corresponding to the three autopilot configurations, Kchange is KFCS change 2 0.0006 5 0.00156 8 0.00256 2.7 Terminal Steering As...a time- consuming process that it is desirable to consider ways of reducing the com- putation time by approximating the elements of B and/or updating

46 CFR 195.05-1 - Installation and details.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS VESSEL... of this type include the following: Ship's Service Generating Systems. Ship's Service Power... Lighting and Power Systems. Electric Lifeboat Winch Systems. Electric Steering Gear and Steering Control...

A new generation of IC based beam steering devices for free-space optical communication

NASA Astrophysics Data System (ADS)

Bedi, Vijit

Free Space Optical (FSO) communication has tremendously advanced within the last decade to meet the ever increasing demand for higher communication bandwidth. Advancement in laser technology since its invention in the 1960's [1] attracted them to be the dominant source in FSO communication modules. The future of FSO systems lay in implementing semiconductor lasers due to their small size, power efficiency and mass fabrication abilities. In the near future, these systems are very likely to be used in space and ground based applications and revolutionary beam steering technologies will be required for distant communications in free-space. The highly directional characteristic inherent to a laser beam challenges and calls for new beam pointing and steering technologies for such type of communication. In this dissertation, research is done on a novel FSO communication device based on semiconductor lasers for high bandwidth communication. The "Fly eye transceiver" is an extremely wide steering bandwidth, completely non-mechanical FSO laser communication device primarily designed to replace traditional mechanical beam steering optical systems. This non-mechanical FSO device possesses a full spherical steering range and a very high tracking bandwidth. Inspired by the evolutionary model of a fly's eye, the full spherical steering range is assured by electronically controlled switching of its sub-eyes. Non mechanical technologies used in the past for beam steering such as acousto-optic Bragg cells, liquid crystal arrays or piezoelectric elements offer the wide steering bandwidth and fast response time, but are limited in their angular steering range. Mechanical gimbals offer a much greater steering range but face a much slower response time or steering bandwidth problem and often require intelligent adaptive controls with bulky driver amplifiers to feed their actuators. As a solution to feed both the fast and full spherical steering, the Fly-eye transceiver is studied as part of my PhD work. The design tool created for the research of the fly eye is then used to study different applications that may be implemented with the concept. Research is done on the mathematical feasibility, modeling, design, application of the technology, and its characterization in a simulation environment. In addition, effects of atmospheric turbulence on beam propagation in free space, and applying data security using optical encryption are also researched.

Monogamy of quantum steering

NASA Astrophysics Data System (ADS)

Milne, Antony; Jennings, David; Jevtic, Sania; Rudolph, Terry; Wiseman, Howard

The quantum steering ellipsoid formalism naturally extends the Bloch vector picture for qubits to provide a visualisation of two-qubit systems. If Alice and Bob share a correlated state then a local measurement by Bob steers Alice's qubit inside the Bloch sphere; given all possible measurements by Bob, the set of states to which Alice can be steered form her steering ellipsoid. We apply the formalism to a three-party scenario and find that steering ellipsoid volumes obey a simple monogamy relation. This gives us a novel derivation of the well-known CKW (Coffman-Kundu-Wootters) inequality for entanglement monogamy. The geometric perspective also identifies a new measure of quantum correlation, `obesity', and a set of `maximally obese' states that saturate the steering monogamy bound. These states are found to have extremal quantum correlation properties that are significant in the steering ellipsoid picture and for the study of two-qubit states in general.

The influence of Unruh effect on quantum steering for accelerated two-level detectors with different measurements

NASA Astrophysics Data System (ADS)

Liu, Tonghua; Wang, Jieci; Jing, Jiliang; Fan, Heng

2018-03-01

We propose a tight measure of quantum steering and study the dynamics of steering in a relativistic setting via different quantifiers. We present the dynamics of steering between two correlated Unruh-Dewitt detectors when one of them locally interacts with external scalar field. We find that the quantum steering, either measured by the entropic steering inequality or the Cavalcanti-Jones-Wiseman-Reid inequality, is fragile under the influence of Unruh thermal noise. The quantum steering is found always asymmetric and the asymmetry is extremely sensitive to the initial state parameter. In addition, the steering-type quantum correlations experience "sudden death" for some accelerations, which are quite different from the behaviors of other quantum correlations in the same system. It is worth noting that the domination value of the tight quantum steering exists a transformation point with increasing acceleration. We also find that the robustness of quantum steerability under the Unruh thermal noise can be realized by choosing the smallest energy gap in the detectors.

Automated Finite Element Analysis of Elastically-Tailored Plates

NASA Technical Reports Server (NTRS)

Jegley, Dawn C. (Technical Monitor); Tatting, Brian F.; Guerdal, Zafer

2003-01-01

A procedure for analyzing and designing elastically tailored composite laminates using the STAGS finite element solver has been presented. The methodology used to produce the elastic tailoring, namely computer-controlled steering of unidirectionally reinforced composite material tows, has been reduced to a handful of design parameters along with a selection of construction methods. The generality of the tow-steered ply definition provides the user a wide variety of options for laminate design, which can be automatically incorporated with any finite element model that is composed of STAGS shell elements. Furthermore, the variable stiffness parameterization is formulated so that manufacturability can be assessed during the design process, plus new ideas using tow steering concepts can be easily integrated within the general framework of the elastic tailoring definitions. Details for the necessary implementation of the tow-steering definitions within the STAGS hierarchy is provided, and the format of the ply definitions is discussed in detail to provide easy access to the elastic tailoring choices. Integration of the automated STAGS solver with laminate design software has been demonstrated, so that the large design space generated by the tow-steering options can be traversed effectively. Several design problems are presented which confirm the usefulness of the design tool as well as further establish the potential of tow-steered plies for laminate design.

Braking and cornering studies on an air cushion landing system

NASA Technical Reports Server (NTRS)

Daugherty, R. H.

1983-01-01

An experimental investigation was conducted to evaluate several concepts for braking and steering a vehicle equipped with an air cushion landing system (ACLS). The investigation made use of a modified airboat equipped with an ACLS. Braking concepts were characterized by the average deceleration of the vehicle. Reduced lobe flow and cavity venting braking concepts were evaluated in this program. The cavity venting braking concept demonstrated the best performance, producing decelerations on the test vehicle on the same order as moderate braking with conventional wheel brakes. Steering concepts were evaluated by recording the path taken while attempting to follow a prescribed maneuver. The steering concepts evaluated included using rudders only, using differential lobe flow, and using rudders combined with a lightly loaded, nonsteering center wheel. The latter concept proved to be the most accurate means of steering the vehicle on the ACLS, producing translational deviations two to three times higher than those from conventional nose-gear steering. However, this concept was still felt to provide reasonably precise steering control for the ACLS-equipped vehicle.

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

NASA Astrophysics Data System (ADS)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

Experimental temporal quantum steering

PubMed Central

Bartkiewicz, Karol; Černoch, Antonín; Lemr, Karel; Miranowicz, Adam; Nori, Franco

2016-01-01

Temporal steering is a form of temporal correlation between the initial and final state of a quantum system. It is a temporal analogue of the famous Einstein-Podolsky-Rosen (spatial) steering. We demonstrate, by measuring the photon polarization, that temporal steering allows two parties to verify if they have been interacting with the same particle, even if they have no information about what happened with the particle in between the measurements. This is the first experimental study of temporal steering. We also performed experimental tests, based on the violation of temporal steering inequalities, of the security of two quantum key distribution protocols against individual attacks. Thus, these results can lead to applications for secure quantum communications and quantum engineering. PMID:27901121

Non-Mechanical Beam Steering in Free-Space Optical Communication Transceivers

NASA Astrophysics Data System (ADS)

Shortt, Kevin

Free-space optical communications systems are a rapidly growing field as they carry many of the advantages of traditional fibre-based communications systems without the added investment of installing complex infrastructure. Moreover, these systems are finding key niches in mobile platforms in order to take advantage of the increased bandwidth over traditional RF systems. Of course, the inevitable problem of tracking arises when dealing with mobile stations. To compound the problem in the case of communications to low Earth or geosynchronous orbits, FSOC systems typically operate with tightly confined beams over great distances often requiring pointing accuracies on the order of micro-radians or smaller. Mechanisms such as gimbal mounts and fine-steering mirrors are the usual candidates for platform stabilization, however, these clearly have substantial power requirements and inflate the mass of the system. Spatial light modulators (also known as optical phased arrays), on the other hand, offer a suitable alternative for beam-pointing stabilization. Some of the advantages of spatial light modulators over fine-steering mirrors include programmable multiple simultaneous beams, dynamic focus/defocus and moderate to excellent optical power handling capability. This thesis serves as an investigation into the implementation of spatial light modulators as a replacement for traditional fine-steering mirrors in the fine-pointing subsystem. In particular, pointing accuracy and scanning ability will be highlighted as performance metrics in the context of a variety of communication scenarios. Keywords: Free-space optical communications, beam steering, fine-steering mirror, spatial light modulator, optical phased array.

Optical designs for MWIR and four quadrant detectors by using beam steering methods in missile applications

NASA Astrophysics Data System (ADS)

Sakarya, Doǧan Uǧur

2017-10-01

Beam steering optical arrangement needs less volume envelope for same field of regard than other gimbal approaches. Both for imaging and four quadrant missile applications, volume is critical parameter limiting system performance. Therefore, a conceptual design of beam steering method has been focused on both imaging and four quadrant missiles. In this study; four different optical designs have been made by using both beam steering and regular method for mid-wave infra-red imaging and four quadrant systems. Optical designs performances have been illustrated in simulation results. By using manufactured Risley prisms, some experimental results are conducted to compare simulations results.

Designation and verification of road markings detection and guidance method

NASA Astrophysics Data System (ADS)

Wang, Runze; Jian, Yabin; Li, Xiyuan; Shang, Yonghong; Wang, Jing; Zhang, JingChuan

2018-01-01

With the rapid development of China's space industry, digitization and intelligent is the tendency of the future. This report is present a foundation research about guidance system which based on the HSV color space. With the help of these research which will help to design the automatic navigation and parking system for the frock transport car and the infrared lamp homogeneity intelligent test equipment. The drive mode, steer mode as well as the navigation method was selected. In consideration of the practicability, it was determined to use the front-wheel-steering chassis. The steering mechanism was controlled by the stepping motors, and it is guided by Machine Vision. The optimization and calibration of the steering mechanism was made. A mathematical model was built and the objective functions was constructed for the steering mechanism. The extraction method of the steering line was studied and the motion controller was designed and optimized. The theory of HSV, RGB color space and analysis of the testing result will be discussed Using the function library OPENCV on the Linux system to fulfill the camera calibration. Based on the HSV color space to design the guidance algorithm.

Null steering of adaptive beamforming using linear constraint minimum variance assisted by particle swarm optimization, dynamic mutated artificial immune system, and gravitational search algorithm.

PubMed

Darzi, Soodabeh; Kiong, Tiong Sieh; Islam, Mohammad Tariqul; Ismail, Mahamod; Kibria, Salehin; Salem, Balasem

2014-01-01

Linear constraint minimum variance (LCMV) is one of the adaptive beamforming techniques that is commonly applied to cancel interfering signals and steer or produce a strong beam to the desired signal through its computed weight vectors. However, weights computed by LCMV usually are not able to form the radiation beam towards the target user precisely and not good enough to reduce the interference by placing null at the interference sources. It is difficult to improve and optimize the LCMV beamforming technique through conventional empirical approach. To provide a solution to this problem, artificial intelligence (AI) technique is explored in order to enhance the LCMV beamforming ability. In this paper, particle swarm optimization (PSO), dynamic mutated artificial immune system (DM-AIS), and gravitational search algorithm (GSA) are incorporated into the existing LCMV technique in order to improve the weights of LCMV. The simulation result demonstrates that received signal to interference and noise ratio (SINR) of target user can be significantly improved by the integration of PSO, DM-AIS, and GSA in LCMV through the suppression of interference in undesired direction. Furthermore, the proposed GSA can be applied as a more effective technique in LCMV beamforming optimization as compared to the PSO technique. The algorithms were implemented using Matlab program.

Null Steering of Adaptive Beamforming Using Linear Constraint Minimum Variance Assisted by Particle Swarm Optimization, Dynamic Mutated Artificial Immune System, and Gravitational Search Algorithm

PubMed Central

Sieh Kiong, Tiong; Tariqul Islam, Mohammad; Ismail, Mahamod; Salem, Balasem

2014-01-01

Linear constraint minimum variance (LCMV) is one of the adaptive beamforming techniques that is commonly applied to cancel interfering signals and steer or produce a strong beam to the desired signal through its computed weight vectors. However, weights computed by LCMV usually are not able to form the radiation beam towards the target user precisely and not good enough to reduce the interference by placing null at the interference sources. It is difficult to improve and optimize the LCMV beamforming technique through conventional empirical approach. To provide a solution to this problem, artificial intelligence (AI) technique is explored in order to enhance the LCMV beamforming ability. In this paper, particle swarm optimization (PSO), dynamic mutated artificial immune system (DM-AIS), and gravitational search algorithm (GSA) are incorporated into the existing LCMV technique in order to improve the weights of LCMV. The simulation result demonstrates that received signal to interference and noise ratio (SINR) of target user can be significantly improved by the integration of PSO, DM-AIS, and GSA in LCMV through the suppression of interference in undesired direction. Furthermore, the proposed GSA can be applied as a more effective technique in LCMV beamforming optimization as compared to the PSO technique. The algorithms were implemented using Matlab program. PMID:25147859

46 CFR 127.110 - Plans and specifications required for new construction.

Code of Federal Regulations, 2011 CFR

2011-10-01

.... (v) Fluid-driven power and control systems. (vi) Through-hull penetrations and shell connections...) Steering and steering-control systems. (4) Propulsion and propulsion-control systems. (5) Piping diagrams... personnel in the control and observation of the propulsion systems and machinery spaces, or to reduce the...

Radar Attitude Sensing System (RASS)

NASA Technical Reports Server (NTRS)

1971-01-01

The initial design and fabrication efforts for a radar attitude sensing system (RASS) are covered. The design and fabrication of the RASS system is being undertaken in two phases, 1B1 and 1B2. The RASS system as configured under phase 1B1 contains the solid state transmitter and local oscillator, the antenna system, the receiving system, and the altitude electronics. RASS employs a pseudo-random coded cw signal and receiver correlation techniques to measure range. The antenna is a planar, phased array, monopulse type, whose beam is electronically steerable using diode phase shifters. The beam steering computer and attitude sensing circuitry are to be included in Phase 1B2 of the program.

Computing Protein-Protein Association Affinity with Hybrid Steered Molecular Dynamics.

PubMed

Rodriguez, Roberto A; Yu, Lili; Chen, Liao Y

2015-09-08

Computing protein-protein association affinities is one of the fundamental challenges in computational biophysics/biochemistry. The overwhelming amount of statistics in the phase space of very high dimensions cannot be sufficiently sampled even with today's high-performance computing power. In this article, we extend a potential of mean force (PMF)-based approach, the hybrid steered molecular dynamics (hSMD) approach we developed for ligand-protein binding, to protein-protein association problems. For a protein complex consisting of two protomers, P1 and P2, we choose m (≥3) segments of P1 whose m centers of mass are to be steered in a chosen direction and n (≥3) segments of P2 whose n centers of mass are to be steered in the opposite direction. The coordinates of these m + n centers constitute a phase space of 3(m + n) dimensions (3(m + n)D). All other degrees of freedom of the proteins, ligands, solvents, and solutes are freely subject to the stochastic dynamics of the all-atom model system. Conducting SMD along a line in this phase space, we obtain the 3(m + n)D PMF difference between two chosen states: one single state in the associated state ensemble and one single state in the dissociated state ensemble. This PMF difference is the first of four contributors to the protein-protein association energy. The second contributor is the 3(m + n - 1)D partial partition in the associated state accounting for the rotations and fluctuations of the (m + n - 1) centers while fixing one of the m + n centers of the P1-P2 complex. The two other contributors are the 3(m - 1)D partial partition of P1 and the 3(n - 1)D partial partition of P2 accounting for the rotations and fluctuations of their m - 1 or n - 1 centers while fixing one of the m/n centers of P1/P2 in the dissociated state. Each of these three partial partitions can be factored exactly into a 6D partial partition in multiplication with a remaining factor accounting for the small fluctuations while fixing three of the centers of P1, P2, or the P1-P2 complex, respectively. These small fluctuations can be well-approximated as Gaussian, and every 6D partition can be reduced in an exact manner to three problems of 1D sampling, counting the rotations and fluctuations around one of the centers as being fixed. We implement this hSMD approach to the Ras-RalGDS complex, choosing three centers on RalGDS and three on Ras (m = n = 3). At a computing cost of about 71.6 wall-clock hours using 400 computing cores in parallel, we obtained the association energy, -9.2 ± 1.9 kcal/mol on the basis of CHARMM 36 parameters, which well agrees with the experimental data, -8.4 ± 0.2 kcal/mol.

Introduction of steered molecular dynamics into UNRES coarse-grained simulations package.

PubMed

Sieradzan, Adam K; Jakubowski, Rafał

2017-03-30

In this article, an implementation of steered molecular dynamics (SMD) in coarse-grain UNited RESidue (UNRES) simulations package is presented. Two variants of SMD have been implemented: with a constant force and a constant velocity. The huge advantage of SMD implementation in the UNRES force field is that it allows to pull with the speed significantly lower than the accessible pulling speed in simulations with all-atom representation of a system, with respect to a reasonable computational time. Therefore, obtaining pulling speed closer to those which appear in the atomic force spectroscopy is possible. The newly implemented method has been tested for behavior in a microcanonical run to verify the influence of introduction of artificial constrains on keeping total energy of the system. Moreover, as time dependent artificial force was introduced, the thermostat behavior was tested. The new method was also tested via unfolding of the Fn3 domain of human contactin 1 protein and the I27 titin domain. Obtained results were compared with Gø-like force field, all-atom force field, and experimental results. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

A scanned focused ultrasound device for hyperthermia: numerical simulation and prototype implementation

NASA Astrophysics Data System (ADS)

Meaney, Paul M.; Raynolds, Timothy; Geimer, Shireen D.; Potwin, Lincoln; Paulsen, Keith D.

2004-07-01

We are developing a scanned focused ultrasound system for hyperthermia treatment of breast cancer. Focused ultrasound has significant potential as a therapy delivery device because it can focus sufficient heating energy below the skin surface with minimal damage to intervening tissue. However, as a practical therapy system, the focal zone is generally quite small and requires either electronic (in the case of a phased array system) or mechanical steering (for a fixed bowl transducer) to cover a therapeutically useful area. We have devised a simple automated steering system consisting of a focused bowl transducer supported by three vertically movable rods which are connected to computer controlled linear actuators. This scheme is particularly attractive for breast cancer hyperthermia where the support rods can be fed through the base of a liquid coupling tank to treat tumors within the breast while coupled to our noninvasive microwave thermal imaging system. A MATLAB routine has been developed for controlling the rod motion such that the beam focal point scans a horizontal spiral and the subsequent heating zone is cylindrical. In coordination with this effort, a 3D finite element thermal model has been developed to evaluate the temperature distributions from the scanned focused heating. In this way, scanning protocols can be optimized to deliver the most uniform temperature rise to the desired location.

46 CFR 113.43-3 - Alarm system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Alarm system. 113.43-3 Section 113.43-3 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-3 Alarm system. (a) Each vessel must have a steering failure alarm system that actuates an audible and visible alarm in the pilothouse when the actual...

46 CFR 113.43-3 - Alarm system.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Alarm system. 113.43-3 Section 113.43-3 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-3 Alarm system. (a) Each vessel must have a steering failure alarm system that actuates an audible and visible alarm in the pilothouse when the actual...

46 CFR 113.43-3 - Alarm system.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Alarm system. 113.43-3 Section 113.43-3 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-3 Alarm system. (a) Each vessel must have a steering failure alarm system that actuates an audible and visible alarm in the pilothouse when the actual...

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

PubMed

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-12-28

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

An Interim Report on NASA's Draft Space Technology Roadmaps

NASA Technical Reports Server (NTRS)

2011-01-01

NASA has developed a set of 14 draft roadmaps to guide the development of space technologies under the leadership of the NASA Office of the Chief Technologist (OCT). Each of these roadmaps focuses on a particular technology area (TA). The roadmaps are intended to foster the development of advanced technologies and concepts that address NASA's needs and contribute to other aerospace and national needs. OCT requested that the National Research Council conduct a study to review the draft roadmaps, gather and assess relevant community input, and make recommendations and suggest priorities to inform NASA's decisions as it finalizes its roadmaps. The statement of task states that "based on the results of the community input and its own deliberations, the steering committee will prepare a brief interim report that addresses high-level issues associated with the roadmaps, such as the advisability of modifying the number or technical focus of the draft NASA roadmaps." This interim report, which does not include formal recommendations, addresses that one element of the study charge. NASA requested this interim report so that it would have the opportunity to make an early start in modifying the draft roadmaps based on feedback from the panels and steering committee. The final report will address all other tasks in the statement of task. In particular, the final report will include a prioritization of technologies, will describe in detail the prioritization process and criteria, and will include specific recommendations on a variety of topics, including many of the topics mentioned in this interim report. In developing both this interim report and the final report to come, the steering committee draws on the work of six study panels organized by technical area, loosely following the organization of the 14 roadmaps, as follows: A Panel 1: Propulsion and Power TA01 Launch Propulsion Systems TA02 In-Space Propulsion Technologies TA03 Space Power and Energy Storage Systems TA13 Ground and Launch Systems Processing B Panel 2: Robotics, Communications, and Navigation TA04 Robotics, TeleRobotics, and Autonomous Systems TA05 Communication and Navigation Systems C Panel 3: Instruments and Computing TA08 Science Instruments, Observatories, and Sensor Systems TA11 Modeling, Simulation, Information Technology, and Data Processing D Panel 4: Human Health and Surface Exploration TA06 Human Health, Life Support, and Habitation Systems TA07 Human Exploration Destination Systems E Panel 5: Materials Panel TA10 Nanotechnology TA12 Materials, Structures, Mechanical Systems, and Manufacturing TA14 Thermal Management Systems F Panel 6: Entry, Descent, and Landing Panel TA09 Entry, Descent, and Landing Systems In addition to drawing on the expertise represented on the steering committee and panels, the committee obtained input from each of 14 public workshops held on each of the 14 roadmaps. At these 1-day workshops, invited speakers, guests, and members of the public engaged in discussions on the different technology areas and their value to NASA. Broad community input was also solicited from a public website, where more than 240 public comments were received on the draft roadmaps in response to application of criteria (such as benefit, risk and reasonableness, and alignment with NASA and national goals) that the steering committee established. This interim report reflects the results of deliberations by the steering committee in light of these public inputs as well as additional inputs from the six panels. The steering committee's final report will be completed early in 2012. That report will prioritize the technologies that span the entire scope of the 14 roadmaps and provide additional guidance on crosscutting themes and other relevant topics.

Poster - 51: A tumor motion-compensating system with tracking and prediction – a proof-of-concept study

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

Guo, Kaiming; Teo, Peng; Kawalec, Philip

2016-08-15

Purpose: This work reports on the development of a mechanical slider system for the counter-steering of tumor motion in adaptive Radiation Therapy (RT). The tumor motion was tracked using a weighted optical flow algorithm and its position is being predicted with a neural network (NN). Methods: The components of the proposed mechanical counter-steering system includes: (1) an actuator which provides the tumor motion, (2) the motion detection using an optical flow algorithm, (3) motion prediction using a neural network, (4) a control module and (5) a mechanical slider to counter-steer the anticipated motion of the tumor phantom. An asymmetrical cosinemore » function and five patient traces (P1–P5) were used to evaluate the tracking of a 3D printed lung tumor. In the proposed mechanical counter-steering system, both actuator (Zaber NA14D60) and slider (Zaber A-BLQ0070-E01) were programed to move independently with LabVIEW and their positions were recorded by 2 potentiometers (ETI LCP12S-25). The accuracy of this counter-steering system is given by the difference between the two potentiometers. Results: The inherent accuracy of the system, measured using the cosine function, is −0.15 ± 0.06 mm. While the errors when tracking and prediction were included, is (0.04 ± 0.71) mm. Conclusion: A prototype tumor motion counter-steering system with tracking and prediction was implemented. The inherent errors are small in comparison to the tracking and prediction errors, which in turn are small in comparison to the magnitude of tumor motion. The results show that this system is suited for evaluating RT tracking and prediction.« less

A comparison of CMG steering laws for High Energy Astronomy Observatories (HEAOs)

NASA Technical Reports Server (NTRS)

Davis, B. G.

1972-01-01

A comparison of six selected control moment gyro steering laws for use on the HEAO spacecraft is reported. Basic equations are developed to project the momentum and torque of four skewed, single gimbal CMGs into vehicle coordinates. In response to the spacecraft attitude error signal, six algorithms are derived for controlling the CMG gimbal movements. HEAO performance data are obtained using each steering law and compared on the basis of such factors as accuracy, complexity, singularities, gyro hang-up and failure adaption. Moreover, each law is simulated with and without a magnetic momentum management system. The performance of any steering law is enhanced by the magnetic system. Without magnetics, the gimbal angles get large and there are significant differences in steering law performances due to cross coupling and nonlinearities. The performance of the pseudo inverse law is recommended for HEAO.

Maximum Constrained Directivity of Oversteered End-Fire Sensor Arrays

PubMed Central

Trucco, Andrea; Traverso, Federico; Crocco, Marco

2015-01-01

For linear arrays with fixed steering and an inter-element spacing smaller than one half of the wavelength, end-fire steering of a data-independent beamformer offers better directivity than broadside steering. The introduction of a lower bound on the white noise gain ensures the necessary robustness against random array errors and sensor mismatches. However, the optimum broadside performance can be obtained using a simple processing architecture, whereas the optimum end-fire performance requires a more complicated system (because complex weight coefficients are needed). In this paper, we reconsider the oversteering technique as a possible way to simplify the processing architecture of equally spaced end-fire arrays. We propose a method for computing the amount of oversteering and the related real-valued weight vector that allows the constrained directivity to be maximized for a given inter-element spacing. Moreover, we verify that the maximized oversteering performance is very close to the optimum end-fire performance. We conclude that optimized oversteering is a viable method for designing end-fire arrays that have better constrained directivity than broadside arrays but with a similar implementation complexity. A numerical simulation is used to perform a statistical analysis, which confirms that the maximized oversteering performance is robust against sensor mismatches. PMID:26066987

Electrostatic Steering Accelerates C3d:CR2 Association.

PubMed

Mohan, Rohith R; Huber, Gary A; Morikis, Dimitrios

2016-08-25

Electrostatic effects are ubiquitous in protein interactions and are found to be pervasive in the complement system as well. The interaction between complement fragment C3d and complement receptor 2 (CR2) has evolved to become a link between innate and adaptive immunity. Electrostatic interactions have been suggested to be the driving factor for the association of the C3d:CR2 complex. In this study, we investigate the effects of ionic strength and mutagenesis on the association of C3d:CR2 through Brownian dynamics simulations. We demonstrate that the formation of the C3d:CR2 complex is ionic strength-dependent, suggesting the presence of long-range electrostatic steering that accelerates the complex formation. Electrostatic steering occurs through the interaction of an acidic surface patch in C3d and the positively charged CR2 and is supported by the effects of mutations within the acidic patch of C3d that slow or diminish association. Our data are in agreement with previous experimental mutagenesis and binding studies and computational studies. Although the C3d acidic patch may be locally destabilizing because of unfavorable Coulombic interactions of like charges, it contributes to the acceleration of association. Therefore, acceleration of function through electrostatic steering takes precedence to stability. The site of interaction between C3d and CR2 has been the target for delivery of CR2-bound nanoparticle, antibody, and small molecule biomarkers, as well as potential therapeutics. A detailed knowledge of the physicochemical basis of C3d:CR2 association may be necessary to accelerate biomarker and drug discovery efforts.

Overview of ICE Project: Integration of Computational Fluid Dynamics and Experiments

NASA Technical Reports Server (NTRS)

Stegeman, James D.; Blech, Richard A.; Babrauckas, Theresa L.; Jones, William H.

2001-01-01

Researchers at the NASA Glenn Research Center have developed a prototype integrated environment for interactively exploring, analyzing, and validating information from computational fluid dynamics (CFD) computations and experiments. The Integrated CFD and Experiments (ICE) project is a first attempt at providing a researcher with a common user interface for control, manipulation, analysis, and data storage for both experiments and simulation. ICE can be used as a live, on-tine system that displays and archives data as they are gathered; as a postprocessing system for dataset manipulation and analysis; and as a control interface or "steering mechanism" for simulation codes while visualizing the results. Although the full capabilities of ICE have not been completely demonstrated, this report documents the current system. Various applications of ICE are discussed: a low-speed compressor, a supersonic inlet, real-time data visualization, and a parallel-processing simulation code interface. A detailed data model for the compressor application is included in the appendix.

Multi-functional Electric Module for a Vehicle

NASA Technical Reports Server (NTRS)

Waligora, Thomas M. (Inventor); Fraser-Chanpong, Nathan (Inventor); Figuered, Joshua M. (Inventor); Reed, Ryan (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Spain, Ivan (Inventor); Dawson, Andrew D. (Inventor); Herrera, Eduardo (Inventor); Markee, Mason M. (Inventor); Bluethmann, William J. (Inventor)

2015-01-01

A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function. The steering motor may have a dual-wound stator with windings controlled via the respective steering controllers.

ORAC: a molecular dynamics simulation program to explore free energy surfaces in biomolecular systems at the atomistic level.

PubMed

Marsili, Simone; Signorini, Giorgio Federico; Chelli, Riccardo; Marchi, Massimo; Procacci, Piero

2010-04-15

We present the new release of the ORAC engine (Procacci et al., Comput Chem 1997, 18, 1834), a FORTRAN suite to simulate complex biosystems at the atomistic level. The previous release of the ORAC code included multiple time steps integration, smooth particle mesh Ewald method, constant pressure and constant temperature simulations. The present release has been supplemented with the most advanced techniques for enhanced sampling in atomistic systems including replica exchange with solute tempering, metadynamics and steered molecular dynamics. All these computational technologies have been implemented for parallel architectures using the standard MPI communication protocol. ORAC is an open-source program distributed free of charge under the GNU general public license (GPL) at http://www.chim.unifi.it/orac. 2009 Wiley Periodicals, Inc.

Using an automated speed, steering, and gap control system and a collision warning system when driving in clear visibility and in fog

DOT National Transportation Integrated Search

1998-04-01

The effect on driving performance of using a speed, steering, and gap control system (SSGCS) and a collision warning system (CWS) was assessed in an experiment conducted in the Iowa Driving Simulator. Driving performance data were obtained from 52 dr...

Mountain Plains Learning Experience Guide: Automotive Repair. Course: Suspension Systems.

ERIC Educational Resources Information Center

Schramm, C.; Osland, Walt

One of twelve individualized courses included in an automotive repair curriculum, this course covers the theory, maintenance, and repair of front-end suspension and steering mechanisms. The course is comprised of five units: (1) Tire Balancing, (2) Manual Steering Gears, (3) Power Steering, (4) Fundamentals of Suspension, and (5) Front-End…

Robot-Assisted Needle Steering

PubMed Central

Reed, Kyle B.; Majewicz, Ann; Kallem, Vinutha; Alterovitz, Ron; Goldberg, Ken; Cowan, Noah J.; Okamura, Allison M.

2012-01-01

Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, and is considered to be one of the simplest and most minimally invasive medical procedures. Robot-assisted needle steering has the potential to improve the effectiveness of existing medical procedures and enable new ones by allowing increased accuracy through more dexterous control of the needle tip path and acquisition of targets not accessible by straight-line trajectories. In this article, we describe a robot-assisted needle steering system that uses three integrated controllers: a motion planner concerned with guiding the needle around obstacles to a target in a desired plane, a planar controller that maintains the needle in the desired plane, and a torsion compensator that controls the needle tip orientation about the axis of the needle shaft. Experimental results from steering an asymmetric-tip needle in artificial tissue demonstrate the effectiveness of the system and its sensitivity to various environmental and control parameters. In addition, we show an example of needle steering in ex vivo biological tissue to accomplish a clinically relevant task, and highlight challenges of practical needle steering implementation. PMID:23028210

Micromachined actuators/sensors for intratubular positioning/steering

DOEpatents

Lee, Abraham P.; Krulevitch, Peter A.; Northrup, M. Allen; Trevino, Jimmy C.

1998-01-01

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems.

Integrated phased array for wide-angle beam steering.

PubMed

Yaacobi, Ami; Sun, Jie; Moresco, Michele; Leake, Gerald; Coolbaugh, Douglas; Watts, Michael R

2014-08-01

We demonstrate an on-chip optical phased array fabricated in a CMOS compatible process with continuous, fast (100 kHz), wide-angle (51°) beam-steering suitable for applications such as low-cost LIDAR systems. The device demonstrates the largest (51°) beam-steering and beam-spacing to date while providing the ability to steer continuously over the entire range. Continuous steering is enabled by a cascaded phase shifting architecture utilizing, low power and small footprint, thermo-optic phase shifters. We demonstrate these results in the telecom C-band, but the same design can easily be adjusted for any wavelength between 1.2 and 3.5 μm.

Development of Radar Control system for Multi-mode Active Phased Array Radar for atmospheric probing

NASA Astrophysics Data System (ADS)

Yasodha, Polisetti; Jayaraman, Achuthan; Thriveni, A.

2016-07-01

Modern multi-mode active phased array radars require highly efficient radar control system for hassle free real time radar operation. The requirement comes due to the distributed architecture of the active phased array radar, where each antenna element in the array is connected to a dedicated Transmit-Receive (TR) module. Controlling the TR modules, which are generally few hundreds in number, and functioning them in synchronisation, is a huge task during real time radar operation and should be handled with utmost care. Indian MST Radar, located at NARL, Gadanki, which is established during early 90's, as an outcome of the middle atmospheric program, is a remote sensing instrument for probing the atmosphere. This radar has a semi-active array, consisting of 1024 antenna elements, with limited beam steering, possible only along the principle planes. To overcome the limitations and difficulties, the radar is being augmented into fully active phased array, to accomplish beam agility and multi-mode operations. Each antenna element is excited with a dedicated 1 kW TR module, located in the field and enables to position the radar beam within 20° conical volume. A multi-channel receiver makes the radar to operate in various modes like Doppler Beam Swinging (DBS), Spaced Antenna (SA), Frequency Domain Interferometry (FDI) etc. Present work describes the real-time radar control (RC) system for the above described active phased array radar. The radar control system consists of a Spartan 6 FPGA based Timing and Control Signal Generator (TCSG), and a computer containing the software for controlling all the subsystems of the radar during real-time radar operation and also for calibrating the radar. The main function of the TCSG is to generate the control and timing waveforms required for various subsystems of the radar. Important components of the RC system software are (i) TR module configuring software which does programming, controlling and health parameter monitoring of the TR modules, (ii) radar operation software which facilitates experimental parameter setting and operating the radar in different modes, (iii) beam steering software which computes the amplitude co-efficients and phases required for each TR module, for forming the beams selected for radar operation with the desired shape and (iv) Calibration software for calibrating the radar by measuring the differential insertion phase and amplitudes in all 1024 Transmit and Receive paths and correcting them. The TR module configuring software is a major task as it needs to control 1024 TR modules, which are located in the field about 150 m away from the RC system in the control room. Each TR module has a processor identified with a dedicated IP address, along with memory to store the instructions and parameters required for radar operation. A communication link is designed using Gigabit Ethernet (GbE) switches to realise 1 to 1024 way switching network. RC system computer communicates with the each processor using its IP address and establishes connection, via 1 to 1024 port GbE switching network. The experimental parameters data are pre-loaded parallely into all the TR modules along with the phase shifter data required for beam steering using this network. A reference timing pulse is sent to all the TR modules simultaneously, which indicates the start of radar operation. RC system also monitors the status parameters from the TR modules indicating their health during radar operation at regular intervals, via GbE switching network. Beam steering software generates the phase shift required for each TR module for the beams selected for operation. Radar operational software calls the phase shift data required for beam steering and adds it to the calibration phase obtained through calibration software and loads the resultant phase data into TR modules. Timed command/data transfer to/from subsystems and synchronisation of subsystems is essential for proper real-time operation of the active phased array radar and the RC system ensures that the commands/experimental parameter data are properly transferred to all subsystems especially to TR modules. In case of failure of any TR module, it is indicated to the user for further rectification. Realisation of the RC system is at an advanced stage. More details will be presented in the conference.

