Constrained incremental predictive controller design for a flexible joint robot.
Ghahramani, Nemat Ollah; Towhidkhah, Farzad
2009-07-01
In this paper, an improved predictive control algorithm for controlling a typical nonlinear flexible-joint robot (FJR) with input constraint is proposed. The receding horizon algorithm, called generalized incremental predictive control (GIPC), utilizes both present and previous states rather than present states only. The GIPC algorithm includes the weighted difference of the current and the previous states and the summation of the control action increments. In order to illustrate the effectiveness of the proposed control strategy, it is implemented to the FJR and the results are compared with those of generalized predictive control (GPC). It is demonstrated that the proposed GIPC algorithm is more robust than the standard GPC method. Furthermore, the constrained GIPC algorithm using the quadratic programming removes instabilities caused by actuator saturation.
Constrained model predictive control, state estimation and coordination
NASA Astrophysics Data System (ADS)
Yan, Jun
In this dissertation, we study the interaction between the control performance and the quality of the state estimation in a constrained Model Predictive Control (MPC) framework for systems with stochastic disturbances. This consists of three parts: (i) the development of a constrained MPC formulation that adapts to the quality of the state estimation via constraints; (ii) the application of such a control law in a multi-vehicle formation coordinated control problem in which each vehicle operates subject to a no-collision constraint posed by others' imperfect prediction computed from finite bit-rate, communicated data; (iii) the design of the predictors and the communication resource assignment problem that satisfy the performance requirement from Part (ii). Model Predictive Control (MPC) is of interest because it is one of the few control design methods which preserves standard design variables and yet handles constraints. MPC is normally posed as a full-state feedback control and is implemented in a certainty-equivalence fashion with best estimates of the states being used in place of the exact state. However, if the state constraints were handled in the same certainty-equivalence fashion, the resulting control law could drive the real state to violate the constraints frequently. Part (i) focuses on exploring the inclusion of state estimates into the constraints. It does this by applying constrained MPC to a system with stochastic disturbances. The stochastic nature of the problem requires re-posing the constraints in a probabilistic form. In Part (ii), we consider applying constrained MPC as a local control law in a coordinated control problem of a group of distributed autonomous systems. Interactions between the systems are captured via constraints. First, we inspect the application of constrained MPC to a completely deterministic case. Formation stability theorems are derived for the subsystems and conditions on the local constraint set are derived in order to
Interpolation techniques in robust constrained model predictive control
NASA Astrophysics Data System (ADS)
Kheawhom, Soorathep; Bumroongsri, Pornchai
2017-05-01
This work investigates interpolation techniques that can be employed on off-line robust constrained model predictive control for a discrete time-varying system. A sequence of feedback gains is determined by solving off-line a series of optimal control optimization problems. A sequence of nested corresponding robustly positive invariant set, which is either ellipsoidal or polyhedral set, is then constructed. At each sampling time, the smallest invariant set containing the current state is determined. If the current invariant set is the innermost set, the pre-computed gain associated with the innermost set is applied. If otherwise, a feedback gain is variable and determined by a linear interpolation of the pre-computed gains. The proposed algorithms are illustrated with case studies of a two-tank system. The simulation results showed that the proposed interpolation techniques significantly improve control performance of off-line robust model predictive control without much sacrificing on-line computational performance.
NASA Astrophysics Data System (ADS)
Liu, Kailong; Li, Kang; Zhang, Cheng
2017-04-01
Battery temperature is a primary factor affecting the battery performance, and suitable battery temperature control in particular internal temperature control can not only guarantee battery safety but also improve its efficiency. This is however challenging as current controller designs for battery charging have no mechanisms to incorporate such information. This paper proposes a novel battery charging control strategy which applies the constrained generalized predictive control (GPC) to charge a LiFePO4 battery based on a newly developed coupled thermoelectric model. The control target primarily aims to maintain the battery cell internal temperature within a desirable range while delivering fast charging. To achieve this, the coupled thermoelectric model is firstly introduced to capture the battery behaviours in particular SOC and internal temperature which are not directly measurable in practice. Then a controlled auto-regressive integrated moving average (CARIMA) model whose parameters are identified by the recursive least squares (RLS) algorithm is developed as an online self-tuning predictive model for a GPC controller. Then the constrained generalized predictive controller is developed to control the charging current. Experiment results confirm the effectiveness of the proposed control strategy. Further, the best region of heat dissipation rate and proper internal temperature set-points are also investigated and analysed.