Optimization of vehicle-trailer connection systems

NASA Astrophysics Data System (ADS)

Sorge, F.

2016-09-01

The three main requirements of a vehicle-trailer connection system are: en route stability, over- or under-steering restraint, minimum off-tracking along curved path. Linking the two units by four-bar trapeziums, wider stability margins may be attained in comparison with the conventional pintle-hitch for both instability types, divergent or oscillating. The stability maps are traced applying the Hurwitz method or the direct analysis of the characteristic equation at the instability threshold. Several types of four-bar linkages may be quickly tested, with the drawbars converging towards the trailer or the towing unit. The latter configuration appears preferable in terms of self-stability and may yield high critical speeds by optimising the geometrical and physical properties. Nevertheless, the system stability may be improved in general by additional vibration dampers in parallel with the connection linkage. Moreover, the four-bar connection may produce significant corrections of the under-steering or over-steering behaviour of the vehicle-train after a steering command from the driver. The off- tracking along the curved paths may be also optimized or kept inside prefixed margins of acceptableness. Activating electronic stability systems if necessary, fair results are obtainable for both the steering conduct and the off-tracking.

CA-LOD: Collision Avoidance Level of Detail for Scalable, Controllable Crowds

NASA Astrophysics Data System (ADS)

Paris, Sébastien; Gerdelan, Anton; O'Sullivan, Carol

The new wave of computer-driven entertainment technology throws audiences and game players into massive virtual worlds where entire cities are rendered in real time. Computer animated characters run through inner-city streets teeming with pedestrians, all fully rendered with 3D graphics, animations, particle effects and linked to 3D sound effects to produce more realistic and immersive computer-hosted entertainment experiences than ever before. Computing all of this detail at once is enormously computationally expensive, and game designers as a rule, have sacrificed the behavioural realism in favour of better graphics. In this paper we propose a new Collision Avoidance Level of Detail (CA-LOD) algorithm that allows games to support huge crowds in real time with the appearance of more intelligent behaviour. We propose two collision avoidance models used for two different CA-LODs: a fuzzy steering focusing on the performances, and a geometric steering to obtain the best realism. Mixing these approaches allows to obtain thousands of autonomous characters in real time, resulting in a scalable but still controllable crowd.

Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

NASA Astrophysics Data System (ADS)

Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

2012-01-01

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

Fast Steering Mirror systems for the U-AVLIS program at LLNL

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

Watson, J.; Avicola, K.; Payne, A.

1994-07-01

We have successfully deployed several fast steering mirror systems in the Uranium Atomic Vapor Isotope Separation (U-AVLIS) facility at LLNL. These systems employ 2 mm to 150 mm optics and piezoelectric actuators to achieve microradian pointing accuracy with disturbance rejection bandwidths to a few hundred hertz.

The Physics Performance Of The Front Steering Launcher For The ITER ECRH Upper Port

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

Henderson, M.; Chavan, R.; Nikkola, P.

2005-09-26

The capability of any given e.m.-wave plasma heating system to be utilized for physics applications depends strongly on the technical properties of the launching antenna (or launcher). An effective ECH launcher must project a small mm-wave beam spot size far into the plasma and 'steer' the beam across a large fraction of the plasma cross section (along the resonance surface). Thus the choice in the launcher concept and design may either severely limit or enhance the capability of a heating system to be effectively applied for physics applications, such as sawtooth stabilization, control of the Neoclassical Tearing Mode (NTM), Edgemore » Localized Mode (ELM) control, etc. Presently, two antenna concepts are under consideration for the ITER upper port ECH launcher: front steering (FS) and remote steering (RS) launchers. The RS launcher has the technical advantage of easier maintenance access to the steering mirror, which is isolated from the torus vacuum. The FS launcher places the steering mirror near the plasma increasing the technical challenges, but significantly enhancing the focusing and steering capabilities of the launcher, offering a threefold increase in NTM stabilization efficiency over the RS launcher as well as the potential for application to other critical physics issues such as ELM or sawtooth control.« less

Dynamic Steering for Improved Sensor Autonomy and Catalogue Maintenance

NASA Astrophysics Data System (ADS)

Hobson, T.; Gordon, N.; Clarkson, I.; Rutten, M.; Bessell, T.

A number of international agencies endeavour to maintain catalogues of the man-made resident space objects (RSOs) currently orbiting the Earth. Such catalogues are primarily created to anticipate and avoid destructive collisions involving important space assets such as manned missions and active satellites. An agencys ability to achieve this objective is dependent on the accuracy, reliability and timeliness of the information used to update its catalogue. A primary means for gathering this information is by regularly making direct observations of the tens-of-thousands of currently detectable RSOs via networks of space surveillance sensors. But operational constraints sometimes prevent accurate and timely reacquisition of all known RSOs, which can cause them to become lost to the tracking system. Furthermore, when comprehensive acquisition of new objects does not occur, these objects, in addition to the lost RSOs, result in uncorrelated detections when next observed. Due to the rising number of space-missions and the introduction of newer, more capable space-sensors, the number of uncorrelated targets is at an all-time high. The process of differentiating uncorrelated detections caused by once-acquired now-lost RSOs from newly detected RSOs is a difficult and often labour intensive task. Current methods for overcoming this challenge focus on advancements in orbit propagation and object characterisation to improve prediction accuracy and target identification. In this paper, we describe a complementary approach that incorporates increased awareness of error and failed observations into the RSO tracking solution. Our methodology employs a technique called dynamic steering to improve the autonomy and capability of a space surveillance networks steerable sensors. By co-situating each sensor with a low-cost high-performance computer, the steerable sensor can quickly and intelligently decide how to steer itself. The sensor-system uses a dedicated parallel-processing architecture to enable it to compute a high-fidelity estimate of the targets prior state error distribution in real-time. Negative information, such as when an RSO is targeted for observation but it is not observed, is incorporated to improve the likelihood of reacquiring the target when attempting to observe the target in future. The sensor is consequently capable of improving its utility by planning each observation using a sensor steering solution that is informed by all prior attempts at observing the target. We describe the practical implementation of a single experimental sensor and offer the results of recent field trials. These trials involved reacquisition and constrained Initial Orbit Determination of RSOs, a number of months after prior observation and initial detection. Using the proposed approach, the system is capable of using targeting information that would be unusable by existing space surveillance networks. The system consequently offers a means of enhancing space surveillance for SSA via increased system capacity, a higher degree of autonomy and the ability to reacquire objects whose dynamics are insufficiently modelled to cue a conventional space surveillance system for observation and tracking.

The Evolvement of Automobile Steering System Based on TRIZ

NASA Astrophysics Data System (ADS)

Zhao, Xinjun; Zhang, Shuang

Products and techniques pass through a process of birth, growth, maturity, death and quit the stage like biological evolution process. The developments of products and techniques conform to some evolvement rules. If people know and hold these rules, they can design new kind of products and forecast the develop trends of the products. Thereby, enterprises can grasp the future technique directions of products, and make product and technique innovation. Below, based on TRIZ theory, the mechanism evolvement, the function evolvement and the appearance evolvement of automobile steering system had been analyzed and put forward some new ideas about future automobile steering system.

Opportunities to Investigate the Steering System for Improvement of Truck Driving Properties under Critical Road Conditions

NASA Astrophysics Data System (ADS)

Gidlewski, Mirosław

2011-09-01

Application of an electric steering system in a truck gives new opportunities to obtain desirable and safe motion path under critical road conditions. Analysis of the opportunity to take advantage of the steering system for improvement of truck driving properties will be carried out on the basis of the results of model tests. The paper describes model of the vehicle applied in simulation tests and methodology as well as anticipated results. The scheduled tests will be carried out within the framework of an research project No. NN509 568439 headed by the author.

Virtual Observation System for Earth System Model: An Application to ACME Land Model Simulations

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

Wang, Dali; Yuan, Fengming; Hernandez, Benjamin

Investigating and evaluating physical-chemical-biological processes within an Earth system model (EMS) can be very challenging due to the complexity of both model design and software implementation. A virtual observation system (VOS) is presented to enable interactive observation of these processes during system simulation. Based on advance computing technologies, such as compiler-based software analysis, automatic code instrumentation, and high-performance data transport, the VOS provides run-time observation capability, in-situ data analytics for Earth system model simulation, model behavior adjustment opportunities through simulation steering. A VOS for a terrestrial land model simulation within the Accelerated Climate Modeling for Energy model is also presentedmore » to demonstrate the implementation details and system innovations.« less

Virtual Observation System for Earth System Model: An Application to ACME Land Model Simulations

DOE PAGES

Wang, Dali; Yuan, Fengming; Hernandez, Benjamin; ...

2017-01-01

Investigating and evaluating physical-chemical-biological processes within an Earth system model (EMS) can be very challenging due to the complexity of both model design and software implementation. A virtual observation system (VOS) is presented to enable interactive observation of these processes during system simulation. Based on advance computing technologies, such as compiler-based software analysis, automatic code instrumentation, and high-performance data transport, the VOS provides run-time observation capability, in-situ data analytics for Earth system model simulation, model behavior adjustment opportunities through simulation steering. A VOS for a terrestrial land model simulation within the Accelerated Climate Modeling for Energy model is also presentedmore » to demonstrate the implementation details and system innovations.« less

46 CFR 130.130 - Steering on OSVs of less than 100 gross tons.

Code of Federal Regulations, 2010 CFR

2010-10-01

... VESSEL CONTROL, AND MISCELLANEOUS EQUIPMENT AND SYSTEMS Vessel Control § 130.130 Steering on OSVs of less... in no more than 28 seconds with the vessel moving ahead at maximum service speed. (d) Control of the main steering gear must be available from the pilothouse, including control of any necessary ancillary...

46 CFR 130.130 - Steering on OSVs of less than 100 gross tons.

Code of Federal Regulations, 2011 CFR

2011-10-01

... VESSEL CONTROL, AND MISCELLANEOUS EQUIPMENT AND SYSTEMS Vessel Control § 130.130 Steering on OSVs of less... in no more than 28 seconds with the vessel moving ahead at maximum service speed. (d) Control of the main steering gear must be available from the pilothouse, including control of any necessary ancillary...

49 CFR 571.126 - Standard No. 126; Electronic stability control systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... series uses counterclockwise steering, and the other series uses clockwise steering. The maximum time... rate and to estimate its side slip or side slip derivative with respect to time; (4) That has a means... after completion of the sine with dwell steering input (time T0 + 1 in Figure 1) must not exceed 35...

Holographic memory using beam steering

NASA Technical Reports Server (NTRS)

Chao, Tien-Hsin (Inventor); Hanan, Jay C. (Inventor); Reyes, George F. (Inventor); Zhou, Hanying (Inventor)

2007-01-01

A method, apparatus, and system provide the ability for storing holograms at high speed. A single laser diode emits a collimated laser beam to both write to and read from a photorefractice crystal. One or more liquid crystal beam steering spatial light modulators (BSSLMs) steer a reference beam, split from the collimated laser beam, at high speed to the photorefractive crystal.

Early weaning in Northern Great Plains beef cattle production systems: III. Steer weaning, finishing and carcass characteristics

USDA-ARS?s Scientific Manuscript database

Studies were conducted to evaluate the effect of weaning of steer calves on BW gain, feedlot performance, and carcass characteristics in two herds located in the Northern Great Plains, USA. Steer calves from predominantly Angus × Hereford dams were stratified within dam age and calving date (Fort K...

A theoretical model of speed-dependent steering torque for rolling tyres

NASA Astrophysics Data System (ADS)

Wei, Yintao; Oertel, Christian; Liu, Yahui; Li, Xuebing

2016-04-01

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange-Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.

Computational Inquiry in Introductory Statistics

ERIC Educational Resources Information Center

Toews, Carl

2017-01-01

Inquiry-based pedagogies have a strong presence in proof-based undergraduate mathematics courses, but can be difficult to implement in courses that are large, procedural, or highly computational. An introductory course in statistics would thus seem an unlikely candidate for an inquiry-based approach, as these courses typically steer well clear of…

Progress in the development of shallow-water mapping systems

USGS Publications Warehouse

Bergeron, E.; Worley, C.R.; O'Brien, T.

2007-01-01

The USGS (US Geological Survey) Coastal and Marine Geology has deployed an advance autonomous shallow-draft robotic vehicle, Iris, for shallow-water mapping in Apalachicola Bay, Florida. The vehicle incorporates a side scan sonar system, seismic-reflection profiler, single-beam echosounder, and global positioning system (GPS) navigation. It is equipped with an onboard microprocessor-based motor controller, delivering signals for speed and steering to hull-mounted brushless direct-current thrusters. An onboard motion sensor in the Sea Robotics vehicle control system enclosure has been integrated in the vehicle to measure the vehicle heave, pitch, roll, and heading. Three water-tight enclosures are mounted along the vehicle axis for the Edgetech computer and electronics system including the Sea Robotics computer, a control and wireless communications system, and a Thales ZXW real-time kinematic (RTK) GPS receiver. The vehicle has resulted in producing high-quality seismic reflection and side scan sonar data, which will help in developing the baseline oyster habitat maps.

Einstein-Podolsky-Rosen paradox and quantum steering in a three-mode optomechanical system

NASA Astrophysics Data System (ADS)

He, Qiongyi; Ficek, Zbigniew

2014-02-01

We study multipartite entanglement, the generation of Einstein-Podolsky-Rosen (EPR) states, and quantum steering in a three-mode optomechanical system composed of an atomic ensemble located inside a single-mode cavity with a movable mirror. The cavity mode is driven by a short laser pulse, has a nonlinear parametric-type interaction with the mirror and a linear beam-splitter-type interaction with the atomic ensemble. There is no direct interaction of the mirror with the atomic ensemble. A threshold effect for the dynamics of the system is found, above which the system works as an amplifier and below which as an attenuator of the output fields. The threshold is determined by the ratio of the coupling strengths of the cavity mode to the mirror and to the atomic ensemble. It is shown that above the threshold, the system effectively behaves as a two-mode system in which a perfect bipartite EPR state can be generated, while it is impossible below the threshold. Furthermore, a fully inseparable tripartite entanglement and even further a genuine tripartite entanglement can be produced above and below the threshold. In addition, we consider quantum steering and examine the monogamy relations that quantify the amount of bipartite steering that can be shared between different modes. It is found that the mirror is more capable for steering of entanglement than the cavity mode. The two-way steering is found between the mirror and the atomic ensemble despite the fact that they are not directly coupled to each other, while it is impossible between the output of cavity mode and the ensemble which are directly coupled to each other.

Steering Dynamics of Tilting Narrow Track Vehicle with Passive Front Wheel Design

NASA Astrophysics Data System (ADS)

TAN, Jeffrey Too Chuan; ARAKAWA, Hiroki; SUDA, Yoshihiro

2016-09-01

In recent years, narrow track vehicle has been emerged as a potential candidate for the next generation of urban transportation system, which is greener and space effective. Vehicle body tilting has been a symbolic characteristic of such vehicle, with the purpose to maintain its stability with the narrow track body. However, the coordination between active steering and vehicle tilting requires considerable driving skill in order to achieve effective stability. In this work, we propose an alternative steering method with a passive front wheel that mechanically follows the vehicle body tilting. The objective of this paper is to investigate the steering dynamics of the vehicle under various design parameters of the passive front wheel. Modeling of a three-wheel tilting narrow track vehicle and multibody dynamics simulations were conducted to study the effects of two important front wheel design parameters, i.e. caster angle and trail toward the vehicle steering dynamics in steering response time, turning radius, steering stability and resiliency towards external disturbance. From the results of the simulation studies, we have verified the relationships of these two front wheel design parameters toward the vehicle steering dynamics.

Distinguishing between evidence and its explanations in the steering of atomic clocks

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

Myers, John M., E-mail: myers@seas.harvard.edu; Hadi Madjid, F., E-mail: gmadjid@aol.com

2014-11-15

Quantum theory reflects within itself a separation of evidence from explanations. This separation leads to a known proof that: (1) no wave function can be determined uniquely by evidence, and (2) any chosen wave function requires a guess reaching beyond logic to things unforeseeable. Chosen wave functions are encoded into computer-mediated feedback essential to atomic clocks, including clocks that step computers through their phases of computation and clocks in space vehicles that supply evidence of signal propagation explained by hypotheses of spacetimes with metric tensor fields. The propagation of logical symbols from one computer to another requires a shared rhythm—likemore » a bucket brigade. Here we show how hypothesized metric tensors, dependent on guesswork, take part in the logical synchronization by which clocks are steered in rate and position toward aiming points that satisfy phase constraints, thereby linking the physics of signal propagation with the sharing of logical symbols among computers. Recognizing the dependence of the phasing of symbol arrivals on guesses about signal propagation transports logical synchronization from the engineering of digital communications to a discipline essential to physics. Within this discipline we begin to explore questions invisible under any concept of time that fails to acknowledge unforeseeable events. In particular, variation of spacetime curvature is shown to limit the bit rate of logical communication. - Highlights: • Atomic clocks are steered in frequency toward an aiming point. • The aiming point depends on a chosen wave function. • No evidence alone can determine the wave function. • The unknowability of the wave function has implications for spacetime curvature. • Variability in spacetime curvature limits the bit rate of communications.« less

Violation of continuous-variable Einstein-Podolsky-Rosen steering with discrete measurements.

PubMed

Schneeloch, James; Dixon, P Ben; Howland, Gregory A; Broadbent, Curtis J; Howell, John C

2013-03-29

In this Letter, we derive an entropic Einstein-Podolsky-Rosen (EPR) steering inequality for continuous-variable systems using only experimentally measured discrete probability distributions and details of the measurement apparatus. We use this inequality to witness EPR steering between the positions and momenta of photon pairs generated in spontaneous parametric down-conversion. We examine the asymmetry between parties in this inequality, and show that this asymmetry can be used to reduce the technical requirements of experimental setups intended to demonstrate the EPR paradox. Furthermore, we develop a more stringent steering inequality that is symmetric between parties, and use it to show that the down-converted photon pairs also exhibit symmetric EPR steering.

Violation of Continuous-Variable Einstein-Podolsky-Rosen Steering with Discrete Measurements

NASA Astrophysics Data System (ADS)

Schneeloch, James; Dixon, P. Ben; Howland, Gregory A.; Broadbent, Curtis J.; Howell, John C.

2013-03-01

In this Letter, we derive an entropic Einstein-Podolsky-Rosen (EPR) steering inequality for continuous-variable systems using only experimentally measured discrete probability distributions and details of the measurement apparatus. We use this inequality to witness EPR steering between the positions and momenta of photon pairs generated in spontaneous parametric down-conversion. We examine the asymmetry between parties in this inequality, and show that this asymmetry can be used to reduce the technical requirements of experimental setups intended to demonstrate the EPR paradox. Furthermore, we develop a more stringent steering inequality that is symmetric between parties, and use it to show that the down-converted photon pairs also exhibit symmetric EPR steering.

Micromachined actuators/sensors for intratubular positioning/steering

DOEpatents

Lee, A.P.; Krulevitch, P.A.; Northrup, M.A.; Trevino, J.C.

1998-06-30

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems. 14 figs.

Synthesis of the unmanned aerial vehicle remote control augmentation system

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

Tomczyk, Andrzej, E-mail: A.Tomczyk@prz.edu.pl

Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are notmore » suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the 'ideal' remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.« less

Evaluating and selecting an information system, Part 1.

PubMed

Neal, T

1993-01-01

Initial steps in the process of evaluating and selecting a computerized information system for the pharmacy department are described. The first step in the selection process is to establish a steering committee and a project committee. The steering committee oversees the project, providing policy guidance, making major decisions, and allocating budgeted expenditures. The project committee conducts the departmental needs assessment, identifies system requirements, performs day-to-day functions, evaluates vendor proposals, trains personnel, and implements the system chosen. The second step is the assessment of needs in terms of personnel, workload, physical layout, and operating requirements. The needs assessment should be based on the department's mission statement and strategic plan. The third step is the development of a request for information (RFI) and a request for proposal (RFP). The RFI is a document designed for gathering preliminary information from a wide range of vendors; this general information is used in deciding whether to send the RFP to a given vendor. The RFP requests more detailed information and gives the purchaser's exact specifications for a system; the RFP also includes contractual information. To help ensure project success, many institutions turn to computer consultants for guidance. The initial steps in selecting a computerized pharmacy information system are establishing computerization committees, conducting a needs assessment, and writing an RFI and an RFP. A crucial early decision is whether to seek a consultant's expertise.

A predictive control framework for torque-based steering assistance to improve safety in highway driving

NASA Astrophysics Data System (ADS)

Ercan, Ziya; Carvalho, Ashwin; Tseng, H. Eric; Gökaşan, Metin; Borrelli, Francesco

2018-05-01

Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to improve safety. While designing such a system, it is important to account for the human-machine interactions since the driver feels the feedback torque through the hand wheel. The controller should consider the driver's impact on the steering dynamics to achieve a better performance in terms of driver's acceptance and comfort. In this paper we present a predictive control framework which uses a model of driver-in-the-loop steering dynamics to optimise the torque intervention with respect to the driver's neuromuscular response. We first validate the system in simulations to compare the performance of the controller in nominal and model mismatch cases. Then we implement the controller in a test vehicle and perform experiments with a human driver. The results show the effectiveness of the proposed system in avoiding hazardous situations under different driver behaviours.

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

PubMed Central

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-01-01

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

Reliability of Heart Rate Variability Analysis by Using Electrocardiogram Recorded Unrestrainedly from an Automobile Steering-Wheel

NASA Astrophysics Data System (ADS)

Osaka, Motohisa; Murata, Hiroshige; Tateoka, Katsuhiko; Katoh, Takao

2007-07-01

Some cases of traffic accidents are assumed to be due to the occurrences of cardiac events during driving, which are thought to be induced by imbalance of autonomic nervous activities. These can be measured by analyzing heart rate variability. Therefore, we developed a new system of steering-wheel electrocardiogram with a soft-ware to remove noises. We compared the trends of sympathetic and parasympathetic nerve activities measured from the steering-wheel electrocardiograms with those recorded simultaneously from chest leads. For each parameter of instantaneous heart rate, low- or high-frequency component of heart rate variability in all the cases, the trend from the steering-wheel electrocardiogram resembled that from the chest-lead electrocardiogram. In 3 of 7 subjects, the trend of LF/HF showed a strong relationship between the steering-wheel electrocardiogram and the chest-lead electrocardiogram. Our system will open doors to a new strategy to keep a driver out of a risk by notifying it while driving.

Quantum Steering Inequality with Tolerance for Measurement-Setting Errors: Experimentally Feasible Signature of Unbounded Violation

NASA Astrophysics Data System (ADS)

Rutkowski, Adam; Buraczewski, Adam; Horodecki, Paweł; Stobińska, Magdalena

2017-01-01

Quantum steering is a relatively simple test for proving that the values of quantum-mechanical measurement outcomes come into being only in the act of measurement. By exploiting quantum correlations, Alice can influence—steer—Bob's physical system in a way that is impossible in classical mechanics, as shown by the violation of steering inequalities. Demonstrating this and similar quantum effects for systems of increasing size, approaching even the classical limit, is a long-standing challenging problem. Here, we prove an experimentally feasible unbounded violation of a steering inequality. We derive its universal form where tolerance for measurement-setting errors is explicitly built in by means of the Deutsch-Maassen-Uffink entropic uncertainty relation. Then, generalizing the mutual unbiasedness, we apply the inequality to the multisinglet and multiparticle bipartite Bell state. However, the method is general and opens the possibility of employing multiparticle bipartite steering for randomness certification and development of quantum technologies, e.g., random access codes.

49 CFR 571.203 - Standard No. 203; Impact protection for the driver from the steering control system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Practice J944, “Steering Wheel Assembly Laboratory Test Procedure,” December 1965, or an approved.... 208 (49 CFR 571.208) by means of other than seat belt assemblies. It also does not apply to walk-in... trim hardware, including any portion of a steering column assembly that provides energy absorption upon...

49 CFR 571.203 - Standard No. 203; Impact protection for the driver from the steering control system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Practice J944, “Steering Wheel Assembly Laboratory Test Procedure,” December 1965, or an approved.... 208 (49 CFR 571.208) by means of other than seat belt assemblies. It also does not apply to walk-in... trim hardware, including any portion of a steering column assembly that provides energy absorption upon...

Land vehicle antennas for satellite mobile communications

NASA Technical Reports Server (NTRS)

Haddad, H. A.; Pieper, B. V.; Mckenna, D. B.

1985-01-01

The RF performance, size, pointing system, and cost were investigated concepts are: for a mechanically steered 1 x 4 tilted microstrip array, a mechanically steered fixed-beam conformal array, and an electronically steered conformal phased array. Emphasis is on the RF performance of the tilted 1 x 4 antenna array and methods for pointing the various antennas studied to a geosynchronous satellite. An updated version of satellite isolations in a two-satellite system is presented. Cost estimates for the antennas in quantities of 10,000 and 100,000 unites are summarized.

Real-time MRI-guided hyperthermia treatment using a fast adaptive algorithm

NASA Astrophysics Data System (ADS)

Stakhursky, Vadim L.; Arabe, Omar; Cheng, Kung-Shan; MacFall, James; Maccarini, Paolo; Craciunescu, Oana; Dewhirst, Mark; Stauffer, Paul; Das, Shiva K.

2009-04-01

Magnetic resonance (MR) imaging is promising for monitoring and guiding hyperthermia treatments. The goal of this work is to investigate the stability of an algorithm for online MR thermal image guided steering and focusing of heat into the target volume. The control platform comprised a four-antenna mini-annular phased array (MAPA) applicator operating at 140 MHz (used for extremity sarcoma heating) and a GE Signa Excite 1.5 T MR system, both of which were driven by a control workstation. MR proton resonance frequency shift images acquired during heating were used to iteratively update a model of the heated object, starting with an initial finite element computed model estimate. At each iterative step, the current model was used to compute a focusing vector, which was then used to drive the next iteration, until convergence. Perturbation of the driving vector was used to prevent the process from stalling away from the desired focus. Experimental validation of the performance of the automatic treatment platform was conducted with two cylindrical phantom studies, one homogeneous and one muscle equivalent with tumor tissue (conductivity 50% higher) inserted, with initial focal spots being intentionally rotated 90° and 50° away from the desired focus, mimicking initial setup errors in applicator rotation. The integrated MR-HT treatment platform steered the focus of heating into the desired target volume in two quite different phantom tissue loads which model expected patient treatment configurations. For the homogeneous phantom test where the target was intentionally offset by 90° rotation of the applicator, convergence to the proper phase focus in the target occurred after 16 iterations of the algorithm. For the more realistic test with a muscle equivalent phantom with tumor inserted with 50° applicator displacement, only two iterations were necessary to steer the focus into the tumor target. Convergence improved the heating efficacy (the ratio of integral temperature in the tumor to integral temperature in normal tissue) by up to six-fold, compared to the first iteration. The integrated MR-HT treatment algorithm successfully steered the focus of heating into the desired target volume for both the simple homogeneous and the more challenging muscle equivalent phantom with tumor insert models of human extremity sarcomas after 16 and 2 iterations, correspondingly. The adaptive method for MR thermal image guided focal steering shows promise when tested in phantom experiments on a four-antenna phased array applicator.

Iterative Refinement of a Binding Pocket Model: Active Computational Steering of Lead Optimization

PubMed Central

2012-01-01

Computational approaches for binding affinity prediction are most frequently demonstrated through cross-validation within a series of molecules or through performance shown on a blinded test set. Here, we show how such a system performs in an iterative, temporal lead optimization exercise. A series of gyrase inhibitors with known synthetic order formed the set of molecules that could be selected for “synthesis.” Beginning with a small number of molecules, based only on structures and activities, a model was constructed. Compound selection was done computationally, each time making five selections based on confident predictions of high activity and five selections based on a quantitative measure of three-dimensional structural novelty. Compound selection was followed by model refinement using the new data. Iterative computational candidate selection produced rapid improvements in selected compound activity, and incorporation of explicitly novel compounds uncovered much more diverse active inhibitors than strategies lacking active novelty selection. PMID:23046104

Some optimal considerations in attitude control systems. [evaluation of value of relative weighting between time and fuel for relay control law

NASA Technical Reports Server (NTRS)

Boland, J. S., III

1973-01-01

The conventional six-engine reaction control jet relay attitude control law with deadband is shown to be a good linear approximation to a weighted time-fuel optimal control law. Techniques for evaluating the value of the relative weighting between time and fuel for a particular relay control law is studied along with techniques to interrelate other parameters for the two control laws. Vehicle attitude control laws employing control moment gyros are then investigated. Steering laws obtained from the expression for the reaction torque of the gyro configuration are compared to a total optimal attitude control law that is derived from optimal linear regulator theory. This total optimal attitude control law has computational disadvantages in the solving of the matrix Riccati equation. Several computational algorithms for solving the matrix Riccati equation are investigated with respect to accuracy, computational storage requirements, and computational speed.

Steering and positioning targets for HWIL IR testing at cryogenic conditions

NASA Astrophysics Data System (ADS)

Perkes, D. W.; Jensen, G. L.; Higham, D. L.; Lowry, H. S.; Simpson, W. R.

2006-05-01

In order to increase the fidelity of hardware-in-the-loop ground-truth testing, it is desirable to create a dynamic scene of multiple, independently controlled IR point sources. ATK-Mission Research has developed and supplied the steering mirror systems for the 7V and 10V Space Simulation Test Chambers at the Arnold Engineering Development Center (AEDC), Air Force Materiel Command (AFMC). A portion of the 10V system incorporates multiple target sources beam-combined at the focal point of a 20K cryogenic collimator. Each IR source consists of a precision blackbody with cryogenic aperture and filter wheels mounted on a cryogenic two-axis translation stage. This point source target scene is steered by a high-speed steering mirror to produce further complex motion. The scene changes dynamically in order to simulate an actual operational scene as viewed by the System Under Test (SUT) as it executes various dynamic look-direction changes during its flight to a target. Synchronization and real-time hardware-in-the-loop control is accomplished using reflective memory for each subsystem control and feedback loop. This paper focuses on the steering mirror system and the required tradeoffs of optical performance, precision, repeatability and high-speed motion as well as the complications of encoder feedback calibration and operation at 20K.

46 CFR 169.618 - General.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false General. 169.618 Section 169.618 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.618 General. (a) Each vessel must have an effective steering system. (b) The...

46 CFR 169.618 - General.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false General. 169.618 Section 169.618 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.618 General. (a) Each vessel must have an effective steering system. (b) The...

A clock steering method: using a third-order type 3 DPLL equivalent to a Kalman filter with a delay

NASA Astrophysics Data System (ADS)

Wu, Yiwei; Gong, Hang; Zhu, Xiangwei; Ou, Gang

2015-12-01

In this paper we propose a new clock steering method, which uses a third-order type 3 digital phase locked loop (DPLL) which is equivalent to a Kalman filter with a delay. A general overview of the theoretical framework is described in detail including the transfer functions, the structure and control values, the specifications, and the approach to choosing a parameter. Simulations show that the performance of the time and frequency steering errors and the frequency stability are quite desirable. Comparing with traditional clock steering methods, it is easier to work with just one parameter. The DPLL method satisfies the requirements of generating a local representation of universal time coordinated and the system time of a global navigation satellite system.

Evaluation of average daily gain predictions by the integrated farm system model for forage-finished beef steers

USDA-ARS?s Scientific Manuscript database

Representing the performance of cattle finished on an all forage diet in process-based whole farm system models has presented a challenge. To address this challenge, a study was done to evaluate average daily gain (ADG) predictions of the Integrated Farm System Model (IFSM) for steers consuming all-...

Leather quality of beefalo-Nellore cattle in different production systems.

PubMed

Ítavo, Luís Carlos Vinhas; Mateus, Rodrigo Gonçalves; Ítavo, Camila Celeste Brandão Ferreira; Dias, Alexandre Menezes; Gomes, Fabio Candal; da Silva, Fabiano Ferreira; Schio, Alex Resende; Nogueira, Eriklis; Petit, Hélène Véronique

2017-05-01

The aim was to compare the effects of two production systems on performance, carcass traits and physical-mechanical characteristics of leather from Beefalo-Nellore steers and heifers and to determine if the response to the production system was similar for both genders. A total of 40 Beefalo-Nellore cattle, 20 steers and 20 heifers, were evaluated. Animals were divided into two production systems: slaughtered at 15 (intensive system) or 26 (extensive system) months of age. In the intensive system, all animals received a ration containing 600 g/kg corn silage and 400 g/kg concentrate. In the extensive system, animals were kept on a pasture predominantly based on Brachiaria sp. and supplemented with 2 kg/day concentrate. In the intensive system, there was no difference in slaughter weight (470 kg body weight) between steers and heifers but steers in the extensive system had greater slaughter weight than heifers (463 and 428 kg body weight, respectively). Leather weight was higher for animals in the intensive than extensive system but there was no difference in leather weight once excess fat was removed. Leather quality from Beefalo-Nellore cattle slaughtered at 15 or 26 months of age is similar although carcass yield is higher for cattle slaughtered at a younger age. © 2016 Japanese Society of Animal Science.

Electrostatic Steering Accelerates C3d:CR2 Association

PubMed Central

2016-01-01

Electrostatic effects are ubiquitous in protein interactions and are found to be pervasive in the complement system as well. The interaction between complement fragment C3d and complement receptor 2 (CR2) has evolved to become a link between innate and adaptive immunity. Electrostatic interactions have been suggested to be the driving factor for the association of the C3d:CR2 complex. In this study, we investigate the effects of ionic strength and mutagenesis on the association of C3d:CR2 through Brownian dynamics simulations. We demonstrate that the formation of the C3d:CR2 complex is ionic strength-dependent, suggesting the presence of long-range electrostatic steering that accelerates the complex formation. Electrostatic steering occurs through the interaction of an acidic surface patch in C3d and the positively charged CR2 and is supported by the effects of mutations within the acidic patch of C3d that slow or diminish association. Our data are in agreement with previous experimental mutagenesis and binding studies and computational studies. Although the C3d acidic patch may be locally destabilizing because of unfavorable Coulombic interactions of like charges, it contributes to the acceleration of association. Therefore, acceleration of function through electrostatic steering takes precedence to stability. The site of interaction between C3d and CR2 has been the target for delivery of CR2-bound nanoparticle, antibody, and small molecule biomarkers, as well as potential therapeutics. A detailed knowledge of the physicochemical basis of C3d:CR2 association may be necessary to accelerate biomarker and drug discovery efforts. PMID:27092816

Two dimensional thermo-optic beam steering using a silicon photonic optical phased array

NASA Astrophysics Data System (ADS)

Mahon, Rita; Preussner, Marcel W.; Rabinovich, William S.; Goetz, Peter G.; Kozak, Dmitry A.; Ferraro, Mike S.; Murphy, James L.

2016-03-01

Components for free space optical communication terminals such as lasers, amplifiers, and receivers have all seen substantial reduction in both size and power consumption over the past several decades. However, pointing systems, such as fast steering mirrors and gimbals, have remained large, slow and power-hungry. Optical phased arrays provide a possible solution for non-mechanical beam steering devices that can be compact and lower in power. Silicon photonics is a promising technology for phased arrays because it has the potential to scale to many elements and may be compatible with CMOS technology thereby enabling batch fabrication. For most free space optical communication applications, two-dimensional beam steering is needed. To date, silicon photonic phased arrays have achieved two-dimensional steering by combining thermo-optic steering, in-plane, with wavelength tuning by means of an output grating to give angular tuning, out-of-plane. While this architecture might work for certain static communication links, it would be difficult to implement for moving platforms. Other approaches have required N2 controls for an NxN element phased array, which leads to complexity. Hence, in this work we demonstrate steering using the thermo-optic effect for both dimensions with a simplified steering mechanism requiring only two control signals, one for each steering dimension.

Temporal steering and security of quantum key distribution with mutually unbiased bases against individual attacks

NASA Astrophysics Data System (ADS)

Bartkiewicz, Karol; Černoch, Antonín; Lemr, Karel; Miranowicz, Adam; Nori, Franco

2016-06-01

Temporal steering, which is a temporal analog of Einstein-Podolsky-Rosen steering, refers to temporal quantum correlations between the initial and final state of a quantum system. Our analysis of temporal steering inequalities in relation to the average quantum bit error rates reveals the interplay between temporal steering and quantum cloning, which guarantees the security of quantum key distribution based on mutually unbiased bases against individual attacks. The key distributions analyzed here include the Bennett-Brassard 1984 protocol and the six-state 1998 protocol by Bruss. Moreover, we define a temporal steerable weight, which enables us to identify a kind of monogamy of temporal correlation that is essential to quantum cryptography and useful for analyzing various scenarios of quantum causality.

Development and testing of a computer assisted remote-control system for the compact loader-trammer. Report of Investigations/1992

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

Ruff, T.M.

1992-01-01

A prototype mucking machine designed to operate in narrow vein stopes was developed by Foster-Miller, Inc., Waltham, MA, under contract with the U.S. Bureau of Mines. The machine, called a compact loader/trammer, or minimucker, was designed to replace slusher muckers in narrow-vein underground mines. The minimucker is a six-wheel-drive, skid-steered, load-haul-dump machine that loads muck at the front with a novel slide-bucket system and ejects it out the rear so that the machine does not have to be turned around. To correct deficiencies of the tether remote control system, a computer-based, radio remote control was retrofitted to the minimucker. Initialmore » tests indicated a need to assist the operator in guiding the machine in narrow stopes and an automatic guidance system that used ultrasonic ranging sensors and a wall-following algorithm was installed. Additional tests in a simulated test stope showed that these changes improved the operation of the minimucker. The design and functions of the minimucker and its computer-based, remote control system are reviewed, and an ultrasonic, sensor-based guidance system is described.« less

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) ELECTRICAL ENGINEERING COMMUNICATION AND ALARM SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm...

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 4 2014-10-01 2014-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) ELECTRICAL ENGINEERING COMMUNICATION AND ALARM SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm...

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) ELECTRICAL ENGINEERING COMMUNICATION AND ALARM SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm...

46 CFR 58.25-70 - Steering-gear control systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 2 2012-10-01 2012-10-01 false Steering-gear control systems. 58.25-70 Section 58.25-70 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY... gear must be operable from the pilothouse by mechanical, hydraulic, electrical, or other means...

46 CFR 58.25-70 - Steering-gear control systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 2 2011-10-01 2011-10-01 false Steering-gear control systems. 58.25-70 Section 58.25-70 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY... gear must be operable from the pilothouse by mechanical, hydraulic, electrical, or other means...

46 CFR 58.25-70 - Steering-gear control systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Steering-gear control systems. 58.25-70 Section 58.25-70 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY... gear must be operable from the pilothouse by mechanical, hydraulic, electrical, or other means...

Phase control of entanglement and quantum steering in a three-mode optomechanical system

NASA Astrophysics Data System (ADS)

Sun, F. X.; Mao, D.; Dai, Y. T.; Ficek, Z.; He, Q. Y.; Gong, Q. H.

2017-12-01

The theory of phase control of coherence, entanglement and quantum steering is developed for an optomechanical system composed of a single mode cavity containing a partially transmitting dielectric membrane and driven by short laser pulses. The membrane divides the cavity into two mutually coupled optomechanical cavities resulting in an effective three-mode closed loop system, two field modes of the two cavities and a mechanical mode representing the oscillating membrane. The closed loop in the coupling creates interfering channels which depend on the relative phase of the coupling strengths of the field modes to the mechanical mode. Populations and correlations of the output modes are calculated analytically and show several interesting phase dependent effects such as reversible population transfer from one field mode to the other, creation of collective modes, and induced coherence without induced emission. We find that these effects result from perfect mutual coherence between the field modes which is preserved even if one of the modes is not populated. The inseparability criterion for the output modes is also investigated and we find that entanglement may occur only between the field modes and the mechanical mode. We show that depending on the phase, the field modes can act on the mechanical mode collectively or individually resulting, respectively, in tripartite or bipartite entanglement. In addition, we examine the phase sensitivity of quantum steering of the mechanical mode by the field modes. Deterministic phase transfer of the steering from bipartite to collective is predicted and optimum steering corresponding to perfect EPR state can be achieved. These different types of quantum steering can be distinguished experimentally by measuring the coincidence rate between two detectors adjusted to collect photons of the output cavity modes. In particular, we find that the minima of the interference pattern of the coincidence rate signal the bipartite steering, while the maxima signal the collective steering.

Test of Einstein-Podolsky-Rosen Steering Based on the All-Versus-Nothing Proof

PubMed Central

Wu, Chunfeng; Chen, Jing-Ling; Ye, Xiang-Jun; Su, Hong-Yi; Deng, Dong-Ling; Wang, Zhenghan; Oh, C. H.

2014-01-01

In comparison with entanglement and Bell nonlocality, Einstein-Podolsky-Rosen steering is a newly emerged research topic and in its incipient stage. Although Einstein-Podolsky-Rosen steering has been explored via violations of steering inequalities both theoretically and experimentally, the known inequalities in the literatures are far from well-developed. As a result, it is not yet possible to observe Einstein-Podolsky-Rosen steering for some steerable mixed states. Recently, a simple approach was presented to identify Einstein-Podolsky-Rosen steering based on all-versus-nothing argument, offering a strong condition to witness the steerability of a family of two-qubit (pure or mixed) entangled states. In this work, we show that the all-versus-nothing proof of Einstein-Podolsky-Rosen steering can be tested by measuring the projective probabilities. Through the bound of probabilities imposed by local-hidden-state model, the proposed test shows that steering can be detected by the all-versus-nothing argument experimentally even in the presence of imprecision and errors. Our test can be implemented in many physical systems and we discuss the possible realizations of our scheme with non-Abelian anyons and trapped ions. PMID:24598858

Test of Einstein-Podolsky-Rosen steering based on the all-versus-nothing proof.

PubMed

Wu, Chunfeng; Chen, Jing-Ling; Ye, Xiang-Jun; Su, Hong-Yi; Deng, Dong-Ling; Wang, Zhenghan; Oh, C H

2014-03-06

In comparison with entanglement and Bell nonlocality, Einstein-Podolsky-Rosen steering is a newly emerged research topic and in its incipient stage. Although Einstein-Podolsky-Rosen steering has been explored via violations of steering inequalities both theoretically and experimentally, the known inequalities in the literatures are far from well-developed. As a result, it is not yet possible to observe Einstein-Podolsky-Rosen steering for some steerable mixed states. Recently, a simple approach was presented to identify Einstein-Podolsky-Rosen steering based on all-versus-nothing argument, offering a strong condition to witness the steerability of a family of two-qubit (pure or mixed) entangled states. In this work, we show that the all-versus-nothing proof of Einstein-Podolsky-Rosen steering can be tested by measuring the projective probabilities. Through the bound of probabilities imposed by local-hidden-state model, the proposed test shows that steering can be detected by the all-versus-nothing argument experimentally even in the presence of imprecision and errors. Our test can be implemented in many physical systems and we discuss the possible realizations of our scheme with non-Abelian anyons and trapped ions.

Composite materials molding simulation for purpose of automotive industry

NASA Astrophysics Data System (ADS)

Grabowski, Ł.; Baier, A.; Majzner, M.; Sobek, M.

2016-08-01

Composite materials loom large increasingly important role in the overall industry. Composite material have a special role in the ever-evolving automotive industry. Every year the composite materials are used in a growing number of elements included in the cars construction. Development requires the search for ever new applications of composite materials in areas where previously were used only metal materials. Requirements for modern solutions, such as reducing the weight of vehicles, the required strength and vibration damping characteristics go hand in hand with the properties of modern composite materials. The designers faced the challenge of the use of modern composite materials in the construction of bodies of power steering systems in vehicles. The initial choice of method for producing composite bodies was the method of molding injection of composite material. Molding injection of polymeric materials is a widely known and used for many years, but the molding injection of composite materials is a relatively new issue, innovative, it is not very common and is characterized by different conditions, parameters and properties in relation to the classical method. Therefore, for the purpose of selecting the appropriate composite material for injection for the body of power steering system computer analysis using Siemens NX 10.0 environment, including Moldex 3d and EasyFill Advanced tool to simulate the injection of materials from the group of possible solutions were carried out. Analyses were carried out on a model of a modernized wheel case of power steering system. During analysis, input parameters, such as temperature, pressure injectors, temperature charts have been analysed. An important part of the analysis was to analyse the propagation of material inside the mold during injection, so that allowed to determine the shape formability and the existence of possible imperfections of shapes and locations air traps. A very important parameter received from computer analysis was to determine the occurrence of the shrinkage of the material, which significantly affects the behaviour of the assumed geometry of the tested component. It also allowed the prediction of existence of shrincage of material during the process of modelling the shape of body. The next step was to analyse the numerical analysis results received from Siemens NX 10 and Moldex 3D EasyFlow Advanced environment. The process of injection were subjected to shape of prototype body of power steering. The material used in process of injection was similar to one of excepted material to be used in process of molding. Nextly, the results were analysed in purpose of geometry, where samples has aberrations in comparison to a given shape of mold. The samples were also analysed in terms of shrinkage. Research and results were described in detail in this paper.

Tools for 3D scientific visualization in computational aerodynamics

NASA Technical Reports Server (NTRS)

Bancroft, Gordon; Plessel, Todd; Merritt, Fergus; Watson, Val

1989-01-01

The purpose is to describe the tools and techniques in use at the NASA Ames Research Center for performing visualization of computational aerodynamics, for example visualization of flow fields from computer simulations of fluid dynamics about vehicles such as the Space Shuttle. The hardware used for visualization is a high-performance graphics workstation connected to a super computer with a high speed channel. At present, the workstation is a Silicon Graphics IRIS 3130, the supercomputer is a CRAY2, and the high speed channel is a hyperchannel. The three techniques used for visualization are post-processing, tracking, and steering. Post-processing analysis is done after the simulation. Tracking analysis is done during a simulation but is not interactive, whereas steering analysis involves modifying the simulation interactively during the simulation. Using post-processing methods, a flow simulation is executed on a supercomputer and, after the simulation is complete, the results of the simulation are processed for viewing. The software in use and under development at NASA Ames Research Center for performing these types of tasks in computational aerodynamics is described. Workstation performance issues, benchmarking, and high-performance networks for this purpose are also discussed as well as descriptions of other hardware for digital video and film recording.

Tools for 3D scientific visualization in computational aerodynamics at NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Bancroft, Gordon; Plessel, Todd; Merritt, Fergus; Watson, Val

1989-01-01

Hardware, software, and techniques used by the Fluid Dynamics Division (NASA) for performing visualization of computational aerodynamics, which can be applied to the visualization of flow fields from computer simulations of fluid dynamics about the Space Shuttle, are discussed. Three visualization techniques applied, post-processing, tracking, and steering, are described, as well as the post-processing software packages used, PLOT3D, SURF (Surface Modeller), GAS (Graphical Animation System), and FAST (Flow Analysis software Toolkit). Using post-processing methods a flow simulation was executed on a supercomputer and, after the simulation was complete, the results were processed for viewing. It is shown that the high-resolution, high-performance three-dimensional workstation combined with specially developed display and animation software provides a good tool for analyzing flow field solutions obtained from supercomputers.

Control aspects of quantum computing using pure and mixed states.

PubMed

Schulte-Herbrüggen, Thomas; Marx, Raimund; Fahmy, Amr; Kauffman, Louis; Lomonaco, Samuel; Khaneja, Navin; Glaser, Steffen J

2012-10-13

Steering quantum dynamics such that the target states solve classically hard problems is paramount to quantum simulation and computation. And beyond, quantum control is also essential to pave the way to quantum technologies. Here, important control techniques are reviewed and presented in a unified frame covering quantum computational gate synthesis and spectroscopic state transfer alike. We emphasize that it does not matter whether the quantum states of interest are pure or not. While pure states underly the design of quantum circuits, ensemble mixtures of quantum states can be exploited in a more recent class of algorithms: it is illustrated by characterizing the Jones polynomial in order to distinguish between different (classes of) knots. Further applications include Josephson elements, cavity grids, ion traps and nitrogen vacancy centres in scenarios of closed as well as open quantum systems.

Control aspects of quantum computing using pure and mixed states

PubMed Central

Schulte-Herbrüggen, Thomas; Marx, Raimund; Fahmy, Amr; Kauffman, Louis; Lomonaco, Samuel; Khaneja, Navin; Glaser, Steffen J.

2012-01-01

Steering quantum dynamics such that the target states solve classically hard problems is paramount to quantum simulation and computation. And beyond, quantum control is also essential to pave the way to quantum technologies. Here, important control techniques are reviewed and presented in a unified frame covering quantum computational gate synthesis and spectroscopic state transfer alike. We emphasize that it does not matter whether the quantum states of interest are pure or not. While pure states underly the design of quantum circuits, ensemble mixtures of quantum states can be exploited in a more recent class of algorithms: it is illustrated by characterizing the Jones polynomial in order to distinguish between different (classes of) knots. Further applications include Josephson elements, cavity grids, ion traps and nitrogen vacancy centres in scenarios of closed as well as open quantum systems. PMID:22946034

Online Detection of Driver Fatigue Using Steering Wheel Angles for Real Driving Conditions

PubMed Central

Li, Zuojin; Li, Shengbo Eben; Li, Renjie; Cheng, Bo; Shi, Jinliang

2017-01-01

This paper presents a drowsiness on-line detection system for monitoring driver fatigue level under real driving conditions, based on the data of steering wheel angles (SWA) collected from sensors mounted on the steering lever. The proposed system firstly extracts approximate entropy (ApEn) features from fixed sliding windows on real-time steering wheel angles time series. After that, this system linearizes the ApEn features series through an adaptive piecewise linear fitting using a given deviation. Then, the detection system calculates the warping distance between the linear features series of the sample data. Finally, this system uses the warping distance to determine the drowsiness state of the driver according to a designed binary decision classifier. The experimental data were collected from 14.68 h driving under real road conditions, including two fatigue levels: “wake” and “drowsy”. The results show that the proposed system is capable of working online with an average 78.01% accuracy, 29.35% false detections of the “awake” state, and 15.15% false detections of the “drowsy” state. The results also confirm that the proposed method based on SWA signal is valuable for applications in preventing traffic accidents caused by driver fatigue. PMID:28257094

Experimental image alignment system

NASA Technical Reports Server (NTRS)

Moyer, A. L.; Kowel, S. T.; Kornreich, P. G.

1980-01-01

A microcomputer-based instrument for image alignment with respect to a reference image is described which uses the DEFT sensor (Direct Electronic Fourier Transform) for image sensing and preprocessing. The instrument alignment algorithm which uses the two-dimensional Fourier transform as input is also described. It generates signals used to steer the stage carrying the test image into the correct orientation. This algorithm has computational advantages over algorithms which use image intensity data as input and is suitable for a microcomputer-based instrument since the two-dimensional Fourier transform is provided by the DEFT sensor.

GMTIFS: the adaptive optics beam steering mirror for the GMT integral-field spectrograph

NASA Astrophysics Data System (ADS)

Davies, J.; Bloxham, G.; Boz, R.; Bundy, D.; Espeland, B.; Fordham, B.; Hart, J.; Herrald, N.; Nielsen, J.; Sharp, R.; Vaccarella, A.; Vest, C.; Young, P. J.

2016-07-01

To achieve the high adaptive optics sky coverage necessary to allow the GMT Integral-Field Spectrograph (GMTIFS) to access key scientific targets, the on-instrument adaptive-optics wavefront-sensing (OIWFS) system must patrol the full 180 arcsecond diameter guide field passed to the instrument. The OIWFS uses a diffraction limited guide star as the fundamental pointing reference for the instrument. During an observation the offset between the science target and the guide star will change due to sources such as flexure, differential refraction and non-sidereal tracking rates. GMTIFS uses a beam steering mirror to set the initial offset between science target and guide star and also to correct for changes in offset. In order to reduce image motion from beam steering errors to those comparable to the AO system in the most stringent case, the beam steering mirror is set a requirement of less than 1 milliarcsecond RMS. This corresponds to a dynamic range for both actuators and sensors of better than 1/180,000. The GMTIFS beam steering mirror uses piezo-walk actuators and a combination of eddy current sensors and interferometric sensors to achieve this dynamic range and control. While the sensors are rated for cryogenic operation, the actuators are not. We report on the results of prototype testing of single actuators, with the sensors, on the bench and in a cryogenic environment. Specific failures of the system are explained and suspected reasons for them. A modified test jig is used to investigate the option of heating the actuator and we report the improved results. In addition to individual component testing, we built and tested a complete beam steering mirror assembly. Testing was conducted with a point source microscope, however controlling environmental conditions to less than 1 micron was challenging. The assembly testing investigated acquisition accuracy and if there was any un-sensed hysteresis in the system. Finally we present the revised beam steering mirror design based on the outcomes and lessons learnt from this prototyping.

Hepatic glutamate transport and glutamine synthesis capacities are decreased in finished vs. growing beef steers, concomitant with increased GTRAP3-18 content.

PubMed

Huang, J; Jia, Y; Li, Q; Burris, W R; Bridges, P J; Matthews, J C

2018-05-01

Hepatic glutamate uptake and conversion to glutamine is critical for whole-body N metabolism, but how this process is regulated during growth is poorly described. The hepatic glutamate uptake activities, protein content of system [Formula: see text] transporters (EAAC1, GLT-1) and regulatory proteins (GTRAP3-18, ARL6IP1), glutamine synthetase (GS) activity and content, and glutathione (GSH) content, were compared in liver tissue of weaned Angus steers randomly assigned (n = 8) to predominantly lean (growing) or predominantly lipid (finished) growth regimens. Steers were fed a cotton seed hull-based diet to achieve final body weights of 301 or 576 kg, respectively, at a constant rate of growth. Liver tissue was collected at slaughter and hepatic membranes fractionated. Total (75%), Na + -dependent (90%), system [Formula: see text]-dependent (abolished) glutamate uptake activity, and EAAC1 content (36%) in canalicular membrane-enriched vesicles decreased as steers developed from growing (n = 6) to finished (n = 4) stages, whereas Na + -independent uptake did not change. In basolateral membrane-enriched vesicles, total (60%), Na + -dependent (60%), and Na + -independent (56%) activities decreased, whereas neither system [Formula: see text]-dependent uptake nor protein content changed. EAAC1 protein content in liver homogenates (n = 8) decreased in finished vs. growing steers, whereas GTRAP3-18 and ARL6IP1 content increased and GLT-1 content did not change. Concomitantly, hepatic GS activity decreased (32%) as steers fattened, whereas GS and GSH contents did not differ. We conclude that hepatic glutamate uptake and GS synthesis capacities are reduced in livers of finished versus growing beef steers, and that hepatic system [Formula: see text] transporter activity/EAAC1 content is inversely proportional to GTRAP3-18 content.

Subcutaneous fatty acid composition of steers finished as weanlings or yearlings with and without growth promotants

PubMed Central

2013-01-01

Background The current study evaluated the subcutaneous fatty acid (FA) composition of calf- and yearling-fed steers with or without growth promoting implants. Crossbred steers (n = 112; 267 ± 5.0 kg) of the same contemporary group were allocated to one of four production system and implant strategy based treatments in a completely randomized design with a 2 × 2 factorial arrangement of treatments. Results There were no interactions (P > 0.05) between production systems and growth promoting implants for the total and individual subcutaneous FA. Yearling as opposed to calf finishing reduced (P < 0.05) subcutaneous proportions of C20:3n-6, trans (t)12-18:1, C14:0, several minor cis-monounsaturated FA (c-MUFA; c9-14:1, c11-16:1, c11-18:1, c12-18:1, c13-18:1, c9-20:1 and c11-20:1), and increased (P < 0 .05) subcutaneous proportions of t11c15-18:2, total and individual branched-chain FA. Subcutaneous fat from steers implanted with growth promotants had higher (P < 0.05) proportions of total polyunsaturated FA (PUFA), total n-6 PUFA, C18:2n-6 and individual t-18:1 isomers (t6 to t10) compared to non-implanted steers. Conclusions Overall, current findings show that production systems and growth promotants led to only minor differences in subcutaneous FA composition of beef steers. PMID:24188642

Test procedures and performance measures sensitive to automobile steering dynamics. [considering operator/vehicle responses

NASA Technical Reports Server (NTRS)

Klein, R. H.; Mcruer, D. T.; Weir, D.

1975-01-01

A maneuver complex and related performance measures used to evaluate driver/vehicle system responses as effected by variations in the directional response characteristics of passenger cars are described. The complex consists of normal and emergency maneuvers (including random and discrete disturbances) which, taken as a whole, represent all classes of steering functions and all modes of driver response behavior. Measures of driver/vehicle system response and performance in regulation tasks included direct describing function measurements and rms yaw velocity. In transient maneuvers, measures such as steering activity and cone strikes were used.

Study on the performance of the articulated mechanism of tracked all-terrain vehicle

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

Tracked all-terrain vehicle consists of two vehicle bodies featured by superior performance, the running system which can meet the all-terrain requirement, the unique steering system, power system and the vehicle body protection system. This paper focuses on the study of the five freely articulated steering system of crawler-type all-terrain engineering vehicle. The study on the dynamic characteristics of the articulated steering system can't do without the dynamic analysis of the whole vehicle. Therefore, it first studies the overall model of the tracked all-terrain vehicle, and then based on the critical states where the overall model is situated under different road conditions, mathematical models of the articulated mechanism are built under different operating conditions and also the load bearing condition of the articulated mechanism is deduced.

Proposal to use vibration analysis steering components and car body to monitor, for example, the state of unbalance wheel

NASA Astrophysics Data System (ADS)

Janczur, R.

2016-09-01

The results of road tests of car VW Passat equipped with tires of size 195/65 R15, on the influence of the unbalancing front wheel on vibration of the parts of steering system, steering wheel and the body of the vehicle have been presented in this paper. Unbalances wheels made using weights of different masses, placed close to the outer edge of the steel rim and checked on the machine Hunter GSP 9700 for balancing wheels. The recorded waveforms vibration steering components and car body, at different constant driving speeds, subjected to spectral analysis to determine the possibility of isolating vibration caused by unbalanced wheel in various states and coming from good quality asphalt road surface. The results were discussed in terms of the possibility of identifying the state of unbalancing wheels and possible changes in radial stiffness of the tire vibration transmitted through the system driving wheel on the steering wheel. Vibration analysis steering components and car body, also in the longitudinal direction, including information from the CAN bus of the state of motion of the car, can be used to monitor the development of the state of unbalance wheel, tire damage or errors shape of brake discs or brake drums, causing pulsations braking forces.

The effects of backgrounding system on growing and finishing performance and carcass characteristics of beef steers

USDA-ARS?s Scientific Manuscript database

The objective of this 2-yr study was to evaluate growing and finishing performance, as well as carcass characteristics of spring-born steers backgrounded on 3 different systems, using feedstuffs readily available in the Midwest: 1) grazing corn residue and being supplemented with dried distillers pl...

The Use of a Steering Shaping Function to Improve Human Performance in By-Wire Vehicles

DTIC Science & Technology

2008-03-01

nontrivial ways. Included in the problems induced by the staffing of automated systems are biomechanical (Sirouspour & Salcudean, 2003; Sövényi...device (e.g., brake pedal ) and the actuators of the system (e.g., calipers). In this report, we are specifically interested in steer-by-wire subsystems

V-TECS Guide for Auto Mechanics: Suspension Systems, Brakes and Steering.

ERIC Educational Resources Information Center

Moore, Charles G.; And Others

The materials in this document are an extension of a catalog of occupational duties, tasks, and performance objectives relevant to maintaining automotive suspension systems, brakes, and steering mechanisms. This document provides the following for each occupational task within each duty: (1) a standard of performance; (2) the conditions under…

Implementation of a system for controlling the lateral position of a moving vehicle : and field testing of ODOT sensor-assisted steering system

DOT National Transportation Integrated Search

2002-07-01

The overall objective was to design, implement, and test sensor-assisted driver control of an ODOT dump truck. Requirements included repeatably steering a loaded or unloaded truck over embedded sensors to a lateral accuracy of +/- one inch, time-shar...

46 CFR 58.25-55 - Overcurrent protection for steering-gear systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-55 Overcurrent protection... machinery-control station if there is an overload that would cause overheating of the motor. (d) No control... operated by power, is not operated by electric power or is operated by an electric motor primarily intended...

46 CFR 58.25-55 - Overcurrent protection for steering-gear systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-55 Overcurrent protection... machinery-control station if there is an overload that would cause overheating of the motor. (d) No control... operated by power, is not operated by electric power or is operated by an electric motor primarily intended...

Complex Education Systems: From Steering Change to Governance

ERIC Educational Resources Information Center

Michel, Alain

2016-01-01

The theories and approaches of steering/monitoring a process of change within education systems have evolved over the last 20 years or so as a result of many factors such as globalisation and decentralisation, a faster pace of change, increasing expectations and demands from various stakeholders (parents, employers, teacher unions, etc.) and the…

Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2016-08-01

In order to improve handling performance of a hybrid 8-Wheel-Drive vehicle, the handling performance control strategy was proposed. For armoured vehicle, besides handling stability in high speed, the minimum steer radius in low speed is also a key tactical and technical index. Based on that, the proposed handling performance control strategy includes 'Handling Stability' and 'Radius Minimization' control modes. In 'Handling Stability' control mode, 'Neutralsteer Radio' is defined to adjust the steering characteristics to satisfy different demand in different speed range. In 'Radius Minimization' control mode, the independent motors are controlled to provide an additional yaw moment to decrease the minimum steer radius. In order to verify the strategy, a simulation platform was built including engine and continuously variable transmission systems, generator and battery systems, independent motors and controllers systems, vehicle dynamic and tyre mechanical systems. The simulation results show that the handling performance of the vehicle can be enhanced significantly, and the minimum steer radius can be decreased by 20% which is significant improvement compared to the common level of main battle armoured vehicle around the world.

Revealing Hidden Einstein-Podolsky-Rosen Nonlocality

NASA Astrophysics Data System (ADS)

Walborn, S. P.; Salles, A.; Gomes, R. M.; Toscano, F.; Souto Ribeiro, P. H.

2011-04-01

Steering is a form of quantum nonlocality that is intimately related to the famous Einstein-Podolsky-Rosen (EPR) paradox that ignited the ongoing discussion of quantum correlations. Within the hierarchy of nonlocal correlations appearing in nature, EPR steering occupies an intermediate position between Bell nonlocality and entanglement. In continuous variable systems, EPR steering correlations have been observed by violation of Reid’s EPR inequality, which is based on inferred variances of complementary observables. Here we propose and experimentally test a new criterion based on entropy functions, and show that it is more powerful than the variance inequality for identifying EPR steering. Using the entropic criterion our experimental results show EPR steering, while the variance criterion does not. Our results open up the possibility of observing this type of nonlocality in a wider variety of quantum states.

Surface Modeling, Grid Generation, and Related Issues in Computational Fluid Dynamic (CFD) Solutions

NASA Technical Reports Server (NTRS)

Choo, Yung K. (Compiler)

1995-01-01

The NASA Steering Committee for Surface Modeling and Grid Generation (SMAGG) sponsored a workshop on surface modeling, grid generation, and related issues in Computational Fluid Dynamics (CFD) solutions at Lewis Research Center, Cleveland, Ohio, May 9-11, 1995. The workshop provided a forum to identify industry needs, strengths, and weaknesses of the five grid technologies (patched structured, overset structured, Cartesian, unstructured, and hybrid), and to exchange thoughts about where each technology will be in 2 to 5 years. The workshop also provided opportunities for engineers and scientists to present new methods, approaches, and applications in SMAGG for CFD. This Conference Publication (CP) consists of papers on industry overview, NASA overview, five grid technologies, new methods/ approaches/applications, and software systems.

Advanced emergency braking under split friction conditions and the influence of a destabilising steering wheel torque

NASA Astrophysics Data System (ADS)

Tagesson, Kristoffer; Cole, David

2017-07-01

The steering system in most heavy trucks is such that it causes a destabilising steering wheel torque when braking on split friction, that is, different friction levels on the two sides of the vehicle. Moreover, advanced emergency braking systems are now mandatory in most heavy trucks, making vehicle-induced split friction braking possible. This imposes higher demands on understanding how the destabilising steering wheel torque affects the driver, which is the focus here. Firstly, an experiment has been carried out involving 24 subjects all driving a truck where automatic split friction braking was emulated. Secondly, an existing driver-vehicle model has been adapted and implemented to improve understanding of the observed outcome. A common conclusion drawn, after analysing results, is that the destabilising steering wheel torque only has a small effect on the motion of the vehicle. The underlying reason is a relatively slow ramp up of the disturbance in comparison to the observed cognitive delay amongst subjects; also the magnitude is low and initially suppressed by passive driver properties.

Steering disturbance rejection using a physics-based neuromusculoskeletal driver model

NASA Astrophysics Data System (ADS)

Mehrabi, Naser; Sharif Razavian, Reza; McPhee, John

2015-10-01

The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver-vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human-machine system, which influences the driver's steering feel and control performance. A hierarchical approach is proposed here to capture the complexity of the driver's neuromuscular dynamics and the central nervous system in the coordination of the driver's upper extremity activities, especially in the presence of external disturbance. The proposed motor control framework has three layers: the first (or the path planning) plans a desired vehicle trajectory and the required steering angles to perform the desired trajectory; the second (or the musculoskeletal controller) actuates the musculoskeletal arm to rotate the steering wheel accordingly; and the final layer ensures the precision control and disturbance rejection of the motor control units. The physics-based driver model presented here can also provide insights into vehicle control in relaxed and tensed driving conditions, which are simulated by adjusting the driver model parameters such as cognition delay and muscle co-contraction dynamics.

Influence of rice whole-crop silage diet on growth performance, carcass and meat characteristics and muscle-related gene expression in Japanese Black steers.

PubMed

Shibata, Masahiro; Hikino, Yasuko; Imanari, Mai; Matsumoto, Kazunori; Yamamoto, Naoyuki

2016-07-01

The present study investigated the influence of a diet largely comprising rice whole-crop silage (rWCS) on growth performance, carcass and meat characteristics, and expression of genes involved in muscle growth of Japanese Black steers. Steers were randomly separated into rWCS-fed (rWCS ad libitum and restricted feeding of concentrate) and concentrate-fed groups. Total digestible nutrient intake and daily gain (DG) decreased in rWCS-fed steers in comparison with concentrate-fed steers, whereas dressed carcass weight and final body weight did not significantly differ between the groups. Decreases in drip loss in the muscle of rWCS-fed steers may be caused by α-tocopherol and β-carotene in muscle. Feeding large amounts of rWCS to steers may maintain quantitative productivity of beef steers equally to a concentrate-based diet, and improve the qualitative productivity. Results of gene expression suggest that activation of skeletal muscle growth in rWCS-fed steers may occur at the late fattening period owing to a decrease in myostatin and increase in myosin heavy chain gene expression. Preadipocyte factor-1 and myostatin genes may be strongly involved in the control of lipid accumulation. This rearing system would allow beef production to switch to rWCS-based diets from concentrate-based diets. © 2015 Japanese Society of Animal Science.

Towards automated visual flexible endoscope navigation.

PubMed

van der Stap, Nanda; van der Heijden, Ferdinand; Broeders, Ivo A M J

2013-10-01

The design of flexible endoscopes has not changed significantly in the past 50 years. A trend is observed towards a wider application of flexible endoscopes with an increasing role in complex intraluminal therapeutic procedures. The nonintuitive and nonergonomical steering mechanism now forms a barrier in the extension of flexible endoscope applications. Automating the navigation of endoscopes could be a solution for this problem. This paper summarizes the current state of the art in image-based navigation algorithms. The objectives are to find the most promising navigation system(s) to date and to indicate fields for further research. A systematic literature search was performed using three general search terms in two medical-technological literature databases. Papers were included according to the inclusion criteria. A total of 135 papers were analyzed. Ultimately, 26 were included. Navigation often is based on visual information, which means steering the endoscope using the images that the endoscope produces. Two main techniques are described: lumen centralization and visual odometry. Although the research results are promising, no successful, commercially available automated flexible endoscopy system exists to date. Automated systems that employ conventional flexible endoscopes show the most promising prospects in terms of cost and applicability. To produce such a system, the research focus should lie on finding low-cost mechatronics and technologically robust steering algorithms. Additional functionality and increased efficiency can be obtained through software development. The first priority is to find real-time, robust steering algorithms. These algorithms need to handle bubbles, motion blur, and other image artifacts without disrupting the steering process.

Guidance, steering, load relief and control of an asymmetric launch vehicle. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Boelitz, Frederick W.

1989-01-01

A new guidance, steering, and control concept is described and evaluated for the Third Phase of an asymmetrical configuration of the Advanced Launch System (ALS). The study also includes the consideration of trajectory shaping issues and trajectory design as well as the development of angular rate, angular acceleration, angle of attack, and dynamic pressure estimators. The Third Phase guidance, steering and control system is based on controlling the acceleration-direction of the vehicle after an initial launch maneuver. Unlike traditional concepts, the alignment of the estimated and commanded acceleration-directions is unimpaired by an add-on load relief. Instead, the acceleration-direction steering-control system features a control override that limits the product of estimated dynamic pressure and estimated angle of attack. When this product is not being limited, control is based exclusively on the commanded acceleration-direction without load relief. During limiting, control is based on nulling the error between the limited angle of attack and the estimated angle of attack. This limiting feature provides full freedom to the acceleration-direction steering and control to shape the trajectory within the limit, and also gives full priority to the limiting of angle of attack when necessary. The flight software concepts were analyzed on the basis of their effects on pitch plane motion.