NASA Astrophysics Data System (ADS)
Witheephanich, K.; Escaño, J. M.; Hayes, M. J.
2011-08-01
This work considers the problem of controlling transmit power within a wireless sensor network (WSN), where the practical constraints typically posed by an ambulatory healthcare setting are explicitly taken into account, as a constrained received signal strength indicator (RSSI) tracking control problem. The problem is formulated using an explicit generalised predictive control (GPC) strategy for dynamic transmission power control that ensures a balance between energy consumption and quality of service (QoS) through the creation of a stable floor on information throughput. Optimal power assignment is achieved by an explicit solution of the constrained GPC problem that is computed off-line using a multi-parametric quadratic program (mpQP). The solution is shown to be a piecewise-affine function. The new design is demonstrated to be practically feasible via a resource-constrained, fully IEEE 802.15.4 compliant, Moteiv's Tmote Sky sensor node platform. Design utility is benchmarked experimentally using a representative selection of scaled ambulatory scenarios.
On robustness of constrained non-linear H ∞ predictive controllers with disturbances
NASA Astrophysics Data System (ADS)
He, De-Feng; Ji, Hai-Bo; Zheng, Tao
2010-02-01
This article considers the robustness problem of H ∞ model predictive controllers for constrained non-linear discrete-time systems subject to disturbances, which are dependent on the system state and input. The notions of input-to-state stability and finite L 2-gain of non-linear systems are introduced and exploited to investigate the robustness properties of this predictive controller under the state and input constraints and the disturbance. Moreover, this robustness of the controller is extended to the case of suboptimality of the solution. With its feasibility at initial time, the feasibility of the online optimisation problem is guaranteed for all times in the presence of disturbances and constraints. Finally, an example is employed to illustrate the proposed results.
NASA Astrophysics Data System (ADS)
Li, Huiping; Shi, Yang
2013-04-01
This article investigates a class of constrained nonlinear networked control systems (NCSs) subject to external disturbances, input and state constraints and network-induced constraints. From a practical perspective, the network-induced constraints considered include the time delays and packet dropouts on both the sensor-to-controller (S-C) channel and the controller-to-actuator (C-A) channel simultaneously. The min-max model predictive control method is proposed to design the control packets by incorporating the external disturbances into the optimisation problem. Moreover, the input-to-state practical stability of the resulting nonlinear NCS is established by constructing a novel Lyapunov function. Finally, the simulation results and the comparison studies are presented to demonstrate the effectiveness and improvement of the proposed method.
Stock management in hospital pharmacy using chance-constrained model predictive control.
Jurado, I; Maestre, J M; Velarde, P; Ocampo-Martinez, C; Fernández, I; Tejera, B Isla; Prado, J R Del
2016-05-01
One of the most important problems in the pharmacy department of a hospital is stock management. The clinical need for drugs must be satisfied with limited work labor while minimizing the use of economic resources. The complexity of the problem resides in the random nature of the drug demand and the multiple constraints that must be taken into account in every decision. In this article, chance-constrained model predictive control is proposed to deal with this problem. The flexibility of model predictive control allows taking into account explicitly the different objectives and constraints involved in the problem while the use of chance constraints provides a trade-off between conservativeness and efficiency. The solution proposed is assessed to study its implementation in two Spanish hospitals. Copyright © 2015 Elsevier Ltd. All rights reserved.
NASA Astrophysics Data System (ADS)
Pin, G.; Filippo, M.; Pellegrino, F. A.; Fenu, G.; Parisini, T.