Optimized coordination of brakes and active steering for a 4WS passenger car.

PubMed

Tavasoli, Ali; Naraghi, Mahyar; Shakeri, Heman

2012-09-01

Optimum coordination of individual brakes and front/rear steering subsystems is presented. The integrated control strategy consists of three modules. A coordinated high-level control determines the body forces/moment required to achieve vehicle motion objectives. The body forces/moment are allocated to braking and steering subsystems through an intermediate unit, which integrates available subsystems based on phase plane notion in an optimal manner. To this end, an optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software. A low-level slip-ratio controller works to generate the desired longitudinal forces at small longitudinal slip-ratios, while averting wheel locking at large slip-ratios. The efficiency of the suggested approach is demonstrated through computer simulations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

A novel technique for optimal integration of active steering and differential braking with estimation to improve vehicle directional stability.

PubMed

Mirzaeinejad, Hossein; Mirzaei, Mehdi; Rafatnia, Sadra

2018-06-11

This study deals with the enhancement of directional stability of vehicle which turns with high speeds on various road conditions using integrated active steering and differential braking systems. In this respect, the minimum usage of intentional asymmetric braking force to compensate the drawbacks of active steering control with small reduction of vehicle longitudinal speed is desired. To this aim, a new optimal multivariable controller is analytically developed for integrated steering and braking systems based on the prediction of vehicle nonlinear responses. A fuzzy programming extracted from the nonlinear phase plane analysis is also used for managing the two control inputs in various driving conditions. With the proposed fuzzy programming, the weight factors of the control inputs are automatically tuned and softly changed. In order to simulate a real-world control system, some required information about the system states and parameters which cannot be directly measured, are estimated using the Unscented Kalman Filter (UKF). Finally, simulations studies are carried out using a validated vehicle model to show the effectiveness of the proposed integrated control system in the presence of model uncertainties and estimation errors. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Microvalve

DOEpatents

Lee, A.P.; Krulevitch, P.A.; Northrup, M.A.; Trevino, J.C.

1998-10-13

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems. 14 figs.

Microvalve

DOEpatents

Lee, Abraham P.; Krulevitch, Peter A.; Northrup, M. Allen; Trevino, Jimmy C.

1998-01-01

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems.

Coherent optical monolithic phased-array antenna steering system

DOEpatents

Hietala, Vincent M.; Kravitz, Stanley H.; Vawter, Gregory A.

1994-01-01

An optical-based RF beam steering system for phased-array antennas comprising a photonic integrated circuit (PIC). The system is based on optical heterodyning employed to produce microwave phase shifting by a monolithic PIC constructed entirely of passive components. Microwave power and control signal distribution to the antenna is accomplished by optical fiber, permitting physical separation of the PIC and its control functions from the antenna. The system reduces size, weight, complexity, and cost of phased-array antenna systems.

Figure–ground discrimination behavior in Drosophila. I. Spatial organization of wing-steering responses

PubMed Central

Fox, Jessica L.; Aptekar, Jacob W.; Zolotova, Nadezhda M.; Shoemaker, Patrick A.; Frye, Mark A.

2014-01-01

The behavioral algorithms and neural subsystems for visual figure–ground discrimination are not sufficiently described in any model system. The fly visual system shares structural and functional similarity with that of vertebrates and, like vertebrates, flies robustly track visual figures in the face of ground motion. This computation is crucial for animals that pursue salient objects under the high performance requirements imposed by flight behavior. Flies smoothly track small objects and use wide-field optic flow to maintain flight-stabilizing optomotor reflexes. The spatial and temporal properties of visual figure tracking and wide-field stabilization have been characterized in flies, but how the two systems interact spatially to allow flies to actively track figures against a moving ground has not. We took a systems identification approach in flying Drosophila and measured wing-steering responses to velocity impulses of figure and ground motion independently. We constructed a spatiotemporal action field (STAF) – the behavioral analog of a spatiotemporal receptive field – revealing how the behavioral impulse responses to figure tracking and concurrent ground stabilization vary for figure motion centered at each location across the visual azimuth. The figure tracking and ground stabilization STAFs show distinct spatial tuning and temporal dynamics, confirming the independence of the two systems. When the figure tracking system is activated by a narrow vertical bar moving within the frontal field of view, ground motion is essentially ignored despite comprising over 90% of the total visual input. PMID:24198267

Dissipation induced asymmetric steering of distant atomic ensembles

NASA Astrophysics Data System (ADS)

Cheng, Guangling; Tan, Huatang; Chen, Aixi

2018-04-01

The asymmetric steering effects of separated atomic ensembles denoted by the effective bosonic modes have been explored by the means of quantum reservoir engineering in the setting of the cascaded cavities, in each of which an atomic ensemble is involved. It is shown that the steady-state asymmetric steering of the mesoscopic objects is unconditionally achieved via the dissipation of the cavities, by which the nonlocal interaction occurs between two atomic ensembles, and the direction of steering could be easily controlled through variation of certain tunable system parameters. One advantage of the present scheme is that it could be rather robust against parameter fluctuations, and does not require the accurate control of evolution time and the original state of the system. Furthermore, the double-channel Raman transitions between the long-lived atomic ground states are used and the atomic ensembles act as the quantum network nodes, which makes our scheme insensitive to the collective spontaneous emission of atoms.

Relationship among performance, carcass, and feed efficiency characteristics, and their ability to predict economic value in the feedlot.

PubMed

Retallick, K M; Faulkner, D B; Rodriguez-Zas, S L; Nkrumah, J D; Shike, D W

2013-12-01

A 4-yr study was conducted using 736 steers of known Angus, Simmental, or Simmental × Angus genetics to determine performance, carcass, and feed efficiency factors that explained variation in economic performance. Steers were pen fed and individual DMI was recorded using a GrowSafe automated feeding system (GrowSafe Systems Ltd., Airdrie, Alberta, Canada). Steers consumed a similar diet and received similar management each year. The objectives of this study were to: 1) determine current economic value of feed efficiency and 2) identify performance, carcass, and feed efficiency characteristics that predict: carcass value, profit, cost of gain, and feed costs. Economic data used were from 2011 values. Feed efficiency values investigated were: feed conversion ratio (FCR; feed to gain), residual feed intake (RFI), residual BW gain (RG), and residual intake and BW gain (RIG). Dependent variables were carcass value ($/steer), profit ($/steer), feed costs ($/steer • d(-1)), and cost of gain ($/kg). Independent variables were year, DMI, ADG, HCW, LM area, marbling, yield grade, dam breed, and sire breed. A 10% improvement in RG (P < 0.05) yielded the lowest cost of gain at $0.09/kg and highest carcass value at $17.92/steer. Carcass value increased (P < 0.05) as feed efficiency improved for FCR, RG, and RIG. Profit increased with a 10% improvement in feed efficiency (P < 0.05) with FCR at $34.65/steer, RG at $31.21/steer, RIG at $21.66/steer, and RFI at $11.47/steer. The carcass value prediction model explained 96% of the variation among carcasses and included HCW, marbling score, and yield grade. Average daily gain, marbling score, yield grade, DMI, HCW, and year born constituted 81% of the variation for prediction of profit. Eighty-five percent of the variation in cost of gain was explained by ADG, DMI, HCW, and year. Prediction equations were developed that excluded ADG and DMI, and included feed efficiency values. Using these equations, cost of gain was explained primarily by FCR (R(2) = 0.71). Seventy-three percent of profitability was explained, with 55% being accounted for by RG and marbling. These prediction equations represent the relative importance of factors contributing to economic success in feedlot cattle based on current prices.

Indexing system for optical beam steering

NASA Technical Reports Server (NTRS)

Sullivan, Mark T.; Cannon, David M.; Debra, Daniel B.; Young, Jeffrey A.; Mansfield, Joseph A.; Carmichael, Roger E.; Lissol, Peter S.; Pryor, G. M.; Miklosy, Les G.; Lee, Jeffrey H.

1990-01-01

This paper describes the design and testing of an indexing system for optical-beam steering. The cryogenic beam-steering mechanism is a 360-degree rotation device capable of discrete, high-precision alignment positions. It uses low-precision components for its rough alignment and kinematic design to meet its stringent repeatability and stability requirements (of about 5 arcsec). The principal advantages of this design include a decoupling of the low-precision, large angular motion from the high-precision alignment, and a power-off alignment position that potentially extends the life or hold time of cryogenic systems. An alternate design, which takes advantage of these attributes while reducing overall motion, is also presented. Preliminary test results show the kinematic mount capable of sub-arc second repeatability.

Revealing hidden Einstein-Podolsky-Rosen nonlocality.

PubMed

Walborn, S P; Salles, A; Gomes, R M; Toscano, F; Souto Ribeiro, P H

2011-04-01

Steering is a form of quantum nonlocality that is intimately related to the famous Einstein-Podolsky-Rosen (EPR) paradox that ignited the ongoing discussion of quantum correlations. Within the hierarchy of nonlocal correlations appearing in nature, EPR steering occupies an intermediate position between Bell nonlocality and entanglement. In continuous variable systems, EPR steering correlations have been observed by violation of Reid's EPR inequality, which is based on inferred variances of complementary observables. Here we propose and experimentally test a new criterion based on entropy functions, and show that it is more powerful than the variance inequality for identifying EPR steering. Using the entropic criterion our experimental results show EPR steering, while the variance criterion does not. Our results open up the possibility of observing this type of nonlocality in a wider variety of quantum states. © 2011 American Physical Society

Comparison of 3 tall fescue-based stocker systems.

PubMed

Bailey, N J; Kallenbach, R L

2010-05-01

A 2-yr production study was conducted to evaluate 3 systems of growing stocker calves under rotational stocking. One group of steers was stocked on pasture from early April to mid August (spring-stocked steers = SSS), and another group of steers was stocked from early July to late October (fall-stocked steers = FSS). Steers were stratified by BW (n = 72, BW = 229 +/- 11 kg for SSS; n = 72, BW = 248 +/- 18 kg for FSS) and randomly assigned to 1 of 3 treatments. The 3 treatments were 1) rotationally stocked only (control; CON), steers rotated to a new paddock as forage availability dropped below acceptable levels in the occupied paddock; 2) rotationally stocked with distillers grains (DIST); this was the same as CON except steers were supplemented with varying amounts of distillers dried grains with solubles (DDGS) based on forage nutritive value; and 3) rotationally stocked with round-bale silage (SIL); excess forage in spring was harvested and stored as round-bale silage and fed back as needed. Total BW gain/ha over the entire grazing season did not differ between DIST and SIL (P = 0.09) steers, but both were greater than CON (P < 0.01). Total BW gain/ha for DIST, SIL, and CON was 459 (SEM = 11.5), 402 (SEM = 31.0), and 276 (SEM = 26.2) kg, respectively. For ADG, there was a group x year (P < 0.01) and group x treatment (P = 0.02) interaction. Steer ADG for SSS did not differ between SIL and DIST (P = 0.51), but was greater than the CON (P = 0.01). The ADG for SSS was 0.79 (SEM = 0.04), 0.81 (SEM = 0.05), and 0.62 (SEM = 0.05) kg for DIST, SIL, and CON, respectively. For the FSS, ADG for all 3 treatments was different (P = 0.02). The FSS ADG was 0.72 (SEM = 0.03), 0.53 (SEM = 0.04), and 0.29 (SEM = 0.04) kg for DIST, SIL, and CON, respectively. The only treatment with equivalent (P = 0.07) ADG between early and late-stocked steers (SSS vs. FSS) was DIST. Adjusting the amount of DDGS supplemented to steers based on forage nutritive value resulted in consistent BW gains throughout the grazing study, whereas steers in the SIL and CON treatments gained less BW during the latter portion of the season. Controlling forage maturity by removal in the SIL treatment resulted in total BW gains/ha that were not different than the DIST treatment.

Program for Editing Spacecraft Command Sequences

NASA Technical Reports Server (NTRS)

Gladden, Roy; Waggoner, Bruce; Kordon, Mark; Hashemi, Mahnaz; Hanks, David; Salcedo, Jose

2006-01-01

Sequence Translator, Editor, and Expander Resource (STEER) is a computer program that facilitates construction of sequences and blocks of sequences (hereafter denoted generally as sequence products) for commanding a spacecraft. STEER also provides mechanisms for translating among various sequence product types and quickly expanding activities of a given sequence in chronological order for review and analysis of the sequence. To date, construction of sequence products has generally been done by use of such clumsy mechanisms as text-editor programs, translating among sequence product types has been challenging, and expanding sequences to time-ordered lists has involved arduous processes of converting sequence products to "real" sequences and running them through Class-A software (defined, loosely, as flight and ground software critical to a spacecraft mission). Also, heretofore, generating sequence products in standard formats has been troublesome because precise formatting and syntax are required. STEER alleviates these issues by providing a graphical user interface containing intuitive fields in which the user can enter the necessary information. The STEER expansion function provides a "quick and dirty" means of seeing how a sequence and sequence block would expand into a chronological list, without need to use of Class-A software.

Suitability of holographic beam scanning in high resolution applications

NASA Astrophysics Data System (ADS)

Kalita, Ranjan; Goutam Buddha, S. S.; Boruah, Bosanta R.

2018-02-01

The high resolution applications of a laser scanning imaging system very much demand the accurate positioning of the illumination beam. The galvanometer scanner based beam scanning imaging systems, on the other hand, suffer from both short term and long term beam instability issues. Fortunately Computer generated holography based beam scanning offers extremely accurate beam steering, which can be very useful for imaging in high-resolution applications in confocal microscopy. The holographic beam scanning can be achieved by writing a sequence of holograms onto a spatial light modulator and utilizing one of the diffracted orders as the illumination beam. This paper highlights relative advantages of such a holographic beam scanning based confocal system and presents some of preliminary experimental results.

A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering

NASA Astrophysics Data System (ADS)

Chen, Jie; Song, Jian; Li, Liang; Ran, Xu; Jia, Gang; Wu, Kaihui

2016-05-01

The current research of direct yaw moment control (DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100° increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change (DLC) test results on both high friction coefficient (μ) and low μ roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high μ and low μ roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.

Design Sketches For Optical Crossbar Switches Intended For Large-Scale Parallel Processing Applications

NASA Astrophysics Data System (ADS)

Hartmann, Alfred; Redfield, Steve

1989-04-01

This paper discusses design of large-scale (1000x 1000) optical crossbar switching networks for use in parallel processing supercom-puters. Alternative design sketches for an optical crossbar switching network are presented using free-space optical transmission with either a beam spreading/masking model or a beam steering model for internodal communications. The performances of alternative multiple access channel communications protocol-unslotted and slotted ALOHA and carrier sense multiple access (CSMA)-are compared with the performance of the classic arbitrated bus crossbar of conventional electronic parallel computing. These comparisons indicate an almost inverse relationship between ease of implementation and speed of operation. Practical issues of optical system design are addressed, and an optically addressed, composite spatial light modulator design is presented for fabrication to arbitrarily large scale. The wide range of switch architecture, communications protocol, optical systems design, device fabrication, and system performance problems presented by these design sketches poses a serious challenge to practical exploitation of highly parallel optical interconnects in advanced computer designs.

Computational steering of GEM based detector simulations

NASA Astrophysics Data System (ADS)

Sheharyar, Ali; Bouhali, Othmane

2017-10-01

Gas based detector R&D relies heavily on full simulation of detectors and their optimization before final prototypes can be built and tested. These simulations in particular those with complex scenarios such as those involving high detector voltages or gas with larger gains are computationally intensive may take several days or weeks to complete. These long-running simulations usually run on the high-performance computers in batch mode. If the results lead to unexpected behavior, then the simulation might be rerun with different parameters. However, the simulations (or jobs) may have to wait in a queue until they get a chance to run again because the supercomputer is a shared resource that maintains a queue of other user programs as well and executes them as time and priorities permit. It may result in inefficient resource utilization and increase in the turnaround time for the scientific experiment. To overcome this issue, the monitoring of the behavior of a simulation, while it is running (or live), is essential. In this work, we employ the computational steering technique by coupling the detector simulations with a visualization package named VisIt to enable the exploration of the live data as it is produced by the simulation.

Distinguishing between evidence and its explanations in the steering of atomic clocks

NASA Astrophysics Data System (ADS)

Myers, John M.; Hadi Madjid, F.

2014-11-01

Quantum theory reflects within itself a separation of evidence from explanations. This separation leads to a known proof that: (1) no wave function can be determined uniquely by evidence, and (2) any chosen wave function requires a guess reaching beyond logic to things unforeseeable. Chosen wave functions are encoded into computer-mediated feedback essential to atomic clocks, including clocks that step computers through their phases of computation and clocks in space vehicles that supply evidence of signal propagation explained by hypotheses of spacetimes with metric tensor fields. The propagation of logical symbols from one computer to another requires a shared rhythm-like a bucket brigade. Here we show how hypothesized metric tensors, dependent on guesswork, take part in the logical synchronization by which clocks are steered in rate and position toward aiming points that satisfy phase constraints, thereby linking the physics of signal propagation with the sharing of logical symbols among computers. Recognizing the dependence of the phasing of symbol arrivals on guesses about signal propagation transports logical synchronization from the engineering of digital communications to a discipline essential to physics. Within this discipline we begin to explore questions invisible under any concept of time that fails to acknowledge unforeseeable events. In particular, variation of spacetime curvature is shown to limit the bit rate of logical communication.

Effects of feeding system on growth performance, plasma biochemical components and hormones, and carcass characteristics in Hanwoo steers

PubMed Central

Chung, Chan Sung; Cho, Woong Ki; Jang, In Seok; Lee, Sung Sill; Moon, Yea Hwang

2017-01-01

Objective This study was conducted to compare growth performance, blood components and carcass traits by two feeding systems (concentrate with roughage separately [CON] vs total mixed ration [TMR]) in Hanwoo steers, and to learn the relationship between blood components during fattening or finishing phases and carcass traits in Hanwoo steers. Methods Sixty steers aged 8 months were allotted to two feeding systems and fed similar amounts of average dry matter and total digestible nutrient throughout whole experimental period according to each feeding program. Steers were weighed monthly, taken blood at the end of growing, fattening and finishing periods, and slaughtered at 30 month of age. Results Growing performance was higher (p<0.05) in the CON group compared to the TMR group during fattening and finishing periods. The CON group was lower (p<0.05) in blood aspartic acid transaminase, blood urea nitrogen and retinol levels during growing period, but higher in triglyceride and cholesterol levels during fattening and finishing periods compared to the TMR group. The CON group was greater (p<0.05) in rib-eye area, and lighter (p<0.05) red in meat color compared to the TMR group. In the correlation coefficients between blood components of steers and carcass traits, retinol had a negative (p<0.05) correlation with marbling score and rib-eye area. Leptin had a positive (p<0.05) correlation with back fat thickness. Blood cholesterol and triglyceride were positively (p<0.05) correlated with carcass weight and rib-eye area. Conclusion Growth performance, carcass ribeye area and meat color showed a more desirable result in the CON compared to the TMR in Hanwoo steers. Assessing the accumulated data of carcass traits with blood components including hormones—particularly retinol, cholesterol, triglyceride, and leptin—during the fattening or finishing phases, it may be possible to find a biomarker for determining beef quality in living animals. PMID:28669143

Single High Fidelity Geometric Data Sets for LCM - Model Requirements

DTIC Science & Technology

2006-11-01

are extensive single 3D CAD data models incorporating hull structure, propulsion, steering, piping , electrical, HVAC and other systems, which make...single 3D CAD data models incorporating hull structure, propulsion, steering, piping , electrical, HVAC and other systems. During this same period...be sufficiently flexible to accommodate the diverse requirements of various types of structural analyses. Section Properties & Material Data

The effect of electronically steering a phased array ultrasound transducer on near-field tissue heating.

PubMed

Payne, Allison; Vyas, Urvi; Todd, Nick; de Bever, Joshua; Christensen, Douglas A; Parker, Dennis L

2011-09-01

This study presents the results obtained from both simulation and experimental techniques that show the effect of mechanically or electronically steering a phased array transducer on proximal tissue heating. The thermal response of a nine-position raster and a 16-mm diameter circle scanning trajectory executed through both electronic and mechanical scanning was evaluated in computer simulations and experimentally in a homogeneous tissue-mimicking phantom. Simulations were performed using power deposition maps obtained from the hybrid angular spectrum (HAS) method and applying a finite-difference approximation of the Pennes' bioheat transfer equation for the experimentally used transducer and also for a fully sampled transducer to demonstrate the effect of acoustic window, ultrasound beam overlap and grating lobe clutter on near-field heating. Both simulation and experimental results show that electronically steering the ultrasound beam for the two trajectories using the 256-element phased array significantly increases the thermal dose deposited in the near-field tissues when compared with the same treatment executed through mechanical steering only. In addition, the individual contributions of both beam overlap and grating lobe clutter to the near-field thermal effects were determined through comparing the simulated ultrasound beam patterns and resulting temperature fields from mechanically and electronically steered trajectories using the 256-randomized element phased array transducer to an electronically steered trajectory using a fully sampled transducer with 40 401 phase-adjusted sample points. Three distinctly different three distinctly different transducers were simulated to analyze the tradeoffs of selected transducer design parameters on near-field heating. Careful consideration of design tradeoffs and accurate patient treatment planning combined with thorough monitoring of the near-field tissue temperature will help to ensure patient safety during an MRgHIFU treatment.

Twenty-four hour Holter monitoring in finishing cattle housed outdoors.

PubMed

Frese, D A; Thomason, J D; Reinhardt, C; Bartle, S; Rethorst, D; Loneragan, G H; Thomson, D

2017-04-01

Atrial premature complexes have been reported to be the most common arrhythmia in cattle and is suspected to be secondary to systemic disease, especially gastrointestinal disease. In order to properly identify pathologic arrhythmia in cattle, the normal rhythm and arrhythmia prevalence should be defined. The objective of this study was to determine the normal heart rate, rhythm, number of ventricular premature complexes (VPCs), and atrial premature complexes (APCs) in unrestrained Angus steers. Twenty-seven client owned steers with unremarkable physical examinations and serum biochemical analyses were used. Twenty-four hour Holter monitors, attached by a custom-made harness, were retrospectively evaluated. Three lead electrocardiographic registrations of good quality and normal sinus rhythm were obtained from all steers in the study. The mean heart rate was 66.8 bpm ± 16.4 bpm. Ventricular premature complexes were rare (noted in 14.8% of steers), and APCs were common (noted in 85% of the steers). Simple second degree AV block was observed in 18.5% of the steers. In summary, healthy steers have rare single VPCs, although it is possible for an individual animal to have apparent more frequent VPCs. Mean heart rate varies with a diurnal pattern similar to other species. Atrial premature complexes are the most prevalent abnormality observed in feedlot steers. Copyright © 2016 Elsevier B.V. All rights reserved.

Bell’s Nonlocality Can be Detected by the Violation of Einstein-Podolsky-Rosen Steering Inequality

PubMed Central

Chen, Jing-Ling; Ren, Changliang; Chen, Changbo; Ye, Xiang-Jun; Pati, Arun Kumar

2016-01-01

Recently quantum nonlocality has been classified into three distinct types: quantum entanglement, Einstein-Podolsky-Rosen steering, and Bell’s nonlocality. Among which, Bell’s nonlocality is the strongest type. Bell’s nonlocality for quantum states is usually detected by violation of some Bell’s inequalities, such as Clause-Horne-Shimony-Holt inequality for two qubits. Steering is a manifestation of nonlocality intermediate between entanglement and Bell’s nonlocality. This peculiar feature has led to a curious quantum phenomenon, the one-way Einstein-Podolsky-Rosen steering. The one-way steering was an important open question presented in 2007, and positively answered in 2014 by Bowles et al., who presented a simple class of one-way steerable states in a two-qubit system with at least thirteen projective measurements. The inspiring result for the first time theoretically confirms quantum nonlocality can be fundamentally asymmetric. Here, we propose another curious quantum phenomenon: Bell nonlocal states can be constructed from some steerable states. This novel finding not only offers a distinctive way to study Bell’s nonlocality without Bell’s inequality but with steering inequality, but also may avoid locality loophole in Bell’s tests and make Bell’s nonlocality easier for demonstration. Furthermore, a nine-setting steering inequality has also been presented for developing more efficient one-way steering and detecting some Bell nonlocal states. PMID:27966616

Inertial Pointing and Positioning System

NASA Technical Reports Server (NTRS)

Yee, Robert (Inventor); Robbins, Fred (Inventor)

1998-01-01

An inertial pointing and control system and method for pointing to a designated target with known coordinates from a platform to provide accurate position, steering, and command information. The system continuously receives GPS signals and corrects Inertial Navigation System (INS) dead reckoning or drift errors. An INS is mounted directly on a pointing instrument rather than in a remote location on the platform for-monitoring the terrestrial position and instrument attitude. and for pointing the instrument at designated celestial targets or ground based landmarks. As a result. the pointing instrument and die INS move independently in inertial space from the platform since the INS is decoupled from the platform. Another important characteristic of the present system is that selected INS measurements are combined with predefined coordinate transformation equations and control logic algorithms under computer control in order to generate inertial pointing commands to the pointing instrument. More specifically. the computer calculates the desired instrument angles (Phi, Theta. Psi). which are then compared to the Euler angles measured by the instrument- mounted INS. and forms the pointing command error angles as a result of the compared difference.

Is meat quality of forage-fed steers comparable to the meat quality of conventional beef from concentrate-fed bulls?

PubMed

Blanco, Mireia; Casasús, Isabel; Ripoll, Guillermo; Albertí, Pere; Panea, Begoña; Joy, Margalida

2017-11-01

Replacing concentrates with forages in the diet of finishing cattle to satisfy societal demands and for economic reasons is a target for beef farmers, but this change may affect meat acceptance. In the Mediterranean area, young bulls are usually finished on concentrates (Conventional beef). Alternatively, steers can be finished on grass with supplements (G-supp); however, if carcasses are too lean, meat quality may be negatively affected. To increase fat deposition, grazing steers were finished on a total mixed ration composed of alfalfa hay and corn (TMR). Thus the objective of the study was to compare the quality of Longissimus muscle of the three systems. Conventional beef had low yellowness and similar lightness and redness values compared with the beef from the forage-based systems, which differed slightly. The meat of the G-supp and TMR steers had higher conjugated linoleic acid (CLA) and total n-3 polyunsaturated fatty acid (PUFA) contents and lower n-6/n-3 PUFA ratio (more appropriate from a human health point of view) but was tougher than the Conventional beef. The Conventional beef was better accepted by consumers than the beef from both forage-based systems because it was the most tender. Thus tenderness of meat from forage-fed steers should be improved to ensure consumer acceptance. © 2017 Society of Chemical Industry. © 2017 Society of Chemical Industry.

Einstein-Podolsky-Rosen steering and Bell nonlocality of two macroscopic mechanical oscillators in optomechanical systems

NASA Astrophysics Data System (ADS)

Li, Jie; Zhu, Shi-Yao

2017-12-01

We investigate under which conditions quantum nonlocal manifestations such as Einstein-Podolsky-Rosen steering or Bell nonlocality can manifest themselves even at the macroscopic level of two mechanical resonators in optomechanical systems. We adopt the powerful scheme of reservoir engineering, implemented by driving a cavity mode with a properly chosen two-tone field, to prepare two mechanical oscillators in an entangled state. We show that large and robust (both one-way and two-way) steering could be achieved in the steady state with realistic parameters. We analyze the mechanism of the asymmetric nature of steering in our system of a two-mode Gaussian state. However, unlike steering, a Bell nonlocality is present under much more stringent conditions. We consider two types of measurements, displaced parity and on-off detection, respectively. We show that for both the measurements the Bell violation requires very low environmental temperature. For the parity detection, a large Bell violation is observed only in the transient state when the mechanical modes decouple from the optical mode and with extremely small cavity losses and mechanical damping. However, for the on-off detection, a moderate Bell violation is found in the steady state and is robust against cavity losses and mechanical damping. Although a Bell violation with parity detection seems extremely challenging to demonstrate experimentally, the conditions required for violating Bell inequalities with the on-off detection are much less demanding.

L3 Interactive Data Language

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

Hohn, Michael; Adams, Paul

2006-09-05

The L3 system is a computational steering environment for image processing and scientific computing. It consists of an interactive graphical language and interface. Its purpose is to help advanced users in controlling their computational software and assist in the management of data accumulated during numerical experiments. L3 provides a combination of features not found in other environments; these are: - textual and graphical construction of programs - persistence of programs and associated data - direct mapping between the scripts, the parameters, and the produced data - implicit hierarchial data organization - full programmability, including conditionals and functions - incremental executionmore » of programs The software includes the l3 language and the graphical environment. The language is a single-assignment functional language; the implementation consists of lexer, parser, interpreter, storage handler, and editing support, The graphical environment is an event-driven nested list viewer/editor providing graphical elements corresponding to the language. These elements are both the represenation of a users program and active interfaces to the values computed by that program.« less

Carcass characteristics, fatty acid composition, and meat quality of Criollo Argentino and Braford steers raised on forage in a semi-tropical region of Argentina.

PubMed

Orellana, Carlos; Peña, F; García, A; Perea, J; Martos, J; Domenech, V; Acero, R

2009-01-01

The purpose of this study was to characterize and compare the carcass characteristics, cholesterol concentration, fatty acid composition of intramuscular fat and subcutaneous fat, and meat quality of Criollo Argentino and Braford steers reared in an extensive system, without supplementation, and slaughtered at approximately 400kg live weight. The Braford steers had greater (P<0.05) carcass weight, yield, conformation score, marbling degree, fat thickness and fatness score than Criollo Argentino steers. The tissue composition of the 10th rib was: 68.1% vs. 63.6% muscle, 23.9% vs. 20.4% bone and 8.2% vs. 16.3% fat for the Criollo Argentino and Braford breeds, respectively. The meat of Longissimus muscle from Braford steers was lighter, redder, yellower and more tender than that from Criollo Argentino steers. The meat of Longissimus muscle from Braford steers had a higher fat content, similar protein and ash contents and a lower (P⩽0.001) cholesterol concentration than that from Criollo Argentino steers. The subcutaneous depot was the most saturated, while the intramuscular fat had the most polyunsaturated fatty acids. Intramuscular fat showed the highest ∑h fatty acids, and PUFA/SFA and n-6/n-3 ratios and for MUFA/SFA, 16:0/18:0 and h/H ratios were not significantly different between adipose tissue depots. The influence of breed on the fatty acid profile varies among adipose tissues. In general, both intramuscular fat and subcutaneous fat from Criollo steers contained more unsaturated fatty acids and less saturated fatty acids, than did fat from Braford steers.

Evaluation of steering control devices in adapted cars using sled deceleration tests

NASA Astrophysics Data System (ADS)

Eixerés, B.; Masiá, J.; Dols, J. F.; Esquerdo, T. V.

2009-11-01

Steering control devices used by disabled drivers can reduce passive safety, interfering with the existing systems of safety in the vehicle or causing injury to the occupants [1]. In this article, the results obtained in different dynamic tests carried out in a crash test simulator are presented. These tests were carried out on the steering devices which interfere the most with the deployment of the driver's airbag and also with the knee airbag in a Citroen C5.

Interpreting the macroscopic pointer by analysing the elements of reality of a Schrödinger cat

NASA Astrophysics Data System (ADS)

Reid, M. D.

2017-10-01

We examine Einstein-Podolsky-Rosen’s (EPR) steering nonlocality for two realisable Schrödinger cat-type states where a meso/macroscopic system (called the ‘cat’-system) is entangled with a microscopic spin-1/2 system. We follow EPR’s argument and derive the predictions for ‘elements of reality’ that would exist to describe the cat-system, under the assumption of EPR’s local realism. By showing that those predictions cannot be replicated by any local quantum state description of the cat-system, we demonstrate the EPR-steering of the cat-system. For large cat-systems, we find that a local hidden state model is near-satisfied, meaning that a local quantum state description exists (for the cat) whose predictions differ from those of the elements of reality by a vanishingly small amount. For such a local hidden state model, the EPR-steering of the cat vanishes, and the cat-system can be regarded as being in a mixture of ‘dead’ and ‘alive’ states despite it being entangled with the spin system. We therefore propose that a rigorous signature of the Schrödinger cat-type paradox is the EPR-steering of the cat-system and provide two experimental signatures. This leads to a hybrid quantum/classical interpretation of the macroscopic pointer of a measurement device and suggests that many Schrödinger cat-type paradoxes may be explained by microscopic nonlocality.

Design of a Nanoscale, CMOS-Integrable, Thermal-Guiding Structure for Boolean-Logic and Neuromorphic Computation.

PubMed

Loke, Desmond; Skelton, Jonathan M; Chong, Tow-Chong; Elliott, Stephen R

2016-12-21

One of the requirements for achieving faster CMOS electronics is to mitigate the unacceptably large chip areas required to steer heat away from or, more recently, toward the critical nodes of state-of-the-art devices. Thermal-guiding (TG) structures can efficiently direct heat by "meta-materials" engineering; however, some key aspects of the behavior of these systems are not fully understood. Here, we demonstrate control of the thermal-diffusion properties of TG structures by using nanometer-scale, CMOS-integrable, graphene-on-silica stacked materials through finite-element-methods simulations. It has been shown that it is possible to implement novel, controllable, thermally based Boolean-logic and spike-timing-dependent plasticity operations for advanced (neuromorphic) computing applications using such thermal-guide architectures.

GROTTO visualization for decision support

NASA Astrophysics Data System (ADS)

Lanzagorta, Marco O.; Kuo, Eddy; Uhlmann, Jeffrey K.

1998-08-01

In this paper we describe the GROTTO visualization projects being carried out at the Naval Research Laboratory. GROTTO is a CAVE-like system, that is, a surround-screen, surround- sound, immersive virtual reality device. We have explored the GROTTO visualization in a variety of scientific areas including oceanography, meteorology, chemistry, biochemistry, computational fluid dynamics and space sciences. Research has emphasized the applications of GROTTO visualization for military, land and sea-based command and control. Examples include the visualization of ocean current models for the simulation and stud of mine drifting and, inside our computational steering project, the effects of electro-magnetic radiation on missile defense satellites. We discuss plans to apply this technology to decision support applications involving the deployment of autonomous vehicles into contaminated battlefield environments, fire fighter control and hostage rescue operations.

Asymmetrical booster ascent guidance and control system design study. Volume 5: Space shuttle powered explicit guidance. [space shuttle development

NASA Technical Reports Server (NTRS)

Jaggers, R. F.

1974-01-01

An optimum powered explicit guidance algorithm capable of handling all space shuttle exoatospheric maneuvers is presented. The theoretical and practical basis for the currently baselined space shuttle powered flight guidance equations and logic is documented. Detailed flow diagrams for implementing the steering computations for all shuttle phases, including powered return to launch site (RTLS) abort, are also presented. Derivation of the powered RTLS algorithm is provided, as well as detailed flow diagrams for implementing the option. The flow diagrams and equations are compatible with the current powered flight documentation.

Ascent guidance algorithm using lidar wind measurements

NASA Technical Reports Server (NTRS)

Cramer, Evin J.; Bradt, Jerre E.; Hardtla, John W.

1990-01-01

The formulation of a general nonlinear programming guidance algorithm that incorporates wind measurements in the computation of ascent guidance steering commands is discussed. A nonlinear programming (NLP) algorithm that is designed to solve a very general problem has the potential to address the diversity demanded by future launch systems. Using B-splines for the command functional form allows the NLP algorithm to adjust the shape of the command profile to achieve optimal performance. The algorithm flexibility is demonstrated by simulation of ascent with dynamic loading constraints through a set of random wind profiles with and without wind sensing capability.

Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

PubMed Central

Abayazid, Momen; Moreira, Pedro; Shahriari, Navid; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak

2015-01-01

In this paper, we present a system capable of automatically steering a bevel-tipped flexible needle under ultrasound guidance toward a physical target while avoiding a physical obstacle embedded in gelatin phantoms and biological tissue with curved surfaces. An ultrasound pre-operative scan is performed for three-dimensional (3D) target localization and shape reconstruction. A controller based on implicit force control is developed to align the transducer with curved surfaces to assure the maximum contact area, and thus obtain an image of sufficient quality. We experimentally investigate the effect of needle insertion system parameters such as insertion speed, needle diameter and bevel angle on target motion to adjust the parameters that minimize the target motion during insertion. A fast sampling-based path planner is used to compute and periodically update a feasible path to the target that avoids obstacles. We present experimental results for target reconstruction and needle insertion procedures in gelatin-based phantoms and biological tissue. Mean targeting errors of 1.46 ± 0.37 mm, 1.29 ± 0.29 mm and 1.82 ± 0.58 mm are obtained for phantoms with inclined, curved and combined (inclined and curved) surfaces, respectively, for insertion distance of 86–103 mm. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3 mm radius that can be detected using clinical ultrasound imaging systems. PMID:25455165

Systemic immune response and virus persistence after foot-and-mouth disease virus infection of naïve cattle and cattle vaccinated with a homologous adenovirus-vectored vaccine

USDA-ARS?s Scientific Manuscript database

In order to investigate host factors associated with the establishment of persistent foot-and-mouth disease virus (FMDV) infection, the systemic immune response to vaccination and challenge was studied in 47 Holstein steers. Eighteen steers which had received one dose of recombinant FMDV A vaccine t...

Provenance for Runtime Workflow Steering and Validation in Computational Seismology

NASA Astrophysics Data System (ADS)

Spinuso, A.; Krischer, L.; Krause, A.; Filgueira, R.; Magnoni, F.; Muraleedharan, V.; David, M.

2014-12-01

Provenance systems may be offered by modern workflow engines to collect metadata about the data transformations at runtime. If combined with effective visualisation and monitoring interfaces, these provenance recordings can speed up the validation process of an experiment, suggesting interactive or automated interventions with immediate effects on the lifecycle of a workflow run. For instance, in the field of computational seismology, if we consider research applications performing long lasting cross correlation analysis and high resolution simulations, the immediate notification of logical errors and the rapid access to intermediate results, can produce reactions which foster a more efficient progress of the research. These applications are often executed in secured and sophisticated HPC and HTC infrastructures, highlighting the need for a comprehensive framework that facilitates the extraction of fine grained provenance and the development of provenance aware components, leveraging the scalability characteristics of the adopted workflow engines, whose enactment can be mapped to different technologies (MPI, Storm clusters, etc). This work looks at the adoption of W3C-PROV concepts and data model within a user driven processing and validation framework for seismic data, supporting also computational and data management steering. Validation needs to balance automation with user intervention, considering the scientist as part of the archiving process. Therefore, the provenance data is enriched with community-specific metadata vocabularies and control messages, making an experiment reproducible and its description consistent with the community understandings. Moreover, it can contain user defined terms and annotations. The current implementation of the system is supported by the EU-Funded VERCE (http://verce.eu). It provides, as well as the provenance generation mechanisms, a prototypal browser-based user interface and a web API built on top of a NoSQL storage technology, experimenting ways to ensure a rapid and flexible access to the lineage traces. It supports the users with the visualisation of graphical products and offers combined operations to access and download the data which may be selectively stored at runtime, into dedicated data archives.

Design and development of an electrically-controlled beam steering mirror for microwave tomography

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

Tayebi, A., E-mail: tayebiam@msu.edu; Tang, J.; Paladhi, P. Roy

2015-03-31

Microwave tomography has gained significant attention due to its reliability and unhazardous nature in the fields of NDE and medical industry. A new microwave tomography system is presented in this paper, which significantly reduces the design and operational complexities of traditional microwave imaging systems. The major component of the proposed system is a reconfigurable reflectarray antenna which is used for beam steering in order to generate projections from multiple angles. The design, modeling and fabrication of the building block of the antenna, a tunable unit cell, are discussed in this paper. The unit cell is capable of dynamically altering themore » phase of the reflected field which results in beam steering ability of the reflectarray antenna. A tomographically reconstructed image of a dielectric sample using this new microwave tomography system is presented in this work.« less

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Exploration quantum steering, nonlocality and entanglement of two-qubit X-state in structured reservoirs

PubMed Central

Sun, Wen-Yang; Wang, Dong; Shi, Jia-Dong; Ye, Liu

2017-01-01

In this work, there are two parties, Alice on Earth and Bob on the satellite, which initially share an entangled state, and some open problems, which emerge during quantum steering that Alice remotely steers Bob, are investigated. Our analytical results indicate that all entangled pure states and maximally entangled evolution states (EESs) are steerable, and not every entangled evolution state is steerable and some steerable states are only locally correlated. Besides, quantum steering from Alice to Bob experiences a “sudden death” with increasing decoherence strength. However, shortly after that, quantum steering experiences a recovery with the increase of decoherence strength in bit flip (BF) and phase flip (PF) channels. Interestingly, while they initially share an entangled pure state, all EESs are steerable and obey Bell nonlocality in PF and phase damping channels. In BF channels, all steerable states can violate Bell-CHSH inequality, but some EESs are unable to be employed to realize steering. However, when they initially share an entangled mixed state, the outcome is different from that of the pure state. Furthermore, the steerability of entangled mixed states is weaker than that of entangled pure states. Thereby, decoherence can induce the degradation of quantum steering, and the steerability of state is associated with the interaction between quantum systems and reservoirs. PMID:28145467

Loophole-free Einstein-Podolsky-Rosen experiment via quantum steering

NASA Astrophysics Data System (ADS)

Wittmann, Bernhard; Ramelow, Sven; Steinlechner, Fabian; Langford, Nathan K.; Brunner, Nicolas; Wiseman, Howard M.; Ursin, Rupert; Zeilinger, Anton

2012-05-01

Tests of the predictions of quantum mechanics for entangled systems have provided increasing evidence against local realistic theories. However, there remains the crucial challenge of simultaneously closing all major loopholes—the locality, freedom-of-choice and detection loopholes—in a single experiment. An important sub-class of local realistic theories can be tested with the concept of ‘steering’. The term ‘steering’ was introduced by Schrödinger in 1935 for the fact that entanglement would seem to allow an experimenter to remotely steer the state of a distant system as in the Einstein-Podolsky-Rosen (EPR) argument. Einstein called this ‘spooky action at a distance’. EPR-steering has recently been rigorously formulated as a quantum information task opening it up to new experimental tests. Here, we present the first loophole-free demonstration of EPR-steering by violating three-setting quadratic steering inequality, tested with polarization-entangled photons shared between two distant laboratories. Our experiment demonstrates this effect while simultaneously closing all loopholes: both the locality loophole and a specific form of the freedom-of-choice loophole are closed by having a large separation of the parties and using fast quantum random number generators, and the fair-sampling loophole is closed by having high overall detection efficiency. Thereby, we exclude—for the first time loophole-free—an important class of local realistic theories considered by EPR. Besides its foundational importance, loophole-free steering also allows the distribution of quantum entanglement secure event in the presence of an untrusted party.

Coupling Visualization, Simulation, and Deep Learning for Ensemble Steering of Complex Energy Models: Preprint

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

Potter, Kristin C; Brunhart-Lupo, Nicholas J; Bush, Brian W

We have developed a framework for the exploration, design, and planning of energy systems that combines interactive visualization with machine-learning based approximations of simulations through a general purpose dataflow API. Our system provides a visual inter- face allowing users to explore an ensemble of energy simulations representing a subset of the complex input parameter space, and spawn new simulations to 'fill in' input regions corresponding to new enegery system scenarios. Unfortunately, many energy simula- tions are far too slow to provide interactive responses. To support interactive feedback, we are developing reduced-form models via machine learning techniques, which provide statistically soundmore » esti- mates of the full simulations at a fraction of the computational cost and which are used as proxies for the full-form models. Fast com- putation and an agile dataflow enhance the engagement with energy simulations, and allow researchers to better allocate computational resources to capture informative relationships within the system and provide a low-cost method for validating and quality-checking large-scale modeling efforts.« less

Research on Precision Tracking on Fast Steering Mirror and Control Strategy

NASA Astrophysics Data System (ADS)

Di, Lin; Yi-ming, Wu; Fan, Zhu

2018-01-01

Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

Novel Microstrip Patch Antennas with Frequency Agility, Polarization Reconfigurability, Dual Null Steering Capability and Phased Array Antenna with Beam Steering Performance

NASA Astrophysics Data System (ADS)

Babakhani, Behrouz

Nowadays the wireless communication technology is playing an important role in our daily life. People use wireless devices not only as a conventional communication device but also as tracking and navigation tool, web browsing tool, data storage and transfer tool and so for many other reasons. Based on the user demand, wireless communication engineers try to accommodate as many as possible wireless systems and applications in a single device and therefore, creates a multifunctional device. Antenna, as an integral part of any wireless communication systems, should also be evolved and adjusted with development of wireless transceiver systems. Therefore multifunctional antennas have been introduced to support and enhance the functionality on modern wireless systems. The main focus and contribution of this thesis is design of novel multifunctional microstrip antennas with frequency agility, polarization reconfigurablity, dual null steering capability and phased array antenna with beam steering performance. In this thesis, first, a wide bandwidth(1.10 GHz to 1.60 GHz) right-handed circularly polarized (RHCP) directional antenna for global positioning system (GPS) satellite receive application has been introduced which covers all the GPS bands starting from L1 to L5. This design consists of two crossed bow-tie dipole antennas fed with sequentially phase rotated feed network backed with an artificial high impedance surface (HIS) structure to generate high gain directional radiation patterns. This design shows good CP gain and axial ratio (AR) and wide beamwidth performance. Although this design has good radiation quality, the size and the weight can be reduced as future study. In the second design, a frequency agile antenna was developed which also covers the L-band (L1 to L5) satellite communication frequencies. This frequency agile antenna was designed and realized by new implementation of varactor diodes in the geometry of a circular patch antenna. Beside wide frequency agility (1.17 GHz to 1.58 GHz), full polarization reconfiguration was added to the design by controlling ports excitation of circular patch using RF switches (vertical linear, horizontal linear, right-handed circular polarization (RHCP) and left-handed circular polarization (LHCP)). This deign maintains good gain and radiation efficiency over the tunable range as well as acceptable co-polarization and cross-polarization separation for different polarizations. Since many communications applications require beam steering ability, in our third design, we designed and developed a linear phased array antenna using a modified version of our frequency agile polarization reconfigurable antenna for beam steering applications. This design offers wide frequency agility (1.50 GHz to 2.40 GHz), full polarization reconfiguration (vertical linear, horizontal linear, LHCP and RHCP) as well as beam steering of +/-52° and +/-28° at 1.5 GHz and 2.4 GHz, respectively. In this 1x4 array, the excitation magnitude and phase of each element was controlled by an analog beamforming feed network (BFN) for beam steering purposes. The required excitation for each element to steer the beam toward a desired location was calculated using projection matrix method (PMM) which uses measured active element pattern (AEP) as its input. This array antenna performance for frequency agility, radiation quality for each polarization and beam steering capability was obtained in the acceptable range. In the last design, the full spherical dual null steering capability of a triple mode circular microstrip patch antenna was investigated. By combining the radiation patterns of three individual modes of microstrip circular patch antenna, two nulls have been generated. These nulls can be repositioned in the upper hemisphere by controlling excitation ratio of each mode. The modes excitation ratio to steer the nulls toward the desired positions was calculated using a derivative free hybrid optimization method. This optimization method uses particle swarm optimization (PSO) combined with pattern search (PS) to find the optimum modes excitation ratio which minimizes the received power at the null positions. The calculated coefficients were applied to the multimode antenna using an analog BFN. This design shows an independent dual null steering with null depth of around 20 dB. Discussion about the proposed antennas included detailed theoretical analysis, numerical simulation and optimizations, beam forming and null steering algorithms, fabrication of the antennas and its control/beamforming feed networks along with the associated bias networks, microcontroller units, and finally its characterization (impedance matching, gain and 2D and 3D radiation patterns). The research work was performed at the Antenna and Microwave Lab (AML) which has the required resources including full wave analysis tools, PCB milling machine, surface mount component soldering station, vector network analyzers, and far-field/spherical near-field radiation pattern measurement system.

46 CFR 58.25-50 - Rudder stops.

Code of Federal Regulations, 2012 CFR

2012-10-01

... GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-50 Rudder stops. (a) Power-operated steering gear must have arrangements for cutting off power to the gear before the rudder reaches the stops. These arrangements must be...

46 CFR 58.25-50 - Rudder stops.

Code of Federal Regulations, 2013 CFR

2013-10-01

... GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-50 Rudder stops. (a) Power-operated steering gear must have arrangements for cutting off power to the gear before the rudder reaches the stops. These arrangements must be...

46 CFR 58.25-50 - Rudder stops.

Code of Federal Regulations, 2010 CFR

2010-10-01

... GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-50 Rudder stops. (a) Power-operated steering gear must have arrangements for cutting off power to the gear before the rudder reaches the stops. These arrangements must be...

46 CFR 58.25-50 - Rudder stops.

Code of Federal Regulations, 2014 CFR

2014-10-01

... GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-50 Rudder stops. (a) Power-operated steering gear must have arrangements for cutting off power to the gear before the rudder reaches the stops. These arrangements must be...

46 CFR 58.25-50 - Rudder stops.

Code of Federal Regulations, 2011 CFR

2011-10-01

... GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-50 Rudder stops. (a) Power-operated steering gear must have arrangements for cutting off power to the gear before the rudder reaches the stops. These arrangements must be...

Analysis of modern technologies commonly used in beef cattle production: conventional beef production versus nonconventional production using meta-analysis.

PubMed

Wileman, B W; Thomson, D U; Reinhardt, C D; Renter, D G

2009-10-01

Conventional feeding systems use pharmaceutical products not allowed in natural or organic systems for finishing cattle. This review of data compares the performance effects (ADG, G:F, DMI) of technologies used in conventional feeding programs that are prohibited in organic programs, natural programs, or both. The technologies evaluated were steroid implants, monensin, tylosin, endectocides, and metaphylaxis with any antimicrobial. For inclusion in this analysis, studies were conducted in North America, reported randomization to treatment group, used beef cattle, contained an untreated control group, and were sourced from peer-reviewed journals. Forest plots were used to examine the data visually for trends toward a uniform effect of the technology on the outcomes of interest (ADG, DMI, G:F). Technologies that displayed a uniform response on the forest plot compared with negative controls were then analyzed using mixed models. Examination of forest plots for endectocides, steroid implants, monensin, and metaphylaxis technologies appeared to show performance advantages for treated cattle relative to cattle in negative control groups. An insufficient number of studies met the inclusion criteria to conduct meta-analyses comparing endectocides, monensin, or tylosin with negative controls. Average daily gain in feeder cattle given metaphylaxis on arrival was 0.11 kg/d (P < 0.01) greater relative to cattle that did not receive metaphylaxis on arrival. Implanting heifers increased ADG by 0.08 kg/d compared with nonimplanted controls (P = 0.09). Implants had no effect on G:F (P = 0.14) in heifers or on DMI (P = 0.44) relative to nonimplanted control heifers. Implanting steers was associated with greater ADG, by 0.25 kg/d (P < 0.01), and DMI, by 0.53 kg/d (P < 0.01), relative to nonimplanted control steers. Implants also improved G:F in steers relative to nonimplanted steers, by 0.02 (0.17 vs. 0.15; implanted vs. controls, P < 0.01; n = 21 studies). When average estimated differences in ADG and G:F for implanted and nonimplanted steers were incorporated into a breakeven model, implanted steers had a $77/animal lower cost of production than nonimplanted steers and a $349/animal lower cost of production than organically raised steers. These data illustrate the importance of capturing premiums when operating natural and organic production systems to maintain economic viability.

Using Stars to Align a Steered Laser System for Cosmic Ray Simulation

NASA Astrophysics Data System (ADS)

Krantz, Harry; Wiencke, Lawrence

2016-03-01

Ultra high energy cosmic rays (UHECRs) are the highest energy cosmic particles with kinetic energy above 1018eV . UHECRs are detected from the air shower of secondary particles and UV florescence that results from interaction with the atmosphere. A high power UV laser beam can be used to simulate the optical signature of a UHCER air shower. The Global Light System (GLS) is a planned network of ground-based light sources including lasers to support the planned space-based Extreme Universe Space Observatory (EUSO). A portable prototype GLS laser station has been constructed at the Colorado School of Mines. Currently the laser system uses reference targets on the ground but stars can be used to better align the beam by providing a complete hemisphere of targets. In this work, a CCD camera is used to capture images of known stars through the steering head optics. The images are analyzed to find the steering head coordinates of the target star. The true coordinates of the star are calculated from the location and time of observation. A universal adjustment for the steering head is determined from the differences between the two pairs of coordinates across multiple stars. This laser system prototype will also be used for preflight tests of the ESUO Super Pressure Balloon mission.

A switching control law approach for cancer immunotherapy of an evolutionary tumor growth model.

PubMed

Doban, Alina I; Lazar, Mircea

2017-02-01

We propose a new approach for tumor immunotherapy which is based on a switching control strategy defined on domains of attraction of equilibria of interest. For this, we consider a recently derived model which captures the effects of the tumor cells on the immune system and viceversa, through predator-prey competition terms. Additionally, it incorporates the immune system's mechanism for producing hunting immune cells, which makes the model suitable for immunotherapy strategies analysis and design. For computing domains of attraction for the tumor nonlinear dynamics, and thus, for deriving immunotherapeutic strategies we employ rational Lyapunov functions. Finally, we apply the switching control strategy to destabilize an invasive tumor equilibrium and steer the system trajectories to tumor dormancy. Copyright © 2016 Elsevier Inc. All rights reserved.

Combined microwave heating and surface cooling of the cornea.

PubMed

Trembly, B S; Keates, R H

1991-01-01

We investigated a nonsurgical means of reshaping the cornea to correct hyperopia, keratoconus, or myopia. The object was to heat the central stroma of the cornea to the shrinkage temperature of collagen, 55-58 degrees C. The heating device was an open-ended, coaxial, near-field applicator driven at 2450 MHz; it incorporates cooling of the cornea surface by flow of saline. We investigated the system theoretically by computing the 2-D, axisymmetric temperature distribution with the finite element method. We investigated the system experimentally by heating excised steer corneas. Histology showed the system could shrink the stroma to a depth of 0.6 mm while sparing the epithelium in 75% of cases; the diameter of shrinkage was 1.3 mm. Theory predicted a significantly deeper and narrower region of shrinkage than was observed.

Einstein-Podolsky-Rosen steering and coherence in the family of entangled three-qubit states

NASA Astrophysics Data System (ADS)

Kalaga, J. K.; Leoński, W.; Peřina, J.

2018-04-01

Considering the system of three interacting qubits, we analyze four families of states from the point of view of bipartite correlations appearing in two-qubit subsystems of a three-qubit model, such as Einstein-Podolsky-Rosen steering, entanglement, and coherence. We reveal mutual relations among the steering parameter, concurrence, and three measures of coherence (degree of coherence, first-, and second-order correlation functions). Analyzing in parallel the steerable and unsteerable states, we derive analytical formulas giving the maximal and minimal values of coherence measures as concurrence varies.

Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.

PubMed

Mirinejad, Hossein; Jayakumar, Paramsothy; Ersal, Tulga

2018-04-01

This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

PubMed

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L; Reina, Antonio J; García-Cerezo, Alfonso

2013-04-03

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

Detecting lane departures from steering wheel signal.

PubMed

Sandström, Max; Lampsijärvi, Eetu; Holmström, Axi; Maconi, Göran; Ahmadzai, Shabana; Meriläinen, Antti; Hæggström, Edward; Forsman, Pia

2017-02-01

Current lane departure warning systems are video-based and lose data when road- and weather conditions are bad. This study sought to develop a lane departure warning algorithm based on the signal drawn from the steering wheel. The rationale is that a car-based lane departure warning system should be robust regardless of road- and weather conditions. N=34 professional driver students drove in a high-fidelity driving simulator at 80km/h for 55min every third hour during 36h of sustained wakefulness. During each driving session we logged the steering wheel- and lane position signals at 60Hz. To derive the lane position signal, we quantified the transfer function of the simulated vehicle and used it to derive the absolute lane position signal from the steering wheel signal. The Pearson correlation between the derived- and actual lane position signals was r=0.48 (based on 12,000km). Next we designed an algorithm that alerted, up to three seconds before they occurred, about upcoming lane deviations that exceeded 0.2m. The sensitivity of the algorithm was 47% and the specificity was 71%. To our knowledge this exceeds the performance of the current video-based systems. Copyright © 2016 Elsevier Ltd. All rights reserved.

Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

PubMed Central

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L.; Reina, Antonio J.; García-Cerezo, Alfonso

2013-01-01

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers. PMID:23552102

Integrated Chassis Control of Active Front Steering and Yaw Stability Control Based on Improved Inverse Nyquist Array Method

PubMed Central

2014-01-01

An integrated chassis control (ICC) system with active front steering (AFS) and yaw stability control (YSC) is introduced in this paper. The proposed ICC algorithm uses the improved Inverse Nyquist Array (INA) method based on a 2-degree-of-freedom (DOF) planar vehicle reference model to decouple the plant dynamics under different frequency bands, and the change of velocity and cornering stiffness were considered to calculate the analytical solution in the precompensator design so that the INA based algorithm runs well and fast on the nonlinear vehicle system. The stability of the system is guaranteed by dynamic compensator together with a proposed PI feedback controller. After the response analysis of the system on frequency domain and time domain, simulations under step steering maneuver were carried out using a 2-DOF vehicle model and a 14-DOF vehicle model by Matlab/Simulink. The results show that the system is decoupled and the vehicle handling and stability performance are significantly improved by the proposed method. PMID:24782676

Integrated chassis control of active front steering and yaw stability control based on improved inverse nyquist array method.

PubMed

Zhu, Bing; Chen, Yizhou; Zhao, Jian

2014-01-01

An integrated chassis control (ICC) system with active front steering (AFS) and yaw stability control (YSC) is introduced in this paper. The proposed ICC algorithm uses the improved Inverse Nyquist Array (INA) method based on a 2-degree-of-freedom (DOF) planar vehicle reference model to decouple the plant dynamics under different frequency bands, and the change of velocity and cornering stiffness were considered to calculate the analytical solution in the precompensator design so that the INA based algorithm runs well and fast on the nonlinear vehicle system. The stability of the system is guaranteed by dynamic compensator together with a proposed PI feedback controller. After the response analysis of the system on frequency domain and time domain, simulations under step steering maneuver were carried out using a 2-DOF vehicle model and a 14-DOF vehicle model by Matlab/Simulink. The results show that the system is decoupled and the vehicle handling and stability performance are significantly improved by the proposed method.

Design and performance tests of a distributed power-driven wheel loader

NASA Astrophysics Data System (ADS)

Jin, Xiaolin; Shi, Laide; Bian, Yongming

2010-03-01

An improved ZLM15B distributed power-driven wheel loader was designed, whose travel and brake system was accomplished by two permanent magnet synchronous motorized-wheels instead of traditional mechanical components, and whose hydraulic systems such as the working device system and steering system were both actuated by an induction motor. All above systems were flexibly coupled with 3-phase 380VAC electric power with which the diesel engine power is replaced. On the level cement road, traveling, braking, traction and steering tests were carried out separately under non-load and heavy-load conditions. Data show that machine speed is 5 km/h around and travel efficiency of motorized-wheels is above 95%; that machine braking deceleration is between 0.5 and 0.64 m/s2 but efficiency of motorized-wheels is less than 10%; that maximum machine traction is above 2t while efficiency of motorized-wheels is more than 90% and that adaptive differential steering can be smoothly achieved by motorized-wheels.

Design and performance tests of a distributed power-driven wheel loader

NASA Astrophysics Data System (ADS)

Jin, Xiaolin; Shi, Laide; Bian, Yongming

2009-12-01

An improved ZLM15B distributed power-driven wheel loader was designed, whose travel and brake system was accomplished by two permanent magnet synchronous motorized-wheels instead of traditional mechanical components, and whose hydraulic systems such as the working device system and steering system were both actuated by an induction motor. All above systems were flexibly coupled with 3-phase 380VAC electric power with which the diesel engine power is replaced. On the level cement road, traveling, braking, traction and steering tests were carried out separately under non-load and heavy-load conditions. Data show that machine speed is 5 km/h around and travel efficiency of motorized-wheels is above 95%; that machine braking deceleration is between 0.5 and 0.64 m/s2 but efficiency of motorized-wheels is less than 10%; that maximum machine traction is above 2t while efficiency of motorized-wheels is more than 90% and that adaptive differential steering can be smoothly achieved by motorized-wheels.

Vehicle having hydraulic and power steering systems using a single high pressure pump

DOEpatents

Bartley, Bradley E.; Blass, James R.; Gibson, Dennis H.

2001-06-22

A vehicle comprises a plurality of wheels attached to a vehicle housing. Also attached to the vehicle housing is a power steering system, including a fluid flow circuit, which is operably coupled to a number of the wheels. An internal combustion engine attached to the vehicle housing is connected to a hydraulically actuated system that includes a high pressure pump. An outlet of the high pressure pump is in fluid communication with the fluid flow circuit.

Radio-over-optical waveguide system-on-wafer for massive delivery capacity 5G MIMO access networks

NASA Astrophysics Data System (ADS)

Binh, Le N.

2017-01-01

Delivering maximum information capacity over MIMO antennae systems beam steering is critical so as to achieve the flexibility via beam steering, maximizing the number of users or community of users in Gb/s rate per user over distributed cloud-based optical-wireless access networks. This paper gives an overview of (i) demands of optical - wireless delivery with high flexibility, especially the beam steering of multi-Tbps information channels to information hungry community of users via virtualized beam steering MIMO antenna systems at the free-license mmW region; (ii) Proposing a novel photonic planar integrated waveguide systems composing several passive and active, passive and amplification photonic devices so as to generate mmW carrier and embedded baseband information channels to feed to antenna elements; (iii) Integration techniques to generate a radio over optical waveguide (RoOW) system-on-wafer (SoW) comprising MIMO planar antenna elements and associate photonic integrated circuits for both up- and down- links; (iv) Challenges encountered in the implementation of the SoW in both wireless and photonic domains; (v) Photonic modulation techniques to achieve maximum transmission capacity per wavelength per MIMO antenna system. (vi) A view on control-feedback systems for fast and accurate generation of phase pattern for MIMO beam steering via a bank of optical phase modulators to mmW carrier phases and their preservation in the converted mmW domain . (vi) The overall operational principles of the novel techniques and technologies based on the coherent mixing of two lightwave channels The entire SoW can be implemented on SOI Si-photonic technology or via hybrid integration. These technological developments and their pros- and cons- will be discussed to achieve 50Tera-bps over the extended 110 channel Cband single mode fiber with mmW centered at 58.6GHz and 7GHz free-license band.

46 CFR 28.365 - Overcurrent protection and switched circuits.

Code of Federal Regulations, 2010 CFR

2010-10-01

... a steering circuit, each circuit must be protected against both overload and short circuit. Each overcurrent device in a steering system power and control circuit must provide short circuit protection only... 46 Shipping 1 2010-10-01 2010-10-01 false Overcurrent protection and switched circuits. 28.365...

76 FR 27019 - Interagency Ocean Observation Committee, Meeting of the Data Management and Communications...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-10

... Observation Committee, Meeting of the Data Management and Communications Steering Team AGENCY: National Ocean...). ACTION: Notice of open meeting. SUMMARY: NOAA's Integrated Ocean Observing System (IOOS) Program... meeting of the IOOC's Data Management and Communications Steering Team (DMAC-ST). The DMAC-ST membership...

Multi-beam and single-chip LIDAR with discrete beam steering by digital micromirror device

NASA Astrophysics Data System (ADS)

Rodriguez, Joshua; Smith, Braden; Hellman, Brandon; Gin, Adley; Espinoza, Alonzo; Takashima, Yuzuru

2018-02-01

A novel Digital Micromirror Device (DMD) based beam steering enables a single chip Light Detection and Ranging (LIDAR) system for discrete scanning points. We present increasing number of scanning point by using multiple laser diodes for Multi-beam and Single-chip DMD-based LIDAR.

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2014 CFR

2014-07-01

... emergency lighting and power systems in vessel control and propulsion machinery spaces. (5) Main propulsion...) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle... power failure alarm. (vi) Each remote steering gear power unit failure alarm. (vii) The full movement of...

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2012 CFR

2012-07-01

... emergency lighting and power systems in vessel control and propulsion machinery spaces. (5) Main propulsion...) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle... power failure alarm. (vi) Each remote steering gear power unit failure alarm. (vii) The full movement of...

Synchrotron Imaging Computations on the Grid without the Computing Element

NASA Astrophysics Data System (ADS)

Curri, A.; Pugliese, R.; Borghes, R.; Kourousias, G.

2011-12-01

Besides the heavy use of the Grid in the Synchrotron Radiation Facility (SRF) Elettra, additional special requirements from the beamlines had to be satisfied through a novel solution that we present in this work. In the traditional Grid Computing paradigm the computations are performed on the Worker Nodes of the grid element known as the Computing Element. A Grid middleware extension that our team has been working on, is that of the Instrument Element. In general it is used to Grid-enable instrumentation; and it can be seen as a neighbouring concept to that of the traditional Control Systems. As a further extension we demonstrate the Instrument Element as the steering mechanism for a series of computations. In our deployment it interfaces a Control System that manages a series of computational demanding Scientific Imaging tasks in an online manner. The instrument control in Elettra is done through a suitable Distributed Control System, a common approach in the SRF community. The applications that we present are for a beamline working in medical imaging. The solution resulted to a substantial improvement of a Computed Tomography workflow. The near-real-time requirements could not have been easily satisfied from our Grid's middleware (gLite) due to the various latencies often occurred during the job submission and queuing phases. Moreover the required deployment of a set of TANGO devices could not have been done in a standard gLite WN. Besides the avoidance of certain core Grid components, the Grid Security infrastructure has been utilised in the final solution.

Eclipse SteerTech liquid lenslet beam steering technology

NASA Astrophysics Data System (ADS)

Westfall, Raymond T.; Rogers, Stanley; Shannon, Kenneth C., III

2007-09-01

Eclipse SteerTech TM transmissive fluid state electrowetting technology has successfully demonstrated the ability to control the shape and position of a fluid lenslet. In its final form, the technology will incorporate a dual fluid lenslet approach capable of operating in extremely high acceleration environments. The beam steering system works on the principle of electro-wetting. A substrate is covered with a closely spaced array of, independently addressable, transparent, electrically conductive pixels utilizing Eclipse's proprietary EclipseTEC TM technology. By activating and deactivating selected EclipseTEC TM pixels in the proper sequence, the shape and position of fluid lenslets or arrays of lenslets can be dynamically changed at will. The position and shape of individual fluid lenslets may be accurately controlled on any flat, simply curved, or complex curved, transparent or reflective surface. The smaller the pixels the better control of the position and shape of the fluid lenslets. Information on the successful testing of the Eclipse SteerTech TM lenslet and discussion of its use in a de-centered lenslet array will be presented.

Design of rapid prototype of UAV line-of-sight stabilized control system

NASA Astrophysics Data System (ADS)

Huang, Gang; Zhao, Liting; Li, Yinlong; Yu, Fei; Lin, Zhe

2018-01-01

The line-of-sight (LOS) stable platform is the most important technology of UAV (unmanned aerial vehicle), which can reduce the effect to imaging quality from vibration and maneuvering of the aircraft. According to the requirement of LOS stability system (inertial and optical-mechanical combined method) and UAV's structure, a rapid prototype is designed using based on industrial computer using Peripheral Component Interconnect (PCI) and Windows RTX to exchange information. The paper shows the control structure, and circuit system including the inertial stability control circuit with gyro and voice coil motor driven circuit, the optical-mechanical stability control circuit with fast-steering-mirror (FSM) driven circuit and image-deviation-obtained system, outer frame rotary follower, and information-exchange system on PC. Test results show the stability accuracy reaches 5μrad, and prove the effectiveness of the combined line-of-sight stabilization control system, and the real-time rapid prototype runs stable.

Ground Vehicle Convoying

NASA Astrophysics Data System (ADS)

Gage, Douglas W.; Pletta, J. Bryan

1987-01-01

Initial investigations into two different approaches for applying autonomous ground vehicle technology to the vehicle convoying application are described. A minimal capability system that would maintain desired speed and vehicle spacing while a human driver provided steering control could improve convoy performance and provide positive control at night and in inclement weather, but would not reduce driver manpower requirements. Such a system could be implemented in a modular and relatively low cost manner. A more capable system would eliminate the human driver in following vehicles and reduce manpower requirements for the transportation of supplies. This technology could also be used to aid in the deployment of teleoperated vehicles in a battlefield environment. The needs, requirements, and several proposed solutions for such an Attachable Robotic Convoy Capability (ARCC) system will be discussed. Included are discussions of sensors, communications, computers, control systems and safety issues. This advanced robotic convoy system will provide a much greater capability, but will be more difficult and expensive to implement.

Needle Steering in Biological Tissue using Ultrasound-based Online Curvature Estimation

PubMed Central

Moreira, Pedro; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak

2014-01-01

Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes. Accurate placement of the needle tip is important to the success of many needle procedures. The current needle steering systems depend on needle-tissue-specific data, such as maximum curvature, that is unavailable prior to an interventional procedure. In this paper, we present a novel three-dimensional adaptive steering method for flexible bevel-tipped needles that is capable of performing accurate tip placement without previous knowledge about needle curvature. The method steers the needle by integrating duty-cycled needle steering, online curvature estimation, ultrasound-based needle tracking, and sampling-based motion planning. The needle curvature estimation is performed online and used to adapt the path and duty cycling. We evaluated the method using experiments in a homogenous gelatin phantom, a two-layer gelatin phantom, and a biological tissue phantom composed of a gelatin layer and in vitro chicken tissue. In all experiments, virtual obstacles and targets move in order to represent the disturbances that might occur due to tissue deformation and physiological processes. The average targeting error using our new adaptive method is 40% lower than using the conventional non-adaptive duty-cycled needle steering method. PMID:26229729

Static load simulation of steering knuckle for a formula student race car

NASA Astrophysics Data System (ADS)

Saputro, Bagus Aulia; Ubaidillah, Triono, Dicky Agus; Pratama, Dzaky Roja; Cahyono, Sukmaji Indro; Imaduddin, Fitrian

2018-02-01

This research aims to determine the stress distribution which occurs on the steering knuckle and to define its safety factor number. Steering knuckle is the most critical part of a car's steering system. Steering knuckle supports the tie rod, brake caliper, and the wheels to provide stability. Steering knuckle withstands the load which given on the front wheels and functions as the wheel's axis. Balljoint and king support the rotation of the suspension arm. When the car is in idle position, knuckle hold the weight of the car, it gets braking force when it's braking and cornering. Knuckle is designed to have the strength that could withstand load and to have a good safety factor value. Knuckle is designed using Fusion software then simulated using Fusion simulation software with a static load, moment braking force, and cornering force as the loads in this simulation. The simulation works in ideal condition. The result of this simulation is satisfying. This simulation produces a maximum displacement of 0.01281mm, the maximum shear stress is 3.707 MPa on the stub hole, and the safety factor is 5.24. The material used for this product is mild steel AISI 1018.

Quantum steering of Gaussian states via non-Gaussian measurements

NASA Astrophysics Data System (ADS)

Ji, Se-Wan; Lee, Jaehak; Park, Jiyong; Nha, Hyunchul

2016-07-01

Quantum steering—a strong correlation to be verified even when one party or its measuring device is fully untrusted—not only provides a profound insight into quantum physics but also offers a crucial basis for practical applications. For continuous-variable (CV) systems, Gaussian states among others have been extensively studied, however, mostly confined to Gaussian measurements. While the fulfilment of Gaussian criterion is sufficient to detect CV steering, whether it is also necessary for Gaussian states is a question of fundamental importance in many contexts. This critically questions the validity of characterizations established only under Gaussian measurements like the quantification of steering and the monogamy relations. Here, we introduce a formalism based on local uncertainty relations of non-Gaussian measurements, which is shown to manifest quantum steering of some Gaussian states that Gaussian criterion fails to detect. To this aim, we look into Gaussian states of practical relevance, i.e. two-mode squeezed states under a lossy and an amplifying Gaussian channel. Our finding significantly modifies the characteristics of Gaussian-state steering so far established such as monogamy relations and one-way steering under Gaussian measurements, thus opening a new direction for critical studies beyond Gaussian regime.

Pynamic: the Python Dynamic Benchmark

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

Lee, G L; Ahn, D H; de Supinksi, B R

2007-07-10

Python is widely used in scientific computing to facilitate application development and to support features such as computational steering. Making full use of some of Python's popular features, which improve programmer productivity, leads to applications that access extremely high numbers of dynamically linked libraries (DLLs). As a result, some important Python-based applications severely stress a system's dynamic linking and loading capabilities and also cause significant difficulties for most development environment tools, such as debuggers. Furthermore, using the Python paradigm for large scale MPI-based applications can create significant file IO and further stress tools and operating systems. In this paper, wemore » present Pynamic, the first benchmark program to support configurable emulation of a wide-range of the DLL usage of Python-based applications for large scale systems. Pynamic has already accurately reproduced system software and tool issues encountered by important large Python-based scientific applications on our supercomputers. Pynamic provided insight for our system software and tool vendors, and our application developers, into the impact of several design decisions. As we describe the Pynamic benchmark, we will highlight some of the issues discovered in our large scale system software and tools using Pynamic.« less

Advances in Orion's On-Orbit Guidance and Targeting System Architecture

NASA Technical Reports Server (NTRS)

Scarritt, Sara K.; Fill, Thomas; Robinson, Shane

2015-01-01

NASA's manned spaceflight programs have a rich history of advancing onboard guidance and targeting technology. In order to support future missions, the guidance and targeting architecture for the Orion Multi-Purpose Crew Vehicle must be able to operate in complete autonomy, without any support from the ground. Orion's guidance and targeting system must be sufficiently flexible to easily adapt to a wide array of undecided future missions, yet also not cause an undue computational burden on the flight computer. This presents a unique design challenge from the perspective of both algorithm development and system architecture construction. The present work shows how Orion's guidance and targeting system addresses these challenges. On the algorithm side, the system advances the state-of-the-art by: (1) steering burns with a simple closed-loop guidance strategy based on Shuttle heritage, and (2) planning maneuvers with a cutting-edge two-level targeting routine. These algorithms are then placed into an architecture designed to leverage the advantages of each and ensure that they function in concert with one another. The resulting system is characterized by modularity and simplicity. As such, it is adaptable to the on-orbit phases of any future mission that Orion may attempt.

Modeling of Steer-by-Wire System Used in New Braking Handwheel Concept

NASA Astrophysics Data System (ADS)

Messaoudène, K.; Oufroukh, N. Ait; Mammar, S.

2008-06-01

The handwheel is one of the primary control mechanisms of automobile thus interaction between the handwheel and the driver is critical to safety. The driver applies forces that direct the vehicle while the handwheel communicates feedback information to the driver of the forces experience by the car within its environment. The handwheel also provides a predictable mechanical feel to the driver to allow smooth and safe control. Many researchers tried to reproduce this feeling by creating steer-by-wire systems. This paper explores this new concept of handwheel and it describes the modeling steps of the components including the restitution mechanism for force feedback and its various links with the vehicle lateral dynamics and the pneumatic contacts. The aim is to explore the possibility to combine a braking device within the steer-by-wire system in order to provide a more suitable and ergonomic device to the driver.

Toward Rigorous Parameterization of Underconstrained Neural Network Models Through Interactive Visualization and Steering of Connectivity Generation

PubMed Central

Nowke, Christian; Diaz-Pier, Sandra; Weyers, Benjamin; Hentschel, Bernd; Morrison, Abigail; Kuhlen, Torsten W.; Peyser, Alexander

2018-01-01

Simulation models in many scientific fields can have non-unique solutions or unique solutions which can be difficult to find. Moreover, in evolving systems, unique final state solutions can be reached by multiple different trajectories. Neuroscience is no exception. Often, neural network models are subject to parameter fitting to obtain desirable output comparable to experimental data. Parameter fitting without sufficient constraints and a systematic exploration of the possible solution space can lead to conclusions valid only around local minima or around non-minima. To address this issue, we have developed an interactive tool for visualizing and steering parameters in neural network simulation models. In this work, we focus particularly on connectivity generation, since finding suitable connectivity configurations for neural network models constitutes a complex parameter search scenario. The development of the tool has been guided by several use cases—the tool allows researchers to steer the parameters of the connectivity generation during the simulation, thus quickly growing networks composed of multiple populations with a targeted mean activity. The flexibility of the software allows scientists to explore other connectivity and neuron variables apart from the ones presented as use cases. With this tool, we enable an interactive exploration of parameter spaces and a better understanding of neural network models and grapple with the crucial problem of non-unique network solutions and trajectories. In addition, we observe a reduction in turn around times for the assessment of these models, due to interactive visualization while the simulation is computed. PMID:29937723

Airborne optical tracking control system design study

NASA Astrophysics Data System (ADS)

1992-09-01

The Kestrel LOS Tracking Program involves the development of a computer and algorithms for use in passive tracking of airborne targets from a high altitude balloon platform. The computer receivers track error signals from a video tracker connected to one of the imaging sensors. In addition, an on-board IRU (gyro), accelerometers, a magnetometer, and a two-axis inclinometer provide inputs which are used for initial acquisitions and course and fine tracking. Signals received by the control processor from the video tracker, IRU, accelerometers, magnetometer, and inclinometer are utilized by the control processor to generate drive signals for the payload azimuth drive, the Gimballed Mirror System (GMS), and the Fast Steering Mirror (FSM). The hardware which will be procured under the LOS tracking activity is the Controls Processor (CP), the IRU, and the FSM. The performance specifications for the GMS and the payload canister azimuth driver are established by the LOS tracking design team in an effort to achieve a tracking jitter of less than 3 micro-rad, 1 sigma for one axis.

Grasping Reality Through Illusion: Interactive Graphics Serving Science

DTIC Science & Technology

1988-03-01

SIGGRAPH, or riding techniques to the enhancement of scientific computing. StarTours at Disneyland shows how stunningly far we ........ have come. We need...supercomputer References matching and steering tools. Such tools must be Bergman, L., Fuchs, H., Grant , E., Spach, S. [1986] universal and application

Telecommunications for Metropolitan Areas: Near-Term Needs and Opportunities.

ERIC Educational Resources Information Center

National Academy of Sciences - National Research Council, Washington, DC. Assembly of Engineering.

This study, conducted by the Metropolitan Communications Steering Committee for the Board on Telecommunications-Computer Applications of the National Research Council, identifies telecommunications technologies that could provide useful services for homes, businesses, and governments up to the year 1980. The present state of telecommunication…

Steering Dynamics in the Dutch Education System

ERIC Educational Resources Information Center

Waslander, Sietske; Hooge, Edith; Drewes, Tineke

2016-01-01

Based on detailed empirical analyses, we paint a layered picture of emerging steering dynamics. Inspired by Foucault, we put the focus on roles stakeholders define both for themselves and others, how they give sense to policy, how they work together in policy elaboration and implementation, and the subtle and sometimes deceitful function of soft…

Magnetic steering control of multi-cellular bio-hybrid microswimmers.

PubMed

Carlsen, Rika Wright; Edwards, Matthew R; Zhuang, Jiang; Pacoret, Cecile; Sitti, Metin

2014-10-07

Bio-hybrid devices, which integrate biological cells with synthetic components, have opened a new path in miniaturized systems with the potential to provide actuation and control for systems down to a few microns in size. Here, we address the challenge of remotely controlling bio-hybrid microswimmers propelled by multiple bacterial cells. These devices have been proposed as a viable method for targeted drug delivery but have also been shown to exhibit stochastic motion. We demonstrate a method of remote magnetic control that significantly reduces the stochasticity of the motion, enabling steering control. The demonstrated microswimmers consist of multiple Serratia marcescens (S. marcescens) bacteria attached to a 6 μm-diameter superparamagnetic bead. We characterize their motion and define the parameters governing their controllability. We show that the microswimmers can be controlled along two-dimensional (2-D) trajectories using weak magnetic fields (≤10 mT) and can achieve 2-D swimming speeds up to 7.3 μm s(-1). This magnetic steering approach can be integrated with sensory-based steering in future work, enabling new control strategies for bio-hybrid microsystems.

Design of a steering stabilizer based on CAN bus

NASA Astrophysics Data System (ADS)

Zhan, Zhaomin; Yan, Yibin

2018-04-01

This design realizes a posture correction device of griping steering wheel based on CAN bus, which is embedded in the steering wheel of vehicles. The system aims to detect the drivers' abnormal griping postures and provides drivers with classification alerts, by combining the recorded griping postures data and the vehicle speed data that are obtained via the CAN bus. The warning information are automatically stored and retained in the device for 12 months. To enhance the alerting effect, the count of this warning message for both the latest month and the last 12 months are displayed on the dashboard panel. In addition to prevent itself from being blocked and self-detect any faults in advance, the appliance also provide a self-test function, which will communicate with the integrated instrument system in vehicle and do simulation test right after the vehicle power on. This appliance can help to urge and ensure drivers to operate the steering wheel correctly, effectively, and timely; prevent some typical incorrect behaviors which commonly happen along with the change of griping postures, such as the using cellphone, and ultimately, reduce the incidence of traffic accidents.

Wavelet and Multiresolution Analysis for Finite Element Networking Paradigms

NASA Technical Reports Server (NTRS)

Kurdila, Andrew J.; Sharpley, Robert C.

1999-01-01

This paper presents a final report on Wavelet and Multiresolution Analysis for Finite Element Networking Paradigms. The focus of this research is to derive and implement: 1) Wavelet based methodologies for the compression, transmission, decoding, and visualization of three dimensional finite element geometry and simulation data in a network environment; 2) methodologies for interactive algorithm monitoring and tracking in computational mechanics; and 3) Methodologies for interactive algorithm steering for the acceleration of large scale finite element simulations. Also included in this report are appendices describing the derivation of wavelet based Particle Image Velocity algorithms and reduced order input-output models for nonlinear systems by utilizing wavelet approximations.

Representing and Learning Complex Object Interactions

PubMed Central

Zhou, Yilun; Konidaris, George

2017-01-01

We present a framework for representing scenarios with complex object interactions, in which a robot cannot directly interact with the object it wishes to control, but must instead do so via intermediate objects. For example, a robot learning to drive a car can only indirectly change its pose, by rotating the steering wheel. We formalize such complex interactions as chains of Markov decision processes and show how they can be learned and used for control. We describe two systems in which a robot uses learning from demonstration to achieve indirect control: playing a computer game, and using a hot water dispenser to heat a cup of water. PMID:28593181

Entanglement and asymmetric steering over two octaves of frequency difference

NASA Astrophysics Data System (ADS)

Olsen, M. K.

2017-12-01

The development of quantum technologies which use quantum states of the light field interacting with other systems creates a demand for entangled states spanning wide frequency ranges. In this work we analyze a parametric scheme of cascaded harmonic generation which promises to deliver bipartite entangled states in which the two modes are separated by two octaves in frequency. This scheme is potentially very useful for applications in quantum communication and computation networks as well as providing for quantum interfaces between a wider range of light and atomic ensembles than is presently practicable. It doubles the frequency range over which entanglement is presently available.

Launch Vehicle Manual Steering with Adaptive Augmenting Control In-flight Evaluations of Adverse Interactions Using a Piloted Aircraft

NASA Technical Reports Server (NTRS)

Hanson, Curt; Miller, Chris; Wall, John H.; Vanzwieten, Tannen S.; Gilligan, Eric; Orr, Jeb S.

2015-01-01

An adaptive augmenting control algorithm for the Space Launch System has been developed at the Marshall Space Flight Center as part of the launch vehicles baseline flight control system. A prototype version of the SLS flight control software was hosted on a piloted aircraft at the Armstrong Flight Research Center to demonstrate the adaptive controller on a full-scale realistic application in a relevant flight environment. Concerns regarding adverse interactions between the adaptive controller and a proposed manual steering mode were investigated by giving the pilot trajectory deviation cues and pitch rate command authority. Two NASA research pilots flew a total of twenty five constant pitch-rate trajectories using a prototype manual steering mode with and without adaptive control.

Interactive access and management for four-dimensional environmental data sets using McIDAS

NASA Technical Reports Server (NTRS)

Hibbard, William L.; Tripoli, Gregory J.

1995-01-01

This grant has fundamentally changed the way that meteorologists look at the output of their atmospheric models, through the development and wide distribution of the Vis5D system. The Vis5D system is also gaining acceptance among oceanographers and atmospheric chemists. Vis5D gives these scientists an interactive three-dimensional movie of their very large data sets that they can use to understand physical mechanisms and to trace problems to their sources. This grant has also helped to define the future direction of scientific visualization through the development of the VisAD system and its lattice data model. The VisAD system can be used to interactively steer and visualize scientific computations. A key element of this capability is the flexibility of the system's data model to adapt to a wide variety of scientific data, including the integration of several forms of scientific metadata.

Slip-based terrain estimation with a skid-steer vehicle

NASA Astrophysics Data System (ADS)

Reina, Giulio; Galati, Rocco

2016-10-01

In this paper, a novel approach for online terrain characterisation is presented using a skid-steer vehicle. In the context of this research, terrain characterisation refers to the estimation of physical parameters that affects the terrain ability to support vehicular motion. These parameters are inferred from the modelling of the kinematic and dynamic behaviour of a skid-steer vehicle that reveals the underlying relationships governing the vehicle-terrain interaction. The concept of slip track is introduced as a measure of the slippage experienced by the vehicle during turning motion. The proposed terrain estimation system includes common onboard sensors, that is, wheel encoders, electrical current sensors and yaw rate gyroscope. Using these components, the system can characterise terrain online during normal vehicle operations. Experimental results obtained from different surfaces are presented to validate the system in the field showing its effectiveness and potential benefits to implement adaptive driving assistance systems or to automatically update the parameters of onboard control and planning algorithms.

Cattle temperament influences metabolism: metabolic response to glucose tolerance and insulin sensitivity tests in beef steers.

PubMed

Burdick Sanchez, N C; Carroll, J A; Broadway, P R; Hughes, H D; Roberts, S L; Richeson, J T; Schmidt, T B; Vann, R C

2016-07-01

Cattle temperament, defined as the reactivity of cattle to humans or novel environments, can greatly influence several physiological systems in the body, including immunity, stress, and most recently discovered, metabolism. Greater circulating concentrations of nonesterified fatty acids (NEFAs) found in temperamental cattle suggest that temperamental cattle are metabolically different than calm cattle. Further, elevated NEFA concentrations have been reported to influence insulin sensitivity. Therefore, the objective of this study was to determine whether cattle temperament would influence the metabolic response to a glucose tolerance test (GTT) and insulin sensitivity test (IST). Angus-cross steers (16 calm and 15 temperamental; 216 ± 6 kg BW) were selected based on temperament score measured at weaning. On day 1, steers were moved into indoor stanchions to allow measurement of individual ad libitum feed intake. On day 6, steers were fitted with indwelling rectal temperature probes and jugular catheters. At 9 AM on day 7, steers received the GTT (0.5-mL/kg BW of a 50% dextrose solution), and at 2 PM on day 7, steers received the IST (2.5 IU bovine insulin/kg BW). Blood samples were collected and serum isolated at -60, -45, -30, -15, 0, 10, 20, 30, 45, 60, 90, 120, and 150 min relative to each challenge. Serum was stored at -80°C until analyzed for cortisol, glucose, NEFA, and blood urea nitrogen concentrations. All variables changed over time (P < 0.01). For the duration of the study, temperamental steers maintained greater (P < 0.01) serum NEFA and less (P ≤ 0.01) serum blood urea nitrogen and insulin sensitivity (calculated using Revised Quantitative Insulin Sensitivity Check Index) compared with calm steers. During the GTT, temperamental steers had greater (P < 0.01) serum glucose, yet decreased (P = 0.03) serum insulin and (P < 0.01) serum insulin: serum glucose compared to calm cattle. During the IST, temperamental steers had greater (P < 0.01) serum insulin and a greater (P < 0.01) serum insulin: serum glucose as compared with calm steers. These data demonstrate that differences exist in the manner in which temperamental steers respond to glucose and insulin, potentially a result of elevated serum NEFA concentrations, which may result in changes in utilization and redistribution of energy in temperamental vs calm cattle. Published by Elsevier Inc.

Effects of temperament and acclimation to handling on feedlot performance of Bos taurus feeder cattle originated from a rangeland-based cow-calf system.

PubMed

Francisco, C L; Cooke, R F; Marques, R S; Mills, R R; Bohnert, D W

2012-12-01

Two experiments evaluated the effects of temperament and acclimation to handling on performance of Angus × Hereford feeder cattle reared in extensive rangeland systems until weaning. In Exp. 1, 200 calves (n = 97 for yr 1; n = 103 for yr 2) were evaluated for temperament at weaning (average age ± SE = 152 ± 1 d) by chute score and exit velocity. Chute score was assessed on a 5-point scale according to behavior during chute restraining. Exit score was calculated by dividing exit velocity into quintiles and assigning calves a score from 1 (slowest) to 5 (fastest). A temperament score was calculated for each calf by averaging chute and exit scores. Calf temperament was classified according to temperament score as adequate (≤3) or excitable (>3). After weaning, calves were assigned to a 40-d preconditioning followed by growing (139 d) and finishing (117 d) phases until slaughter. Weaning BW was decreased (P = 0.04) in excitable calves compared with adequate calves. No differences were detected (P ≥ 0.21) for ADG during preconditioning, growing, and finishing phases; hence, excitable calves tended (P = 0.09) to have decreased HCW compared with adequate calves. In Exp. 2, 60 steers (initial age ± SE = 198 ± 2 d) were weighed and evaluated for temperament score 35 d after weaning (d -29). On d -28, steers were ranked by these variables and assigned to receive an acclimation treatment or not (control). Acclimated steers were processed through a handling facility twice weekly for 4 wk (d -28 to -1) whereas control steers remained undisturbed on pasture. On d 0, all steers were transported for 24 h and returned to the research facility (d 1). On arrival, steers were ranked by BW within treatment and randomly assigned to 20 feedlot pens for a 28-d feedlot receiving period. Acclimated steers had decreased temperament score and plasma cortisol compared with controls on d 0 (P = 0.02). During feedlot receiving, acclimated steers had decreased ADG (P < 0.01) and G:F (P = 0.03) and tended to have decreased DMI (P = 0.07) compared with controls. Acclimated steers had greater plasma haptoglobin on d 4 (P = 0.04) and greater ceruloplasmin from d 0 to 10 (P ≤ 0.04) and tended to have greater cortisol on d 1 (P = 0.08) than controls. In conclusion, temperament affects productivity of beef operations based on Bos taurus feeder cattle reared in extensive rangeland systems until weaning whereas acclimation to handling ameliorated cattle temperament but did not benefit feedlot receiving performance.

Nodes on ropes: a comprehensive data and control flow for steering ensemble simulations.

PubMed

Waser, Jürgen; Ribičić, Hrvoje; Fuchs, Raphael; Hirsch, Christian; Schindler, Benjamin; Blöschl, Günther; Gröller, M Eduard

2011-12-01

Flood disasters are the most common natural risk and tremendous efforts are spent to improve their simulation and management. However, simulation-based investigation of actions that can be taken in case of flood emergencies is rarely done. This is in part due to the lack of a comprehensive framework which integrates and facilitates these efforts. In this paper, we tackle several problems which are related to steering a flood simulation. One issue is related to uncertainty. We need to account for uncertain knowledge about the environment, such as levee-breach locations. Furthermore, the steering process has to reveal how these uncertainties in the boundary conditions affect the confidence in the simulation outcome. Another important problem is that the simulation setup is often hidden in a black-box. We expose system internals and show that simulation steering can be comprehensible at the same time. This is important because the domain expert needs to be able to modify the simulation setup in order to include local knowledge and experience. In the proposed solution, users steer parameter studies through the World Lines interface to account for input uncertainties. The transport of steering information to the underlying data-flow components is handled by a novel meta-flow. The meta-flow is an extension to a standard data-flow network, comprising additional nodes and ropes to abstract parameter control. The meta-flow has a visual representation to inform the user about which control operations happen. Finally, we present the idea to use the data-flow diagram itself for visualizing steering information and simulation results. We discuss a case-study in collaboration with a domain expert who proposes different actions to protect a virtual city from imminent flooding. The key to choosing the best response strategy is the ability to compare different regions of the parameter space while retaining an understanding of what is happening inside the data-flow system. © 2011 IEEE

A novel phase assignment protocol and driving system for a high-density focused ultrasound array.

PubMed

Caulfield, R Erich; Yin, Xiangtao; Juste, Jose; Hynynen, Kullervo

2007-04-01

Currently, most phased-array systems intended for therapy are one-dimensional (1-D) and use between 5 and 200 elements, with a few two-dimensional (2-D) systems using several hundred elements. The move toward lambda/2 interelement spacing, which provides complete 3-D beam steering, would require a large number of closely spaced elements (0.15 mm to 3 mm). A solution to the resulting problem of cost and cable assembly size, which this study examines, is to quantize the phases available at the array input. By connecting elements with similar phases to a single wire, a significant reduction in the number of incoming lines can be achieved while maintaining focusing and beam steering capability. This study has explored the feasibility of such an approach using computer simulations and experiments with a test circuit driving a 100-element linear array. Simulation results demonstrated that adequate focusing can be obtained with only four phase signals without large increases in the grating lobes or the dimensions of the focus. Experiments showed that the method can be implemented in practice, and adequate focusing can be achieved with four phase signals with a reduction of 20% in the peak pressure amplitude squared when compared with the infinite-phase resolution case. Results indicate that the use of this technique would make it possible to drive more than 10,000 elements with 33 input lines. The implementation of this method could have a large impact on ultrasound therapy and diagnostic devices.

Current steering with partial tripolar stimulation mode in cochlear implants.

PubMed

Wu, Ching-Chih; Luo, Xin

2013-04-01

The large spread of excitation is a major cause of poor spectral resolution for cochlear implant (CI) users. Partial tripolar (pTP) mode has been proposed to reduce current spread by returning an equally distributed fraction (0.5 × σ) of current to two flanking electrodes and the rest to an extra-cochlear ground. This study tested the efficacy of incorporating current steering into pTP mode to add spectral channels. Different proportions of current [α × σ and (1 - α) × σ] were returned to the basal and apical flanking electrodes respectively to shape the electric field. Loudness and pitch perception with α from 0 to 1 in steps of 0.1 was simulated with a computational model of CI stimulation and tested on the apical, middle, and basal electrodes of six CI subjects. The highest σ allowing for full loudness growth within the implant compliance limit was chosen for each main electrode. Pitch ranking was measured between pairs of loudness-balanced steered pTP stimuli with an α interval of 0.1 at the most comfortable level. Results demonstrated that steered pTP stimuli with α around 0.5 required more current to achieve equal loudness than those with α around 0 or 1, maybe due to more focused excitation patterns. Subjects usually perceived decreasing pitches as α increased from 0 to 1, somewhat consistent with the apical shift of the center of gravity of excitation pattern in the model. Pitch discrimination was not better with α around 0.5 than with α around 0 or 1, except for some subjects and electrodes. For three subjects with better pitch discrimination, about half of the pitch ranges of two adjacent main electrodes overlapped with each other in steered pTP mode. These results suggest that current steering with focused pTP mode may improve spectral resolution and pitch perception with CIs.

Efficient linear criterion for witnessing Einstein-Podolsky-Rosen nonlocality under many-setting local measurements

NASA Astrophysics Data System (ADS)

Zheng, Yu-Lin; Zhen, Yi-Zheng; Chen, Zeng-Bing; Liu, Nai-Le; Chen, Kai; Pan, Jian-Wei

2017-01-01

The striking and distinctive nonlocal features of quantum mechanics were discovered by Einstein, Podolsky, and Rosen (EPR) beyond classical physics. At the core of the EPR argument, it was "steering" that Schrödinger proposed in 1935. Besides its fundamental significance, quantum steering opens up a novel application for quantum communication. Recent work has precisely characterized its properties; however, witnessing the EPR nonlocality remains a big challenge under arbitrary local measurements. Here we present an alternative linear criterion and complement existing results to efficiently testify steering for high-dimensional system in practice. By developing a novel and analytical method to tackle the maximization problem in deriving the bound of a steering criterion, we show how observed correlations can reveal powerfully the EPR nonlocality in an easily accessed manner. Although the criteria is not necessary and sufficient, it can recover some of the known results under a few settings of local measurements and is applicable even if the size of the system or the number of measurement settings are high. Remarkably, a deep connection is explicitly established between the steering and amount of entanglement. The results promise viable paths for secure communication with an untrusted source, providing optional loophole-free tests of the EPR nonlocality for high-dimensional states, as well as motivating solutions for other related problems in quantum information theory.

An Attempt to Identify Indicators of Competence on Mechanical Maintenance Tasks.

DTIC Science & Technology

1979-01-01

them on the DA Form 2404. The vehicle is prepared as follows: 1. Left front wheel and drum removed. 2. Retracting spring disconnected. 3. Brake pedal...charging system. 8 2. Troubleshoot starting system circuit on Ml51Al/A2 truck. ii 3. Replace steering linkage on Ml5lAl/A2 truck. 8 4. Troubleshoot brakes ...Troubleshoot starting system circuit on MI51AI/A2 truck. 101 3. Replace steering linkage on MI51AI/A2 truck. 96 4. Troubleshoot brakes and controls

An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV)

NASA Technical Reports Server (NTRS)

Ragsdale, W. A.

1992-01-01

A lateral control wheel steering law with improved performance was developed for the Transport Systems Research Vehicle (TSRV) simulation and used in the Microwave Landing System research project. The control law converted rotational hand controller inputs into roll rate commands, manipulated ailerons, spoilers, and the rudder to achieve the desired roll rates. The system included automatic turn coordination, track angle hold, and autopilot/autoland modes. The resulting control law produced faster roll rates (15 degrees/sec), quicker response to command reversals, and safer bank angle limits, while using a more concise program code.

Packet spacing : an enabling mechanism for delivering multimedia content in computational grids /

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

Feng, A. C.; Feng, W. C.; Belford, Geneva G.

2001-01-01

Streaming multimedia with UDP has become increasingly popular over distributed systems like the Internet. Scientific applications that stream multimedia include remote computational steering of visualization data and video-on-demand teleconferencing over the Access Grid. However, UDP does not possess a self-regulating, congestion-control mechanism; and most best-efort traflc is served by congestion-controlled TCF! Consequently, UDP steals bandwidth from TCP such that TCP$ows starve for network resources. With the volume of Internet traffic continuing to increase, the perpetuation of UDP-based streaming will cause the Internet to collapse as it did in the mid-1980's due to the use of non-congestion-controlled TCP. To address thismore » problem, we introduce the counterintuitive notion of inter-packet spacing with control feedback to enable UDP-based applications to perform well in the next-generation Internet and computational grids. When compared with traditional UDP-based streaming, we illustrate that our approach can reduce packet loss over SO% without adversely afecting delivered throughput. Keywords: network protocol, multimedia, packet spacing, streaming, TCI: UDlq rate-adjusting congestion control, computational grid, Access Grid.« less

Modeling driver behavior in a cognitive architecture.

PubMed

Salvucci, Dario D

2006-01-01

This paper explores the development of a rigorous computational model of driver behavior in a cognitive architecture--a computational framework with underlying psychological theories that incorporate basic properties and limitations of the human system. Computational modeling has emerged as a powerful tool for studying the complex task of driving, allowing researchers to simulate driver behavior and explore the parameters and constraints of this behavior. An integrated driver model developed in the ACT-R (Adaptive Control of Thought-Rational) cognitive architecture is described that focuses on the component processes of control, monitoring, and decision making in a multilane highway environment. This model accounts for the steering profiles, lateral position profiles, and gaze distributions of human drivers during lane keeping, curve negotiation, and lane changing. The model demonstrates how cognitive architectures facilitate understanding of driver behavior in the context of general human abilities and constraints and how the driving domain benefits cognitive architectures by pushing model development toward more complex, realistic tasks. The model can also serve as a core computational engine for practical applications that predict and recognize driver behavior and distraction.

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

PubMed Central

Olivares-Mendez, Miguel Angel; Sanchez-Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi-Alamdari, Seyed Amin; Voos, Holger

2016-01-01

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption. PMID:26978365

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles.

PubMed

Olivares-Mendez, Miguel Angel; Sanchez-Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi-Alamdari, Seyed Amin; Voos, Holger

2016-03-11

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.

Interventional procedure based on nanorobots propelled and steered by flagellated magnetotactic bacteria for direct targeting of tumors in the human body.

PubMed

Martel, Sylvain; Felfoul, Ouajdi; Mohammadi, Mahmood; Mathieu, Jean-Baptiste

2008-01-01

Flagellated bacteria used as bio-actuators may prove to be efficient propulsion mechanisms for future hybrid medical nanorobots when operating in the microvasculature. Here, we briefly describe a medical interventional procedure where flagellated bacteria and more specifically MC-1 Magnetotactic Bacteria (MTB) can be used to propel and steer micro-devices and nanorobots under computer control to reach remote locations in the human body. In particular, we show through experimental results the potential of using MTB-tagged robots to deliver therapeutic agents to tumors even the ones located in deep regions of the human body. We also show that such bacterial nanorobots can be tracked inside the human body for enhanced targeting under computer guidance using MRI as imaging modality. MTB can not only be guided and controlled directly towards a specific target, but we also show experimentally that these flagellated bacterial nanorobots can be propelled and steered in vivo deeply through the interstitial region of a tumor. The targeting efficacy is increased when combined with larger ferromagnetic micro-carriers being propelled by magnetic gradients generated by a MRI platform to carry and release nanorobots propelled by a single flagellated bacterium near the arteriocapillar entry. Based on the experimental data obtained and the experience gathered during several experiments conducted in vivo with this new approach, a general medical interventional procedure is briefly described here in a biomedical engineering context.

First experience with THE AUTOLAP™ SYSTEM: an image-based robotic camera steering device.

PubMed

Wijsman, Paul J M; Broeders, Ivo A M J; Brenkman, Hylke J; Szold, Amir; Forgione, Antonello; Schreuder, Henk W R; Consten, Esther C J; Draaisma, Werner A; Verheijen, Paul M; Ruurda, Jelle P; Kaufman, Yuval

2018-05-01

Robotic camera holders for endoscopic surgery have been available for 20 years but market penetration is low. The current camera holders are controlled by voice, joystick, eyeball tracking, or head movements, and this type of steering has proven to be successful but excessive disturbance of surgical workflow has blocked widespread introduction. The Autolap™ system (MST, Israel) uses a radically different steering concept based on image analysis. This may improve acceptance by smooth, interactive, and fast steering. These two studies were conducted to prove safe and efficient performance of the core technology. A total of 66 various laparoscopic procedures were performed with the AutoLap™ by nine experienced surgeons, in two multi-center studies; 41 cholecystectomies, 13 fundoplications including hiatal hernia repair, 4 endometriosis surgeries, 2 inguinal hernia repairs, and 6 (bilateral) salpingo-oophorectomies. The use of the AutoLap™ system was evaluated in terms of safety, image stability, setup and procedural time, accuracy of imaged-based movements, and user satisfaction. Surgical procedures were completed with the AutoLap™ system in 64 cases (97%). The mean overall setup time of the AutoLap™ system was 4 min (04:08 ± 0.10). Procedure times were not prolonged due to the use of the system when compared to literature average. The reported user satisfaction was 3.85 and 3.96 on a scale of 1 to 5 in two studies. More than 90% of the image-based movements were accurate. No system-related adverse events were recorded while using the system. Safe and efficient use of the core technology of the AutoLap™ system was demonstrated with high image stability and good surgeon satisfaction. The results support further clinical studies that will focus on usability, improved ergonomics and additional image-based features.

Analysis of Underactuated Dynamic Locomotion Systems Using Perturbation Expansion: The Twistcar Toy Example

NASA Astrophysics Data System (ADS)

Chakon, Ofir; Or, Yizhar

2017-08-01

Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain the system's solutions only via numerical integration. In this work, we demonstrate utilization of the perturbation expansion method for analyzing a model example of mixed locomotion system—the twistcar toy vehicle, which is a variant of the well-studied roller-racer model. The system is investigated by assuming small-amplitude oscillatory inputs of either steering angle (kinematic) or steering torque (mechanical), and explicit expansions for the system's solutions under both types of actuation are obtained. These expressions enable analyzing the dependence of the system's dynamic behavior on the vehicle's structural parameters and actuation type. In particular, we study the reversal in direction of motion under steering angle oscillations about the unfolded configuration, as well as influence of the choice of actuation type on convergence properties of the motion. Some of the findings are demonstrated qualitatively by reporting preliminary motion experiments with a modular robotic prototype of the vehicle.

Method Evaluations for Adsorption Free Energy Calculations at the Solid/Water Interface through Metadynamics, Umbrella Sampling, and Jarzynski's Equality.

PubMed

Wei, Qichao; Zhao, Weilong; Yang, Yang; Cui, Beiliang; Xu, Zhijun; Yang, Xiaoning

2018-03-19

Considerable interest in characterizing protein/peptide-surface interactions has prompted extensive computational studies on calculations of adsorption free energy. However, in many cases, each individual study has focused on the application of free energy calculations to a specific system; therefore, it is difficult to combine the results into a general picture for choosing an appropriate strategy for the system of interest. Herein, three well-established computational algorithms are systemically compared and evaluated to compute the adsorption free energy of small molecules on two representative surfaces. The results clearly demonstrate that the characteristics of studied interfacial systems have crucial effects on the accuracy and efficiency of the adsorption free energy calculations. For the hydrophobic surface, steered molecular dynamics exhibits the highest efficiency, which appears to be a favorable method of choice for enhanced sampling simulations. However, for the charged surface, only the umbrella sampling method has the ability to accurately explore the adsorption free energy surface. The affinity of the water layer to the surface significantly affects the performance of free energy calculation methods, especially at the region close to the surface. Therefore, a general principle of how to discriminate between methodological and sampling issues based on the interfacial characteristics of the system under investigation is proposed. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

NASA Astrophysics Data System (ADS)

Ikeda, Fujio; Toyama, Shigehiro; Ishiduki, Souta; Seta, Hiroaki

2016-09-01

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points.

Profile of the spleen transcriptome in beef steers with variation in gain and feed intake

USDA-ARS?s Scientific Manuscript database

We have previously identified components of the immune system contributing to feed intake and gain in both the rumen and small intestine of beef steers. In this study, we examined the spleen, a major lymphatic organ near the digestive tract, to determine whether it was also contributing to an animal...

Image Processing In Laser-Beam-Steering Subsystem

NASA Technical Reports Server (NTRS)

Lesh, James R.; Ansari, Homayoon; Chen, Chien-Chung; Russell, Donald W.

1996-01-01

Conceptual design of image-processing circuitry developed for proposed tracking apparatus described in "Beam-Steering Subsystem For Laser Communication" (NPO-19069). In proposed system, desired frame rate achieved by "windowed" readout scheme in which only pixels containing and surrounding two spots read out and others skipped without being read. Image data processed rapidly and efficiently to achieve high frequency response.

Using carbon emissions and oxygen consumption to estimate energetics parameters of cattle consuming forages

USDA-ARS?s Scientific Manuscript database

To evaluate newer indirect calorimetry system to quantify energetic parameters, 8 cross-bred beef steers (initial BW = 241 ± 4.10 kg) were used in a 77-d experiment to examine energetics parameters calculated from carbon dioxide (CO2), methane (CH4), and oxygen (O2) fluxes. Steers were individually ...

Effect of backgrounding system on feedlot performance and carcass characteristics of beef steers

USDA-ARS?s Scientific Manuscript database

The objective of this study was to evaluate feedlot performance and carcass characteristics of steers that were backgrounded using 1 of 3 treatments: 1) corn residue grazing supplemented 6 days a week with 2.77 kg DM/hd of distillers (CRD), 2) oat-brassica forage grazing (OBF) or 3) drylotting on a ...

On the Fringe Field of Wide Angle LC Optical Phased Array

NASA Technical Reports Server (NTRS)

Wang, Xighua; Wang, Bin; Bos, Philip J.; Anderson, James E.; Pouch, John; Miranda, Felix; McManamon, Paul F.

2004-01-01

For free space laser communication, light weighted large deployable optics is a critical component for the transmitter. However, such an optical element will introduce large aberrations due to the fact that the surface figure of the large optics is susceptable to deformation in the space environment. We propose to use a high-resolution liquid crystal spatial light modulator to correct for wavefront aberrations introduced by the primary optical element, and to achieve very fine beam steering and shaping at the same time. A 2-D optical phased array (OPA) antenna based on a Liquid Crystal on Silicon (LCOS) spatial light modulator is described. This device offers a combination of low cost, high resolution, high accuracy, high diffraction efficiency at video speed. To quantitatively understand the influence factor of the different design parameters, a computer simulation of the device is given by the 2-D director simulation and the Finite Difference Time domain (FDTD) simulation. For the 1-D OPA, we define the maximum steering angle to have a grating period of 8 pixel/reset scheme; as for larger steering angles than this criterion, the diffraction efficiency drops dramatically. In this case, the diffraction efficiency of 0.86 and the Strehl ratio of 0.9 are obtained in the simulation. The performance of the device in achieving high resolution wavefront correction and beam steering is also characterized experimentally.

On the Skill of Balancing While Riding a Bicycle

PubMed Central

Cain, Stephen M.; Ashton-Miller, James A.; Perkins, Noel C.

2016-01-01

Humans have ridden bicycles for over 200 years, yet there are no continuous measures of how skill differs between novice and expert. To address this knowledge gap, we measured the dynamics of human bicycle riding in 14 subjects, half of whom were skilled and half were novice. Each subject rode an instrumented bicycle on training rollers at speeds ranging from 1 to 7 m/s. Steer angle and rate, steer torque, bicycle speed, and bicycle roll angle and rate were measured and steering power calculated. A force platform beneath the roller assembly measured the net force and moment that the bicycle, rider and rollers exerted on the floor, enabling calculations of the lateral positions of the system centers of mass and pressure. Balance performance was quantified by cross-correlating the lateral positions of the centers of mass and pressure. The results show that all riders exhibited similar balance performance at the slowest speed. However at higher speeds, the skilled riders achieved superior balance performance by employing more rider lean control (quantified by cross-correlating rider lean angle and bicycle roll angle) and less steer control (quantified by cross-correlating steer rate and bicycle roll rate) than did novice riders. Skilled riders also used smaller steering control input with less variation (measured by average positive steering power and standard deviations of steer angle and rate) and less rider lean angle variation (measured by the standard deviation of the rider lean angle) independent of speed. We conclude that the reduction in balance control input by skilled riders is not due to reduced balance demands but rather to more effective use of lean control to guide the center of mass via center of pressure movements. PMID:26910774

Measurement incompatibility and Schrödinger-Einstein-Podolsky-Rosen steering in a class of probabilistic theories

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

Banik, Manik, E-mail: manik11ju@gmail.com

Steering is one of the most counter intuitive non-classical features of bipartite quantum system, first noticed by Schrödinger at the early days of quantum theory. On the other hand, measurement incompatibility is another non-classical feature of quantum theory, initially pointed out by Bohr. Recently, Quintino et al. [Phys. Rev. Lett. 113, 160402 (2014)] and Uola et al. [Phys. Rev. Lett. 113, 160403 (2014)] have investigated the relation between these two distinct non-classical features. They have shown that a set of measurements is not jointly measurable (i.e., incompatible) if and only if they can be used for demonstrating Schrödinger-Einstein-Podolsky-Rosen steering. Themore » concept of steering has been generalized for more general abstract tensor product theories rather than just Hilbert space quantum mechanics. In this article, we discuss that the notion of measurement incompatibility can be extended for general probability theories. Further, we show that the connection between steering and measurement incompatibility holds in a border class of tensor product theories rather than just quantum theory.« less

Analytic Steering: Inserting Context into the Information Dialog

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

Bohn, Shawn J.; Calapristi, Augustin J.; Brown, Shyretha D.

2011-10-23

An analyst’s intrinsic domain knowledge is a primary asset in almost any analysis task. Unstructured text analysis systems that apply un-supervised content analysis approaches can be more effective if they can leverage this domain knowledge in a manner that augments the information discovery process without obfuscating new or unexpected content. Current unsupervised approaches rely upon the prowess of the analyst to submit the right queries or observe generalized document and term relationships from ranked or visual results. We propose a new approach which allows the user to control or steer the analytic view within the unsupervised space. This process ismore » controlled through the data characterization process via user supplied context in the form of a collection of key terms. We show that steering with an appropriate choice of key terms can provide better relevance to the analytic domain and still enable the analyst to uncover un-expected relationships; this paper discusses cases where various analytic steering approaches can provide enhanced analysis results and cases where analytic steering can have a negative impact on the analysis process.« less

Postweaning performance and carcass merit of F1 steers sired by Brahman and alternative subtropically adapted breeds.

PubMed

Franke, D E

1997-10-01

Comparisons were made among F1 steers sired by Brahman and alternative subtropically adapted breeds of bulls for feedlot and carcass traits when steers were produced from Angus- and Hereford-type dams. Brahman-derivative breeds included Brangus, Beefmaster, and Santa Gertrudis. Brangus- and Beefmaster-sired steers weighed less at slaughter, whereas carcasses of Brangus- and Santa Gertrudis-sired steers had more marbling than those of Brahman-sired steers. Brahman-sired steer carcasses had greater longissimus muscle area than carcasses of Santa Gertrudis-sired steers. Other Zebu breeds compared to Brahman were Boran, Gir, Indu-Brazil, Nellore, Red Brahman, and Sahiwal. Steers by Brahman sires had higher slaughter weights than steers by Boran, Gir, Nellore, or Sahiwal sires. Hot carcass weights of Brahman-sired steers were also higher than those of Boran- and Sahiwal-sired steers. Steer carcasses by Brahman sires had greater longissimus muscle area than those of steers by Sahiwal sires. Non-Zebu breeds included Tuli and Senepol. Steers by Tuli sires grew slower, had lower slaughter weights, and their carcasses weighed less than those of Brahman-sired steers. Brahman-sired steer carcasses had greater longissimus muscle area but less marbling than carcasses of Tuli-sired steers. These data suggest that steers by Brahman sires have an advantage for slaughter weight over steers by Brangus, Beefmaster, Boran, Gir, Nellore, Sahiwal, and Tuli sires, but their carcasses are at a disadvantage for marbling score compared with those by Brangus, Boran, Nellore, and Tuli sires.

The Role of Visual and Nonvisual Information in the Control of Locomotion

ERIC Educational Resources Information Center

Wilkie, Richard M.; Wann, John P.

2005-01-01

During locomotion, retinal flow, gaze angle, and vestibular information can contribute to one's perception of self-motion. Their respective roles were investigated during active steering: Retinal flow and gaze angle were biased by altering the visual information during computer-simulated locomotion, and vestibular information was controlled…

Swimming micro-robot powered by stimuli-sensitive gel

NASA Astrophysics Data System (ADS)

Masoud, Hassan; Alexeev, Alexander

2012-11-01

Using three-dimensional computer simulations, we design a simple maneuverable micro-swimmer that can self-propel and navigate in highly viscous (low Reynolds-number) environments. Our simple swimmer consists of a cubic gel body which periodically changes volume in response to external stimuli, two rigid rectangular flaps attached to the opposite sides of the gel body, and a flexible steering flap at the front end of the swimmer. The stimuli-sensitive body undergoes periodic expansions (swelling) and contractions (deswelling) leading to a time-irreversible beating motion of the propulsive flaps that propel the micro-swimmer. Thus, the responsive gel body acts as an ``engine'' actuating the motion of the swimmer. We examine how the swimming speed depends on the gel and flap properties. We also probe how the swimmer trajectory can be changed using a responsive steering flap whose curvature is controlled by an external stimulus. We show that the turning occurs due to steering flap bending and periodic beating. Furthermore, our simulations reveal that the turning direction can be regulated by changing the intensity of external stimulus.

Hyper- and viscoelastic modeling of needle and brain tissue interaction.

PubMed

Lehocky, Craig A; Yixing Shi; Riviere, Cameron N

2014-01-01

Deep needle insertion into brain is important for both diagnostic and therapeutic clinical interventions. We have developed an automated system for robotically steering flexible needles within the brain to improve targeting accuracy. In this work, we have developed a finite element needle-tissue interaction model that allows for the investigation of safe parameters for needle steering. The tissue model implemented contains both hyperelastic and viscoelastic properties to simulate the instantaneous and time-dependent responses of brain tissue. Several needle models were developed with varying parameters to study the effects of the parameters on tissue stress, strain and strain rate during needle insertion and rotation. The parameters varied include needle radius, bevel angle, bevel tip fillet radius, insertion speed, and rotation speed. The results will guide the design of safe needle tips and control systems for intracerebral needle steering.

An Interactive, Web-based High Performance Modeling Environment for Computational Epidemiology.

PubMed

Deodhar, Suruchi; Bisset, Keith R; Chen, Jiangzhuo; Ma, Yifei; Marathe, Madhav V

2014-07-01

We present an integrated interactive modeling environment to support public health epidemiology. The environment combines a high resolution individual-based model with a user-friendly web-based interface that allows analysts to access the models and the analytics back-end remotely from a desktop or a mobile device. The environment is based on a loosely-coupled service-oriented-architecture that allows analysts to explore various counter factual scenarios. As the modeling tools for public health epidemiology are getting more sophisticated, it is becoming increasingly hard for non-computational scientists to effectively use the systems that incorporate such models. Thus an important design consideration for an integrated modeling environment is to improve ease of use such that experimental simulations can be driven by the users. This is achieved by designing intuitive and user-friendly interfaces that allow users to design and analyze a computational experiment and steer the experiment based on the state of the system. A key feature of a system that supports this design goal is the ability to start, stop, pause and roll-back the disease propagation and intervention application process interactively. An analyst can access the state of the system at any point in time and formulate dynamic interventions based on additional information obtained through state assessment. In addition, the environment provides automated services for experiment set-up and management, thus reducing the overall time for conducting end-to-end experimental studies. We illustrate the applicability of the system by describing computational experiments based on realistic pandemic planning scenarios. The experiments are designed to demonstrate the system's capability and enhanced user productivity.

An Interactive, Web-based High Performance Modeling Environment for Computational Epidemiology

PubMed Central

Deodhar, Suruchi; Bisset, Keith R.; Chen, Jiangzhuo; Ma, Yifei; Marathe, Madhav V.

2014-01-01

We present an integrated interactive modeling environment to support public health epidemiology. The environment combines a high resolution individual-based model with a user-friendly web-based interface that allows analysts to access the models and the analytics back-end remotely from a desktop or a mobile device. The environment is based on a loosely-coupled service-oriented-architecture that allows analysts to explore various counter factual scenarios. As the modeling tools for public health epidemiology are getting more sophisticated, it is becoming increasingly hard for non-computational scientists to effectively use the systems that incorporate such models. Thus an important design consideration for an integrated modeling environment is to improve ease of use such that experimental simulations can be driven by the users. This is achieved by designing intuitive and user-friendly interfaces that allow users to design and analyze a computational experiment and steer the experiment based on the state of the system. A key feature of a system that supports this design goal is the ability to start, stop, pause and roll-back the disease propagation and intervention application process interactively. An analyst can access the state of the system at any point in time and formulate dynamic interventions based on additional information obtained through state assessment. In addition, the environment provides automated services for experiment set-up and management, thus reducing the overall time for conducting end-to-end experimental studies. We illustrate the applicability of the system by describing computational experiments based on realistic pandemic planning scenarios. The experiments are designed to demonstrate the system's capability and enhanced user productivity. PMID:25530914

Integrated control design for driver assistance systems based on LPV methods

NASA Astrophysics Data System (ADS)

Gáspár, Péter; Németh, Balázs

2016-12-01

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software.

Training Knowledge Bots for Physics-Based Simulations Using Artificial Neural Networks

NASA Technical Reports Server (NTRS)

Samareh, Jamshid A.; Wong, Jay Ming

2014-01-01

Millions of complex physics-based simulations are required for design of an aerospace vehicle. These simulations are usually performed by highly trained and skilled analysts, who execute, monitor, and steer each simulation. Analysts rely heavily on their broad experience that may have taken 20-30 years to accumulate. In addition, the simulation software is complex in nature, requiring significant computational resources. Simulations of system of systems become even more complex and are beyond human capacity to effectively learn their behavior. IBM has developed machines that can learn and compete successfully with a chess grandmaster and most successful jeopardy contestants. These machines are capable of learning some complex problems much faster than humans can learn. In this paper, we propose using artificial neural network to train knowledge bots to identify the idiosyncrasies of simulation software and recognize patterns that can lead to successful simulations. We examine the use of knowledge bots for applications of computational fluid dynamics (CFD), trajectory analysis, commercial finite-element analysis software, and slosh propellant dynamics. We will show that machine learning algorithms can be used to learn the idiosyncrasies of computational simulations and identify regions of instability without including any additional information about their mathematical form or applied discretization approaches.

Postweaning substitution of grazed forage with a high-energy concentrate has variable long-term effects on subcutaneous fat and marbling in Bos taurus genotypes.

PubMed

Greenwood, P L; Siddell, J P; Walmsley, B J; Geesink, G H; Pethick, D W; McPhee, M J

2015-08-01

The objective of this study was to quantify the effects and interactions of stage of growth and genotype on commercial carcass traits and intramuscular fat (IMF) content in 5 muscles of steers ( = 165) and to test the hypothesis that substituting pasture with a high-energy concentrate during the immediate postweaning period increases IMF. Cattle of 3 genotypes (Angus, Hereford, and Wagyu × Angus; = 55/genotype) were selected at weaning from commercial herds, targeting genotypic differences in marbling and subcutaneous fatness. Following weaning, steers were fed for 168 d within 2 different improved, temperate pasture-based nutritional systems: a forage-only system (FS) and forage with high-energy supplemented system (SS), with 2 replicates per system. The supplement was fed at a level of 1% of average BW adjusted every 2 wk to provide an estimated 50% of energy requirements for 168 d from weaning. Pasture on offer in both systems was managed to match the BW of the FS and SS steers during the postweaning treatment period to avoid confounding due to differences in growth rate during this period. Steers were then regrouped into 2 replicates and backgrounded on improved, temperate pasture for 158 d and then grain fed within 1 group for 105 d (short fed) or 259 d (long fed). Groups were slaughtered at commencement (d 0) and end of postweaning nutritional treatments (d 168), end of backgrounding (d 326), and after short (d 431) or long feedlotting (d 585). Serial slaughter stage had an effect on all traits assessed ( < 0.01). The FS steers had more rib fat ( < 0.01) and higher Meat Standards Australia marbling score ( < 0.05) and a tendency ( < 0.10) to have greater eye muscle area than the SS steers throughout the study. Genotypic differences were evident ( < 0.05) for all traits assessed except HCW, dressing percentage, rib fat depth, ossification score, ultimate pH, and IMF in the semitendinosus muscle. The results for marbling and IMF do not support the use of a high-energy feed as a substitute for an equivalent amount of energy from pasture during the immediate postweaning period to enhance development of marbling.

Synovex Plus implants coated with a polymeric, porous film improve performance of beef steers and heifers fed in confinement for up to 200 days.

PubMed

Cleale, R M; Bechtol, D T; Drouillard, J S; Edmonds, J D; Edmonds, M; Hunsaker, B D; Kraft, L A; Lawrence, T E; Brewbaker, S; Waite, A R

2012-12-01

Synovex Plus (SP) is a product that delivers 28 mg of estradiol benzoate (EB) and 200 mg of trenbolone acetate (TBA). We studied the impact of a polymeric, porous coating on SP implants (CSP) to prolong release of EB and TBA, and stimulate feedlot performance of feedlot cattle for an extended period. In an explant study, 30 steers were implanted with SP in one ear and CSP in the contralateral ear. Cattle (n = 6/d) were necropsied 40, 81, 120, 160, and 200 d after treatment, and remaining EB and TBA were quantified. Linear regression of EB and TBA remaining as a function of time for each treatment were computed. Rates of EB and TBA depletion from SP were -0.1980 (r(2) = 0.9994) and -1.7073 mg/d (r(2) = 0.9644), respectively, and for CSP rates of EB and TBA depletion were -0.1049 (r(2) = 0.9123) and -0.9466 mg/d (r(2) = 0.9297), respectively. The effect of treatment on depletion rates of each analyte were significant (P < 0.05). Data also showed EB and TBA were delivered from CSP at least 200 d but were delivered from SP about 120 d. Multisite trials with beef-type steers (4 sites) and heifers (4 sites) evaluated feedlot performance and carcass characteristics in response to a CSP implant or when sham implanted (SC). A randomized complete block design with 9 blocks and 2 treatments was used per site within animal gender. Across sites, steers (n = 342, BW = 297 kg) were fed finishing rations for 190 to 202 d (mean 198 d) and heifers (n = 342, BW = 289 kg) were fed finishing rations for 191 to 201 d (mean 198 d). Cattle were harvested and carcasses evaluated. Data were pooled across sites within gender for statistical analysis. Steers and heifers treated with CSP yielded greater (P ≤ 0.003) ADG, DMI, and G:F than SC steers and heifers. Mean BW differences between CSP and SC continued to increase throughout the study, indicating CSP stimulated growth of steers and heifers for 198 d. Mean carcass weights of CSP steers (P = 0.005) and heifers (P = 0.004) were greater than those of SP steers and heifers by 26.2 and 20.6 kg, respectively. The LM area was larger (P < 0.001) in CSP steers and heifers than SC cattle. Marbling decreased with CSP treatment (P ≤ 0.031), which caused reductions (P ≤ 0.006) in proportions of carcasses grading Prime or Choice. Evidence from these studies showed that a single administration of CSP increased feedlot cattle performance for at least 198 d, compared with SC, and may reduce the need to reimplant cattle.

Quantum steering in cascaded four-wave mixing processes.

PubMed

Wang, Li; Lv, Shuchao; Jing, Jietai

2017-07-24

Quantum steering is used to describe the "spooky action-at-a-distance" nonlocality raised in the Einstein-Podolsky-Rosen (EPR) paradox, which is important for understanding entanglement distribution and constructing quantum networks. Here, in this paper, we study an experimentally feasible scheme for generating quantum steering based on cascaded four-wave-mixing (FWM) processes in hot rubidium (Rb) vapor. Quantum steering, including bipartite steering and genuine tripartite steering among the output light fields, is theoretically analyzed. We find the corresponding gain regions in which the bipartite and tripartite steering exist. The results of bipartite steering can be used to establish a hierarchical steering model in which one beam can steer the other two beams in the whole gain region; however, the other two beams cannot steer the first beam simultaneously. Moreover, the other two beams cannot steer with each other in the whole gain region. More importantly, we investigate the gain dependence of the existence of the genuine tripartite steering and we find that the genuine tripartite steering exists in most of the whole gain region in the ideal case. Also we discuss the effect of losses on the genuine tripartite steering. Our results pave the way to experimental demonstration of quantum steering in cascaded FWM process.

Adaptive beam tracking and steering via electrowetting-controlled liquid prism

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

Cheng, JT; Chen, CL

2011-11-07

We report an electrowetting-controlled optofluidic system for adaptive beam tracking and agile steering. With two immiscible fluids in a transparent cell, we can actively control the contact angle along the fluid-fluid-solid tri-junction line and hence the orientation of the fluid-fluid interface via electrowetting. The naturally formed meniscus between the two liquids can function as an optical prism. We have fabricated a liquid prism module with an aperture size of 10 mm -10mm. With 1 wt.% KCl and 1 wt.% Sodium Dodecyl Sulfate added into deionized water, the orientation of the water-silicone oil interface has been modulated between -26 degrees andmore » 26 degrees that can deflect and steer beam within the incidence angle of 0 degrees-15 degrees. The wide-range beam tracking and steering enables the liquid prism work as an electrowetting solar cell. (C) 2011 American Institute of Physics. [doi: 10.1063/1.3660578]« less

Adaptive beam tracking and steering via electrowetting-controlled liquid prism

NASA Astrophysics Data System (ADS)

Cheng, Jiangtao; Chen, Chung-Lung

2011-11-01

We report an electrowetting-controlled optofluidic system for adaptive beam tracking and agile steering. With two immiscible fluids in a transparent cell, we can actively control the contact angle along the fluid-fluid-solid tri-junction line and hence the orientation of the fluid-fluid interface via electrowetting. The naturally formed meniscus between the two liquids can function as an optical prism. We have fabricated a liquid prism module with an aperture size of 10 mm × 10mm. With 1 wt. % KCl and 1 wt. % Sodium Dodecyl Sulfate added into deionized water, the orientation of the water-silicone oil interface has been modulated between -26° and 26° that can deflect and steer beam within the incidence angle of 0°-15°. The wide-range beam tracking and steering enables the liquid prism work as an electrowetting solar cell.

Concepts and cost trade-offs for land vehicle antennas in satellite mobile communications

NASA Technical Reports Server (NTRS)

Haddad, H. A.

1948-01-01

Several antenna design concepts, operating at UHF (821 to 825 MHz transmit and 866 to 870 MHz receive bands), with gain ranging between 6 and 12 dBic, that are suitable for land mobile vehicles are presented. The antennas may be used within CONUS and ALASKA to communicate to and from a geosynchronous satellite. Depending on the type of steering mechanism, the antennas are broken down into three categories; (1) electronically scanned arrays with phase shifters, (2) electronically switched arrays with switchable power dividers/combiners, and (3) mechanically steered arrays. The operating characteristics of two of these design concepts, one a conformal antenna with electronic beam steering and the other a nonconformal design with mechanical steering, were evaluated with regard to two and three satellite system. Cost estimates of various antenna concepts were made and plotted against their overall gain performance.

Experimental measurement-device-independent verification of quantum steering.

PubMed

Kocsis, Sacha; Hall, Michael J W; Bennet, Adam J; Saunders, Dylan J; Pryde, Geoff J

2015-01-07

Bell non-locality between distant quantum systems--that is, joint correlations which violate a Bell inequality--can be verified without trusting the measurement devices used, nor those performing the measurements. This leads to unconditionally secure protocols for quantum information tasks such as cryptographic key distribution. However, complete verification of Bell non-locality requires high detection efficiencies, and is not robust to typical transmission losses over long distances. In contrast, quantum or Einstein-Podolsky-Rosen steering, a weaker form of quantum correlation, can be verified for arbitrarily low detection efficiencies and high losses. The cost is that current steering-verification protocols require complete trust in one of the measurement devices and its operator, allowing only one-sided secure key distribution. Here we present measurement-device-independent steering protocols that remove this need for trust, even when Bell non-locality is not present. We experimentally demonstrate this principle for singlet states and states that do not violate a Bell inequality.

Effects of automobile steering characteristics on driver vehicle system dynamics in regulation tasks

NASA Technical Reports Server (NTRS)

Mcruer, D. T.; Klein, R.

1975-01-01

A regulation task which subjected the automobile to a random gust disturbance which is countered by driver control action is used to study the effects of various automobile steering characteristics on the driver/vehicle system. The experiments used a variable stability automobile specially configured to permit insertion of the simulated gust disturbance and the measurement of the driver/vehicle system characteristics. Driver/vehicle system dynamics were measured and interpreted as an effective open loop system describing function. Objective measures of system bandwidth, stability, and time delays were deduced and compared. These objective measures were supplemented by driver ratings. A tentative optimum range of vehicle dynamics for the directional regulation task was established.

Computational studies of steering nanoparticles with magnetic gradients

NASA Astrophysics Data System (ADS)

Aylak, Sultan Suleyman

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative, and reconstructive treatments in the human body at the cellular and subcellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving magnetic nanocapsules against the blood flow. This thesis presents the visualization of nanoparticles inside blood vessel, Graphical User Interface (GUI) for updating file including initial parameters and demonstrating the simulation of particles and C++ code for computing magnetic forces and fluidic forces. The visualization and GUI were designed using Virtual Reality Modeling Language (VRML), MATLAB and C#. The addition of software for MRI-guided nanorobotic system provides simulation results. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result --in accordance with similar experimental results- and encourages further investigation on the nanoparticle-based self-assembly structures for use in nanorobotic drug delivery.

An investigation of automatic guidance concepts to steer a VTOL aircraft to a small aviation facility ship

NASA Technical Reports Server (NTRS)

Sorensen, J. A.; Goka, T.; Phatak, A. V.; Schmidt, S. F.

1980-01-01

A detailed system model of a VTOL aircraft approaching a small aviation facility ship was developed and used to investigate several approach guidance concepts. A preliminary anaysis of the aircraft-vessel landing guidance requirements was conducted. The various subelements and constraints of the flight system are described including the landing scenario, lift fan aircraft, state rate feedback flight control, MLS-based navigation, sea state induced ship motion, and wake turbulence due to wind-over-deck effects. These elements are integrated into a systems model with various guidance concepts. Guidance is described in terms of lateral, vertical, and longitudinal axes steering modes and approach and landing phases divided by a nominal hover (or stationkeeping) point defined with respect to the landing pad. The approach guidance methods are evaluated, and the two better steering concepts are studied by both single pass and Monte Carlo statistical simulation runs. Four different guidance concepts are defined for further analysis for the landing phase of flight.

Control of small phased-array antennas

NASA Technical Reports Server (NTRS)

Doland, G. D.

1978-01-01

Series of reports, patent descriptions, calculator programs, and other literature describes antenna control and steering apparatus for seven-element phased array. Though series contains information specific to particular system, it illustrates methods that can be applied to antennas with greater or fewer numbers of elements. Included are programs for calculating beam parameters and design functions and information to interfacing digital controller to beam-steering apparatus.

A noble refractive optical scanner with linear response

NASA Astrophysics Data System (ADS)

Mega, Yair J.; Lai, Zhenhua; DiMarzio, Charles A.

2013-03-01

Many applications in various fields of science and engineering use steered optical beam systems. Currently, many methods utilize mirrors in order to steer the beam. However, this approach is an off-axis solution, which normally increases the total size of the system as well as its error and complexity. Other methods use a "Risely Prisms" based solution, which is on-axis solution, however it poses some difficulties from an engineering standpoint, and therefore isn't widely used. We present here a novel technique for steering a beam on its optical axis with a linear deflection response. We derived the formulation for the profile required of the refractive optical component necessary for preforming the beam steering. The functionality of the device was simulated analytically using Matlab, as well as using a ray-tracing software, Zemax, and showed agreement with the analytical model. An optical element was manufactured based on the proposed design and the device was tested. The results show agreement with our hypothesis. We also present some proposed geometries of the several other devices, all based on the same concept, which can be used for higher performance applications such as two-dimensional scanner, video rate scanner etc.

Performance, profitability and greenhouse gas emissions of alternative finishing strategies for Holstein-Friesian bulls and steers.

PubMed

Murphy, B; Crosson, P; Kelly, A K; Prendiville, R

2018-02-06

Modifying finishing strategies within established production systems has the potential to increase beef output and farm profit while reducing greenhouse gas (GHG) emissions. Thus, the objectives of this study were to investigate the effects of finishing duration on animal performance of Holstein-Friesian (HF) bulls and steers and evaluate the profitability and GHG emissions of these finishing strategies. A total of 90 HF calves were assigned to a complete randomised block design; three bull and three steer finishing strategies. Calves were rotationally grazed in a paddock system for the first season at pasture, housed and offered grass silage ad libitum plus 1.5 kg DM of concentrate per head daily for the first winter and returned to pasture for a second season. Bulls were slaughtered at 19 months of age and either finished indoors on concentrates ad libitum for 100 days (19AL), finished at pasture supplemented with 5 kg DM of concentrate per head daily for 100 (19SP) or 150 days (19LP). Steers were slaughtered at 21 months of age and finished at pasture, supplemented with 5 kg DM of concentrate per head daily for 60 (21SP) and 110 days (21LP) or slaughtered at 24 months of age and finished indoors over the second winter on grass silage ad libitum plus 5 kg DM of concentrate per head daily (24MO). The Grange Dairy Beef Systems Model and the Beef Systems Greenhouse Gas Emissions Model were used to evaluate profitability and GHG emissions, respectively. Average daily gain during the finishing period (P<0.001), live weight at slaughter (P<0.01), carcass weight (P<0.05) and fat score (P<0.001) were greater for 19AL than 19SP and 19LP, respectively. Similarly, concentrate dry matter intake was greater for 19AL than 19SP; 19LP was intermediate (P<0.001). Live weight at slaughter (P<0.001), carcass weight (P<0.001), conformation score (P<0.05) and fat score (P<0.001) were greater for 24MO than 21SP and 21LP, respectively. During the finishing period concentrate dry matter intake was greater for 21LP than 21SP with 24MO intermediate; 542, 283 and 436 kg DM, respectively. Although pasture-based finishing strategies had lower gross output values, concentrate feed costs were also reduced thus net margin was greater than indoor finishing strategies. Reducing concentrate input increased GHG emissions for bulls and steers slaughtered at the same age, respectively. Although prolonging the finishing duration reduced GHG emissions for bull and steer production systems, finishing bulls and steers over a longer period at pasture did not enhance animal performance and profit.

Hyperspectral and in situ data fusion for the steering of plant production systems

NASA Astrophysics Data System (ADS)

Verstraeten, W. W.; Coppin, P.

2009-04-01

Plant production systems are governed by biotic and a-biotic factors and by management practices. Some of the relevant parameters have already been identified and incorporated as inputs into existing models for production assessment, early-warning, and process management. These parameters originate nowadays primarily from in-situ measurements and observations. Non-invasive remotely sensed data, the diagnostic tools of excellence where it concerns the interaction of solar energy with biomass, have seldom been included and if so, mostly to support yield assessment and harvest monitoring only. The availability of new-generation hyperspectral/hypertemporal signatures will greatly facilitate their integration into full-fledged plant production model either via direct use, forcing, assimilation or re-initialization strategies. The main objective of IS-HS (Integration of In Situ data and HyperSpectral remote sensing for plant production modeling) is to set up a multidisciplinary research platform to deepen our system understanding and to develop production-oriented schemes to steer capital-intensive vegetation scenarios. Real-time steering in a 10-15 year timeframe is envisaged, where current system state is monitored, and steered towards an ideal state in terms of production quantity and quality. IS-HS focuses on hyperspectral sensor design, time series analysis tools for remote sensing data of vegetation systems, on the establishment of two stream communication between satellite and ground sensors, on the development of citrus plant production systems, and on the design of in-situ data sensor networks. The general framework of this system approach will be presented. In time, this integration should allow to cross the bridge from post-harvest assessment to near real-time potential and actual yield monitoring in terms of crop.

Stronger steerability criterion for more uncertain continuous-variable systems

NASA Astrophysics Data System (ADS)

Chowdhury, Priyanka; Pramanik, Tanumoy; Majumdar, A. S.

2015-10-01

We derive a fine-grained uncertainty relation for the measurement of two incompatible observables on a single quantum system of continuous variables, and show that continuous-variable systems are more uncertain than discrete-variable systems. Using the derived fine-grained uncertainty relation, we formulate a stronger steering criterion that is able to reveal the steerability of NOON states that has hitherto not been possible using other criteria. We further obtain a monogamy relation for our steering inequality which leads to an, in principle, improved lower bound on the secret key rate of a one-sided device independent quantum key distribution protocol for continuous variables.

Online Detection of Driver Fatigue Using Steering Wheel Angles for Real Driving Conditions.

PubMed

Li, Zuojin; Li, Shengbo Eben; Li, Renjie; Cheng, Bo; Shi, Jinliang

2017-03-02

This paper presents a drowsiness on-line detection system for monitoring driver fatigue level under real driving conditions, based on the data of steering wheel angles (SWA) collected from sensors mounted on the steering lever. The proposed system firstly extracts approximate entropy (ApEn)featuresfromfixedslidingwindowsonreal-timesteeringwheelanglestimeseries. Afterthat, this system linearizes the ApEn features series through an adaptive piecewise linear fitting using a given deviation. Then, the detection system calculates the warping distance between the linear features series of the sample data. Finally, this system uses the warping distance to determine the drowsiness state of the driver according to a designed binary decision classifier. The experimental data were collected from 14.68 h driving under real road conditions, including two fatigue levels: "wake" and "drowsy". The results show that the proposed system is capable of working online with an average 78.01% accuracy, 29.35% false detections of the "awake" state, and 15.15% false detections of the "drowsy" state. The results also confirm that the proposed method based on SWA signal is valuable for applications in preventing traffic accidents caused by driver fatigue.

Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

PubMed

Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

2014-01-01

Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

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.

The impact of various distance between axes of worm gear on torque value. Worm gear test stand

NASA Astrophysics Data System (ADS)

Sobek, M.; Baier, A.; Grabowski, Ł.

2017-08-01

Transferring both rotational and translational movements in systems used in the automotive industry is a very important and complex issue. In addition, the situation becomes much more difficult and complicated when the design of the transition system requires a high precision of operation as well as a well definite and long operating life. Such requirements are imposed on all components of today’s motor vehicles. However, particular attention is paid to the elements that directly or indirectly affect the safety of persons traveling in the vehicle. Such components are undoubtedly components included as parts of the steering system of the vehicle. Power steering systems have been present in motor vehicles for more than a century. They go through continuous metamorphosis and they are getting better and better. Current power steering systems are based on an electric motor and some kind of transmission. Depending on the position of the drive relative to the steering column, different configurations of the transmission are used. This article will cover issues related to tests of power steering gearing using a worm drive. The worm drive is a very specific example of a propulsion system that uses twisted axles. Normally, in this type of transition you can find two gear units with the axis mounted with a 90° angle between. The components of the worm drive are a worm and a worm gear, also called a worm wheel. In terms of the geometrical form, the worm resembles a helical spur gear. The shape of the worm is similar to the shape of a screw with a trapezoidal thread. A correct matching of these two components ensures proper operation of the entire transmission. Incorrect positioning of the components in relation to each other can significantly reduce the lifetime of the drive unit, and also lead to abnormal work, eg by raising the noise level. This article describes a test method of finding the appropriate distance between the axles of both worm drive units by testing the torque change during gear operation.

Adiabatic photo-steering theory in topological insulators.

PubMed

Inoue, Jun-Ichi

2014-12-01

Feasible external control of material properties is a crucial issue in condensed matter physics. A new approach to achieving this aim, named adiabatic photo-steering, is reviewed. The core principle of this scheme is that several material constants are effectively turned into externally tunable variables by irradiation of monochromatic laser light. Two-dimensional topological insulators are selected as the optimal systems that exhibit a prominent change in their properties following the application of this method. Two specific examples of photo-steered quantum phenomena, which reflect topological aspects of the electronic systems at hand, are presented. One is the integer quantum Hall effect described by the Haldane model, and the other is the quantum spin Hall effect described by the Kane-Mele model. The topological quantities associated with these phenomena are the conventional Chern number and spin Chern number, respectively. A recent interesting idea, time-reversal symmetry breaking via a temporary periodic external stimulation, is also discussed.

Adiabatic photo-steering theory in topological insulators

NASA Astrophysics Data System (ADS)

Inoue, Jun-ichi

2014-12-01

Feasible external control of material properties is a crucial issue in condensed matter physics. A new approach to achieving this aim, named adiabatic photo-steering, is reviewed. The core principle of this scheme is that several material constants are effectively turned into externally tunable variables by irradiation of monochromatic laser light. Two-dimensional topological insulators are selected as the optimal systems that exhibit a prominent change in their properties following the application of this method. Two specific examples of photo-steered quantum phenomena, which reflect topological aspects of the electronic systems at hand, are presented. One is the integer quantum Hall effect described by the Haldane model, and the other is the quantum spin Hall effect described by the Kane-Mele model. The topological quantities associated with these phenomena are the conventional Chern number and spin Chern number, respectively. A recent interesting idea, time-reversal symmetry breaking via a temporary periodic external stimulation, is also discussed.

Control order and visuomotor strategy development for joystick-steered underground shuttle cars.

PubMed

Cloete, Steven; Zupanc, Christine; Burgess-Limerick, Robin; Wallis, Guy

2014-09-01

In this simulator-based study, we aimed to quantify performance differences between joystick steering systems using first-order and second-order control, which are used in underground coal mining shuttle cars. In addition, we conducted an exploratory analysis of how users of the more difficult, second-order system changed their behavior over time. Evidence from the visuomotor control literature suggests that higher-order control devices are not intuitive, which could pose a significant risk to underground mine personnel, equipment, and infrastructure. Thirty-six naive participants were randomly assigned to first- and second-order conditions and completed three experimental trials comprising sequences of 90 degrees turns in a virtual underground mine environment, with velocity held constant at 9 km/h(-1). Performance measures were lateral deviation, steering angle variability, high-frequency steering content, joystick activity, and cumulative time in collision with the virtual mine wall. The second-order control group exhibited significantly poorer performance for all outcome measures. In addition, a series of correlation analyses revealed that changes in strategy were evident in the second-order group but not the first-order group. Results were consistent with previous literature indicating poorer performance with higher-order control devices and caution against the adoption of the second-order joystick system for underground shuttle cars. Low-cost, portable simulation platforms may provide an effective basis for operator training and recruitment.

Women's decision to major in STEM fields

NASA Astrophysics Data System (ADS)

Conklin, Stephanie

This paper explores the lived experiences of high school female students who choose to enter into STEM fields, and describes the influencing factors which steered these women towards majors in computer science, engineering and biology. Utilizing phenomenological methodology, this study seeks to understand the essence of women's decisions to enter into STEM fields and further describe how the decision-making process varies for women in high female enrollment fields, like biology, as compared with low enrollment fields like, computer science and engineering. Using Bloom's 3-Stage Theory, this study analyzes how relationships, experiences and barriers influenced women towards, and possibly away, from STEM fields. An analysis of women's experiences highlight that support of family, sustained experience in a STEM program during high school as well as the presence of an influential teacher were all salient factors in steering women towards STEM fields. Participants explained that influential teacher worked individually with them, modified and extended assignments and also steered participants towards coursework and experiences. This study also identifies factors, like guidance counselors as well as personal challenges, which inhibited participant's path to STEM fields. Further, through analyzing all six participants' experiences, it is clear that a linear model, like Bloom's 3-Stage Model, with limited ability to include potential barriers inhibited the ability to capture the essence of each participant's decision-making process. Therefore, a revised model with no linear progression which allows for emerging factors, like personal challenges, has been proposed; this model focuses on how interest in STEM fields begins to develop and is honed and then mastered. This study also sought to identify key differences in the paths of female students pursuing different majors. The findings of this study suggest that the path to computer science and engineering is limited. Computer science majors faced few, if any, challenges, hoped to use computers as a tool to innovate and also participated in the same computer science program. For female engineering students, the essence of their experience focused on interaction at a young age with an expert in an engineering-related field as well as a strong desire to help solve world problems using engineering. These participants were able to articulate clearly future careers. In contrast, biology majors, faced more challenges and were undecided about their future career goals. These results suggest that a longitudinal study focused on women pursuing engineering and computer science fields is warranted; this will hopefully allow these findings to be substantiated and also for refinement of the revised theoretical model.

21st Century Research for Agricultural Education. Proceedings of the National Agricultural Education Research Conference (27th, San Diego, California, December 6, 2000).

ERIC Educational Resources Information Center

Miller, Greg, Ed.

These proceedings contain 48 presentations and 15 poster abstracts. Papers include "Computer Tasks Required in Selected Undergraduate Agriculture Courses" (Johnson, Ferguson, Vokinnns, Lester); "College of Agriculture Faculty Perceptions of Electronic Technologies in Teaching" (Dooley, Murphy); "Steering Through Turbulent…

Night Attack Workload Steering Group. Volume 3. Simulation and Human Factors Subgroup

DTIC Science & Technology

1982-06-01

information intepretation . The second is the use of pictorial formats or computer generated displays that combine many present-day displays into a small number...base exists in any form (digital, film , or model) which supports the wide area, long track, low level requirements levied by night attack training

Sensing Surveillance & Navigation

DTIC Science & Technology

2012-03-07

Removing Atmospheric Turbulence Goal: to restore a single high quality image from the observed sequence Prof. Peyman...Computer Sciences – Higher wavelet studies , time-scale, time-frequency transformations, Reduced Signature Targets, Low Probability of Intercept...Range Dependent Beam -patterns •Electronic Steering with Frequency Offsets •Inherent Countermeasure Capability Why? W1(t) W2(t) W3

Constrained Unfolding of a Helical Peptide: Implicit versus Explicit Solvents.

PubMed

Bureau, Hailey R; Merz, Dale R; Hershkovits, Eli; Quirk, Stephen; Hernandez, Rigoberto

2015-01-01

Steered Molecular Dynamics (SMD) has been seen to provide the potential of mean force (PMF) along a peptide unfolding pathway effectively but at significant computational cost, particularly in all-atom solvents. Adaptive steered molecular dynamics (ASMD) has been seen to provide a significant computational advantage by limiting the spread of the trajectories in a staged approach. The contraction of the trajectories at the end of each stage can be performed by taking a structure whose nonequilibrium work is closest to the Jarzynski average (in naive ASMD) or by relaxing the trajectories under a no-work condition (in full-relaxation ASMD--namely, FR-ASMD). Both approaches have been used to determine the energetics and hydrogen-bonding structure along the pathway for unfolding of a benchmark peptide initially constrained as an α-helix in a water environment. The energetics are quite different to those in vacuum, but are found to be similar between implicit and explicit solvents. Surprisingly, the hydrogen-bonding pathways are also similar in the implicit and explicit solvents despite the fact that the solvent contact plays an important role in opening the helix.

Waggle: A Framework for Intelligent Attentive Sensing and Actuation

NASA Astrophysics Data System (ADS)

Sankaran, R.; Jacob, R. L.; Beckman, P. H.; Catlett, C. E.; Keahey, K.

2014-12-01

Advances in sensor-driven computation and computationally steered sensing will greatly enable future research in fields including environmental and atmospheric sciences. We will present "Waggle," an open-source hardware and software infrastructure developed with two goals: (1) reducing the separation and latency between sensing and computing and (2) improving the reliability and longevity of sensing-actuation platforms in challenging and costly deployments. Inspired by "deep-space probe" systems, the Waggle platform design includes features that can support longitudinal studies, deployments with varying communication links, and remote management capabilities. Waggle lowers the barrier for scientists to incorporate real-time data from their sensors into their computations and to manipulate the sensors or provide feedback through actuators. A standardized software and hardware design allows quick addition of new sensors/actuators and associated software in the nodes and enables them to be coupled with computational codes both insitu and on external compute infrastructure. The Waggle framework currently drives the deployment of two observational systems - a portable and self-sufficient weather platform for study of small-scale effects in Chicago's urban core and an open-ended distributed instrument in Chicago that aims to support several research pursuits across a broad range of disciplines including urban planning, microbiology and computer science. Built around open-source software, hardware, and Linux OS, the Waggle system comprises two components - the Waggle field-node and Waggle cloud-computing infrastructure. Waggle field-node affords a modular, scalable, fault-tolerant, secure, and extensible platform for hosting sensors and actuators in the field. It supports insitu computation and data storage, and integration with cloud-computing infrastructure. The Waggle cloud infrastructure is designed with the goal of scaling to several hundreds of thousands of Waggle nodes. It supports aggregating data from sensors hosted by the nodes, staging computation, relaying feedback to the nodes and serving data to end-users. We will discuss the Waggle design principles and their applicability to various observational research pursuits, and demonstrate its capabilities.

High-Clearance Six-Wheel Suspension

NASA Technical Reports Server (NTRS)

Bickler, Donald B.

1992-01-01

Multilevered suspension system gives body of vehicle high clearance and allows wheels to be steered independently. Suspension linkages above wheels enable body to skim over obstacles as high as wheel. Levers and independently steered wheels enable vehicle to climb steps 1 1/2 wheel diameters high and cross gaps 1 3/4 wide. Adaptable to off-the-road recreational vehicles, military scout vehicles, and robotic emergency vehicles.

Conditional steering under the von Neumann scenario

NASA Astrophysics Data System (ADS)

Mukherjee, Kaushiki; Paul, Biswajit; Karmakar, Sumana; Sarkar, Debasis; Mukherjee, Amit; Bhattacharya, Some Sankar; Roy, Arup

2017-08-01

In Phys. Lett. A 166, 293 (1992), 10.1016/0375-9601(92)90711-T, Popescu and Rohrlich characterized nonlocality of pure n -partite entangled systems by studying bipartite violation of local realism when n -2 number of parties perform projective measurements on their particles. A pertinent question in this scenario is whether similar characterization is possible for n -partite mixed entangled states also. In the present work we have followed an analogous approach so as to explore whether given a tripartite mixed entangled state the conditional bipartite states obtained by performing projective measurement on the third party demonstrate a weaker form of nonlocality, quantum steering. We also compare this phenomenon of conditional steering with existing notions of tripartite correlations.

High Bandwidth Optical Links for Micro-Satellite Support

NASA Technical Reports Server (NTRS)

Chao, Tien-Hsin (Inventor); Wilson, Keith E. (Inventor); Coste, Keith (Inventor)

2016-01-01

A method, systems, apparatus and device enable high bandwidth satellite communications. An onboard tracking detector, installed in a low-earth orbit satellite, detects a position of an incoming optical beam received/transmitted from a first ground station of one or more ground stations. Tracker electronics determine orientation information of the incoming optical beam based on the position. Control electronics receive the orientation information from the tracker electronics, and control a waveguide drive electronics. The waveguide drive electronics control a voltage that is provided to an electro-optic waveguide beam steering device. The electro-optic waveguide beam steering device steers an outgoing optical beam to one of the one or more ground stations based on the voltage.

Amplitude steered array

NASA Technical Reports Server (NTRS)

Dietrich, F. J.; Koloboff, G. J.; Martel, R. J.; Johnson, C. C. (Inventor)

1974-01-01

A spin stabilized satellite has an electronically despun antenna array comprising a multiplicity of peripheral antenna elements. A high gain energy beam is established by connecting a suitable fraction or array of the elements in phase. The beam is steered or caused to scan by switching elements in sequence into one end of the array as elements at the other end of the array are switched out. The switching transients normally associated with such steering are avoided by an amplitude control system. Instead of abruptly switching from one element to the next, a fixed value of power is gradually transferred from the element at the trailing edge of the array to the element next to the leading edge.

Heuristic approach to the development of ratings and tactics applicable to the one-on-one aerial combat (dogfight) encounter

NASA Technical Reports Server (NTRS)

Hague, D. S.

1977-01-01

Computer simulations of the one-on-one aerial combat encounter are generated under the control of specified guidance laws. Given an initial state, the vehicle and atmospheric characteristics, and the guidance laws, the aerial combat encounter is simulated by forward integration of the two vehicles' motions. The development of a combat guidance law which converts positional advantage into an improved firing opportunity is reported. A combination of lag, line of sight, and lead pursuit steering paths are followed in the guidance law. The law is based on steering error, target angle-off and the relative velocities. It readily is automated either as an onboard aid to manned aircraft pilots or as a combat guidance law for unmanned vehicles.

NASA Tech Briefs, November 1995. Volume 19, No. 11

NASA Technical Reports Server (NTRS)

1995-01-01

The contents include: 1) Mission Accomplished; 2) Resource Report: Marshall Space Flight Center; 3) NASA 1995 Software of the Year Award; 4) Microbolometers Based on Epitaxial YBa2Cu3O(sub 7-x) Thin Films; 5) Garnet Random-Access Memory; 6) Fabrication of SNS Weak Links on SOS Substrates; 7) High-Voltage MOSFET Switching Circuit; 8) Asymmetric Switching for a PWM H-Bridge Power Circuit; 9) Better Ohmic Contacts for InP Semiconductor Devices; 10) Low-Bandgap Thermovoltaic Materials and Devices; 11) Digital Frequency-Differencing Circuit; 12) Imaging Magnetometer; 13) Computer-Assisted Monitoring of a Complex System; 14) Buffered Telemetry Demodulator; 15) Compact Multifunction Inspection Head; 16) Optical Detection of Fractures in Ceramic Diaphragms; 17) Eddy-Current Detection of Cracks in Reinforced Carbon/Carbon; 18) Apparent Thermal Conductivity of Multilayer Insulation; 19) Optimizing Misch-Metal Compositions in Metal Hydride Anodes; 20) Device for Sampling Surface Contamination; 21) Probabilistic Failure Assessment for Fatigue; 22) Probabilistic Fatigue and Flaw-Propagation Analysis; 23) Windows Program for Driving the TDU-850 Printer; 24) Subband/Transform MATLAB Functions for Processing Images; 25) Computing Equilibrium Chemical Compositions; 26) Program Processes Thermocouple Readings; 27) ICAN-Second-Generation Integrated Composite Analyzer; 28) Integrated Composite Analyzer with Damping Capabilities; 29) Computing Efficiency of Transfer of Microwave Power; 30) Program Calculates Power Demands of Electronic Designs; 31) Cost-Estimation Program; 32) Program Estimates Areas Required by Electronic Designs; 33) Program to Balance Mapped Turbopump Assemblies; 34) BiblioTech; 35) Controlling Mirror Tilt With a Bimorph Actuator; 36) Burst-Disk Device Simulates Effect of Pyrotechnic Device; 37) Bearing-Mounting Concept Accommodates Thermal Expansion; 38) Parallel-Plate Acoustic Absorbers for Hot Environments; 39) Adjustable-Length Strut Withstands Large Cyclic Loads; 40) Tool Indicates Contact Angles in Bearing Raceways; 41) Gravity Slides With Magnetic Braking; 42) High-Torque, Lightweight, Pneumatically Driven Wrench for Small Spaces; 43) Device for Testing Compatibility of an O-Ring; 44) Magnetic Heat Pump Containing Flow Diverters; 45) Variable-Tilt Helicopter Rotor Mast; 46) "Beach-Ball" Robotic Rovers; 47) Apparatus Would Measure Temperatures of Ball Bearings; 48) Flexible Borescope for Inspecting Ducts; 49) Texturing Copper To Reduce Secondary Emission of Electrons; 50) Automated Laser Cutting in Three Dimensions; 51) Algorithm Helps Monitor Engine Operation; 52) Flexible Revision of Data-Processing Communications; 53) Software for Managing the Use of Land; 54) Thermal Strap Increases Cryocooling Efficiency; 55) Reversible Nut With Engagement Indication; 56) Control Algorithms for Kinematically Redundant Manipulators; 57) Computed Hydrogen-Flow Splits in a Rocket Engine; 58) Pressure and Thermal Modeling of Rocket Launches; 59) Field of View of a Spacecraft Antenna: Analysis and Software; 60) Digital Controller for Laser-Beam-Steering Subsystem; 61) More About Beam-Steering Subsystem for Laser Communication; 62) Digital Controller for Laser-Beam-Steering Subsystem: Part 2; 63) Interface Circuit Board for Space-Shuttle Communications; 64) Automated Planning of Spacecraft Telecommunications; 65) Artifacts of Spectral Analysis of Instrument Readings; 66) Neural-Network Controller for Vibration Suppression; 67) Adaptive Finite-Element Computation in Fracture Mechanics; 68) Attitude Control for the Cassini Spacecraft; 69) Analytical Model for Fluid Dynamics in a Microgravity Environment; 70) Study of Rocket-Engine Joints Bonded by NVCU/NARloy-Z; 71) Improved Silicon Nitride for Advanced Heat Engines; 72) Parameters for Welding Aluminum/Lithium Alloys; 73) Lightweight Composite Intertank Structure; 74) Foil Patches Seal Small Vacuum Leaks; 75) Data Base on Cables and Connectors; 76) Effect of Clock Mode on Radiation Hardnessf an ADC; and 77) Fault-Tolerant Control for a Robotic Inspection System.

Analysis of explicit model predictive control for path-following control

PubMed Central

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration. PMID:29534080

Analysis of explicit model predictive control for path-following control.

PubMed

Lee, Junho; Chang, Hyuk-Jun

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration.

Crossbred steer temperament as yearlings and whole genome association of steer temperament as yearlings and calf temperament post-weaning.

PubMed

Riley, D G; Gill, C A; Boldt, C R; Funkhouser, R R; Herring, A D; Riggs, P K; Sawyer, J E; Lunt, D K; Sanders, J O

2016-04-01

cattle often have the reputation for a poor or dangerous temperament. Identification of genomic regions that associate with temperament of such cattle may be useful for genetic improvement strategies. The objectives of this study were to evaluate subjective temperament scores (1 to 9; higher scores indicated more unfavorable temperament) for aggressiveness, nervousness, flightiness, gregariousness, and overall temperament of one-half steers in feedlot conditions at 1 yr of age and compare those scores of those steers when evaluated approximately 1 mo postweaning, and conduct whole genome association analyses using SNP markers and the temperament traits of those steers at 1 yr of age and for temperament traits of all calves at weaning. Contemporary groups ( < 0.001) were steers born in the same year and season, and fed in the same feedlot pen. Aggressiveness of steers at 1 yr of age was not associated with aggressiveness at weaning (linear regression coefficient did not differ from 0; = 0.96), but regressions of all other yearling scores of steers on the scores at weaning were positive (coefficients ranged from 0.26 ± 0.04 to 0.32 ± 0.04; < 0.001). Estimates of Pearson correlation coefficients (using unadjusted values and residual values) of the different traits measured at 1 yr of age were large ( > 0.63; < 0.008) except for aggressiveness with nervousness, flightiness, or gregariousness, which did not differ from 0 ( > 0.1). Five SNP on BTA 1, 24, and 29 had suggestive associations (0.17 < [adjusted for FDR] < 0.24) with aggressiveness, nervousness, or flightiness at evaluation postweaning and 13 SNP on 11 chromosomes had suggestive associations (0.07 < [adjusted for FDR] < 0.24) with aggressiveness, nervousness, flightiness, or overall temperament score of steers at 1 yr of age. Genes close to these loci with roles in neural systems of various organisms included synaptotagmin 4 (BTA 24), FAT atypical cadhedrin 3 (BTA 29), tubulin tyrosine ligase-like 1 (BTA 5), spermatogenesis associated 17 (BTA 16), stanniocalcin 2 (BTA 20), and GABA receptor γ 3 (BTA 21).

Relationship between residual feed intake and lymphocyte mitochondrial complex protein concentration and ratio in crossbred steers.

PubMed

Davis, M P; Brooks, M A; Kerley, M S

2016-04-01

Rate of oxygen uptake by muscle mitochondria and respiratory chain protein concentrations differed between high- and low-residual feed intake (RFI) animals. The hypothesis of this research was that complex I (CI), II (CII), and III (CIII) mitochondria protein concentrations in lymphocyte (blood) mitochondria were related to the RFI phenotype of beef steers. Daily feed intake (ADFI) was individually recorded for 92 Hereford-crossbreed steers over 63 d using GrowSafe individual feed intake system. Predicted ADFI was calculated as the regression of ADFI on ADG and midtest BW. Difference between ADFI and predicted ADFI was RFI. Lymphocytes were isolated from low-RFI (-1.32 ± 0.11 kg/d; = 10) and high-RFI (1.34 ± 0.18 kg/d; = 8) steers. Immunocapture of CI, CII, and CIII proteins from the lymphocyte was done using MitoProfile CI, CII, and CIII immunocapture kits (MitoSciences Inc., Eugene, OR). Protein concentrations of CI, CII, and CIII and total protein were quantified using bicinchoninic acid colorimetric procedures. Low-RFI steers consumed 30% less ( = 0.0004) feed and had a 40% improvement ( < 0.0001) in feed efficiency compared with high-RFI steers with similar growth ( = 0.78) and weight measurements ( > 0.65). High- and low-RFI steers did not differ in CI ( = 0.22), CII ( = 0.69), and CIII ( = 0.59) protein concentrations. The protein concentration ratios for CI to CII ( = 0.03) were 20% higher and the ratios of CI to CIII ( = 0.01) were 30% higher, but the ratios of CII to CIII ( = 0.89) did not differ when comparing low-RFI steers with high-RFI steers. The similar magnitude difference in feed intake, feed efficiency measurements, and CI-to-CIII ratio between RFI phenotypes provides a plausible explanation for differences between the phenotypes. We also concluded that mitochondria isolated from lymphocytes could be used to study respiratory chain differences among differing RFI phenotypes. Further research is needed to determine if lymphocyte mitochondrial complex proteins can be used for identification of RFI phenotype.

Effect of supplemental vitamin D3 concentration on concentrations of calcium, phosphorus, and magnesium relative to protein in subcellular components of the longissimus and the distribution of calcium within longissimus muscle of beef steers.

PubMed

Montgomery, J L; Blanton, J R; Horst, R L; Galyean, M L; Morrow, K J; Allen, V G; Wester, D B; Miller, M F

2004-09-01

The effect of supplementing diets with various levels of vitamin D3 to provide 0, 0.5, 1, and 5 million IU/(steer x d) for 8 d before slaughter on the mineral content and localization of Ca in LM and muscle fragments was studied during the postmortem aging process. Twelve feedlot steers of three biological types were given access to the four levels of vitamin D for 8 d before slaughter. Differential centrifugation techniques were used to determine the concentrations of minerals relative to protein in different muscle fragments on d 3 and 21 postmortem. Electron microscopy visualization of bound Ca indicated that vitamin D3 mobilized Ca from the sarcoplasmic reticulum and transverse tubule system into the myofibrils. Bound Ca was concentrated near the Z-line at the A-band/I-band juncture within the sarcomere. Supplementing steers with 1 and 5 million IU/(steer x d) of vitamin D3 increased (P < 0.05) Ca, P, and Mg concentrations per unit of protein in the cytosol. Soluble cytosolic Ca concentrations were greater (P < 0.05) on d 21 than on d 3 postmortem only when steers were supplemented with 5 million IU/d. Concentrations of Ca, P, and Mg in isolated tissues were increased (P < 0.05) in nuclei and myofibrilar proteins by supplementing steers with 1 and 5 million IU/ (steer x d) of vitamin D3. All supplemental vitamin D3 treatments also increased (P < 0.001) Mg concentrations in the cytosol, regardless of aging treatment, and increased Mg concentrations (P < 0.04) within the mitochondria at d 3 postmortem. Thus, supplementation of feedlot steers with vitamin D3 at levels of 0.5 to 5 million IU/(steer x d) increased Ca concentrations within respiring muscle, resulting in increased bound tissue Ca concentrations. When the respiring muscle was converted to meat, the increased bound tissue Ca resulting from vitamin D3 treatment released Ca concentrations into the cytosol during aging (P < 0.05). Results of this study indicate that vitamin D3 supplementation increased total cytosolic Ca, P, and Mg concentrations in meat.

Investigating Einstein-Podolsky-Rosen steering of continuous-variable bipartite states by non-Gaussian pseudospin measurements

NASA Astrophysics Data System (ADS)

Xiang, Yu; Xu, Buqing; Mišta, Ladislav; Tufarelli, Tommaso; He, Qiongyi; Adesso, Gerardo

2017-10-01

Einstein-Podolsky-Rosen (EPR) steering is an asymmetric form of correlations which is intermediate between quantum entanglement and Bell nonlocality, and can be exploited as a resource for quantum communication with one untrusted party. In particular, steering of continuous-variable Gaussian states has been extensively studied theoretically and experimentally, as a fundamental manifestation of the EPR paradox. While most of these studies focused on quadrature measurements for steering detection, two recent works revealed that there exist Gaussian states which are only steerable by suitable non-Gaussian measurements. In this paper we perform a systematic investigation of EPR steering of bipartite Gaussian states by pseudospin measurements, complementing and extending previous findings. We first derive the density-matrix elements of two-mode squeezed thermal Gaussian states in the Fock basis, which may be of independent interest. We then use such a representation to investigate steering of these states as detected by a simple nonlinear criterion, based on second moments of the correlation matrix constructed from pseudospin operators. This analysis reveals previously unexplored regimes where non-Gaussian measurements are shown to be more effective than Gaussian ones to witness steering of Gaussian states in the presence of local noise. We further consider an alternative set of pseudospin observables, whose expectation value can be expressed more compactly in terms of Wigner functions for all two-mode Gaussian states. However, according to the adopted criterion, these observables are found to be always less sensitive than conventional Gaussian observables for steering detection. Finally, we investigate continuous-variable Werner states, which are non-Gaussian mixtures of Gaussian states, and find that pseudospin measurements are always more effective than Gaussian ones to reveal their steerability. Our results provide useful insights on the role of non-Gaussian measurements in characterizing quantum correlations of Gaussian and non-Gaussian states of continuous-variable quantum systems.

Recipes for free energy calculations in biomolecular systems.

PubMed

Moradi, Mahmoud; Babin, Volodymyr; Sagui, Celeste; Roland, Christopher

2013-01-01

During the last decade, several methods for sampling phase space and calculating various free energies in biomolecular systems have been devised or refined for molecular dynamics (MD) simulations. Thus, state-of-the-art methodology and the ever increasing computer power allow calculations that were forbidden a decade ago. These calculations, however, are not trivial as they require knowledge of the methods, insight into the system under study, and, quite often, an artful combination of different methodologies in order to avoid the various traps inherent in an unknown free energy landscape. In this chapter, we illustrate some of these concepts with two relatively simple systems, a sugar ring and proline oligopeptides, whose free energy landscapes still offer considerable challenges. In order to explore the configurational space of these systems, and to surmount the various free energy barriers, we combine three complementary methods: a nonequilibrium umbrella sampling method (adaptively biased MD, or ABMD), replica-exchange molecular dynamics (REMD), and steered molecular dynamics (SMD). In particular, ABMD is used to compute the free energy surface of a set of collective variables; REMD is used to improve the performance of ABMD, to carry out sampling in space complementary to the collective variables, and to sample equilibrium configurations directly; and SMD is used to study different transition mechanisms.

Multipass Steering: A Reference Implementation

NASA Astrophysics Data System (ADS)

Hennessey, Michael; Tiefenback, Michael

2015-10-01

We introduce a reference implementation of a protocol to compute corrections that bring all beams in one of the CEBAF linear accelerators (linac) to axis, including, with a larger tolerance, the lowest energy pass using measured beam trajectory data. This method relies on linear optics as representation of the system; we treat beamline perturbations as magnetic field errors localized to regions between cryomodules, providing the same transverse momentum kick to each beam. We produce a vector of measured beam position data with which we left-multiply the pseudo-inverse of a coefficient array, A, that describes the transport of the beam through the linac using parameters that include the magnetic offsets of the quadrupole magnets, the instrumental offsets of the BPMs, and the beam initial conditions. This process is repeated using a reduced array to produce values that can be applied to the available correcting magnets and beam initial conditions. We show that this method is effective in steering the beam to a straight axis along the linac by using our values in elegant, the accelerator simulation program, on a model of the linac in question. The algorithms in this reference implementation provide a tool for systematic diagnosis and cataloging of perturbations in the beam line. Supported by Jefferson Lab, Old Dominion University, NSF, DOE.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots.

PubMed

Lee, Wonki; Kim, DaeEun

2017-11-25

This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions. Among many interesting tasks that may be performed using swarm robots, we propose a biologically-inspired control law for a shepherding task, whereby a group of external agents drives another group of agents to a desired location. First, we generated sheep-like robots that act like a flock. We assume that each agent is capable of measuring the relative location and velocity to each of its neighbors within a limited sensing area. Then, we designed a control strategy for shepherd-like robots that have information regarding where to go and a steering ability to control the flock, according to the robots' position relative to the flock. We define several independent behavior rules; each agent calculates to what extent it will move by summarizing each rule. The flocking sheep agents detect the steering agents and try to avoid them; this tendency leads to movement of the flock. Each steering agent only needs to focus on guiding the nearest flocking agent to the desired location. Without centralized coordination, multiple steering agents produce an arc formation to control the flock effectively. In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated. From simulation results with multiple robots, we show that each robot performs actions for the shepherding behavior, and only a few steering agents are needed to control the whole flock. The results are displayed in maps that trace the paths of the flock and steering robots. Performance is evaluated via time cost and path accuracy to demonstrate the effectiveness of this approach.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots

PubMed Central

Lee, Wonki; Kim, DaeEun

2017-01-01

This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions. Among many interesting tasks that may be performed using swarm robots, we propose a biologically-inspired control law for a shepherding task, whereby a group of external agents drives another group of agents to a desired location. First, we generated sheep-like robots that act like a flock. We assume that each agent is capable of measuring the relative location and velocity to each of its neighbors within a limited sensing area. Then, we designed a control strategy for shepherd-like robots that have information regarding where to go and a steering ability to control the flock, according to the robots’ position relative to the flock. We define several independent behavior rules; each agent calculates to what extent it will move by summarizing each rule. The flocking sheep agents detect the steering agents and try to avoid them; this tendency leads to movement of the flock. Each steering agent only needs to focus on guiding the nearest flocking agent to the desired location. Without centralized coordination, multiple steering agents produce an arc formation to control the flock effectively. In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated. From simulation results with multiple robots, we show that each robot performs actions for the shepherding behavior, and only a few steering agents are needed to control the whole flock. The results are displayed in maps that trace the paths of the flock and steering robots. Performance is evaluated via time cost and path accuracy to demonstrate the effectiveness of this approach. PMID:29186836

Real-time optical flow estimation on a GPU for a skied-steered mobile robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-04-01

Accurate egomotion estimation is required for mobile robot navigation. Often the egomotion is estimated using optical flow algorithms. For an accurate estimation of optical flow most of modern algorithms require high memory resources and processor speed. However simple single-board computers that control the motion of the robot usually do not provide such resources. On the other hand, most of modern single-board computers are equipped with an embedded GPU that could be used in parallel with a CPU to improve the performance of the optical flow estimation algorithm. This paper presents a new Z-flow algorithm for efficient computation of an optical flow using an embedded GPU. The algorithm is based on the phase correlation optical flow estimation and provide a real-time performance on a low cost embedded GPU. The layered optical flow model is used. Layer segmentation is performed using graph-cut algorithm with a time derivative based energy function. Such approach makes the algorithm both fast and robust in low light and low texture conditions. The algorithm implementation for a Raspberry Pi Model B computer is discussed. For evaluation of the algorithm the computer was mounted on a Hercules mobile skied-steered robot equipped with a monocular camera. The evaluation was performed using a hardware-in-the-loop simulation and experiments with Hercules mobile robot. Also the algorithm was evaluated using KITTY Optical Flow 2015 dataset. The resulting endpoint error of the optical flow calculated with the developed algorithm was low enough for navigation of the robot along the desired trajectory.

Meat Production in a Feedlot System of Zebu—Holstein Steers and Heifers with Dairy Genetics: Productive and Biological Analyses

PubMed Central

Menezes, Gustavo Chamon de Castro; Valadares Filho, Sebastião de Campos; Ruas, José Reinaldo Mendes; Detmann, Edenio; Menezes, Arismar de Castro; Zanett, Diego; Mariz, Lays Débora Silva; Rennó, Luciana Navajas; da Silva Junior, Jarbas Miguel

2014-01-01

The aim of this study was to evaluate the productive and biological efficiency of steers and heifers from dairy genetics in a feedlot system in terms of meat production. Twenty-four steers and 24 heifers at 10 monthes of age, (3/4) Zebu × (1/4) Holstein were utilized. They were distributed over four feedlot times, 30, 60, 90, and 120 days with four replications for each sex, and were slaughtered at the end of each period. The productive and biological analyses were performed through comparative slaughter to determine the body composition. Heifers presented with greater intakes (P < 0.05) of dry matter in grams per kg of body weight. Steers presented with a greater (P < 0.05) final empty body weight, carcass gain, cold carcass weight, and meat proportion in the carcass; however, heifers presented with a greater subcutaneous fat thickness (P < 0.05) and, consequently, a greater (P < 0.05) fat proportion in the carcass. We conclude that steers are more efficient in their productive performance than heifers in a feedlot. For the finishing carcass fat cover, heifers need 90 days in the feedlot. The net energy requirements for maintenance are 67 kcal/EBW0.75/d, and the net requirements of energy (NEg) and protein (NPg) for gain can be estimated by the following equations: NEg(Mcal/d) = 0.067 × EBW0.75 × EBG1.095 and NPg = 162 × EBG − 5.62 × RE for the two sexes. PMID:25574483