2013-05-01
The objective of this work consists in the offline approximation of possibly discontinuous model predictive control laws for nonlinear discrete-time systems, while enforcing hard constraints on state and input variables. Obtaining an offline approximation of the receding horizon control law may lead to a very significant reduction of the online computational burden with respect to algorithms based on iterated optimization, thus allowing the application to fast dynamics plants. The proposed approximation scheme allows to cope with discontinuous control laws, such as those arising from constrained nonlinear finite horizon optimal control problems. A detailed stability analysis of the closed-loop system driven by the approximated state-feedback controller shows that the devised technique guarantees the input-to-state practical stability with respect to the (non-fading) approximation-induced errors. Two examples are provided to show the effectiveness of the method when the approximator is chosen either as a discontinuous nearest point function or as a smooth neural network.
Nery, Gesner A; Martins, Márcio A F; Kalid, Ricardo
2014-03-01
This paper describes the development of a method to optimally tune constrained MPC algorithms with model uncertainty. The proposed method is formulated by using the worst-case control scenario, which is characterized by the Morari resiliency index and the condition number, and a given nonlinear multi-objective performance criterion. The resulting constrained mixed-integer nonlinear optimization problem is solved on the basis of a modified version of the particle swarm optimization technique, because of its effectiveness in dealing with this kind of problem. The performance of this PSO-based tuning method is evaluated through its application to the well-known Shell heavy oil fractionator process.
Constrained control allocation
NASA Technical Reports Server (NTRS)
Durham, Wayne C.
1992-01-01
This paper addresses the problem of the allocation of several flight controls to the generation of specified body-axis moments. The number of controls is greater than the number of moments being controlled, and the ranges of the controls are constrained to certain limits. The controls are assumed to be individually linear in their effect throughout their ranges of motion, and independent of one another in their effects. The geometries of the subset of the constrained controls and of its image in moment space are examined. A direct method of allocating these several controls is presented, that guarantees the maximum possible moment is generated within the constraints of the controls. The results are illustrated by an example problem involving three controls and two moments.
NASA Technical Reports Server (NTRS)
Cabell, Randolph H.; Gibbs, Gary P.
2000-01-01
make the controller adaptive. For example, a mathematical model of the plant could be periodically updated as the plant changes, and the feedback gains recomputed from the updated model. To be practical, this approach requires a simple plant model that can be updated quickly with reasonable computational requirements. A recent paper by the authors discussed one way to simplify a feedback controller, by reducing the number of actuators and sensors needed for good performance. The work was done on a tensioned aircraft-style panel excited on one side by TBL flow in a low speed wind tunnel. Actuation was provided by a piezoelectric (PZT) actuator mounted on the center of the panel. For sensing, the responses of four accelerometers, positioned to approximate the response of the first radiation mode of the panel, were summed and fed back through the controller. This single input-single output topology was found to have nearly the same noise reduction performance as a controller with fifteen accelerometers and three PZT patches. This paper extends the previous results by looking at how constrained layer damping (CLD) on a panel can be used to enhance the performance of the feedback controller thus providing a more robust and efficient hybrid active/passive system. The eventual goal is to use the CLD to reduce sound radiation at high frequencies, then implement a very simple, reduced order, low sample rate adaptive controller to attenuate sound radiation at low frequencies. Additionally this added damping smoothes phase transitions over the bandwidth which promotes robustness to natural frequency shifts. Experiments were conducted in a transmission loss facility on a clamped-clamped aluminum panel driven on one side by a loudspeaker. A generalized predictive control (GPC) algorithm, which is suited to online adaptation of its parameters, was used in single input-single output and multiple input-single output configurations. Because this was a preliminary look at the potential
Zhao, Meng; Ding, Baocang
2015-03-01
This paper considers the distributed model predictive control (MPC) of nonlinear large-scale systems with dynamically decoupled subsystems. According to the coupled state in the overall cost function of centralized MPC, the neighbors are confirmed and fixed for each subsystem, and the overall objective function is disassembled into each local optimization. In order to guarantee the closed-loop stability of distributed MPC algorithm, the overall compatibility constraint for centralized MPC algorithm is decomposed into each local controller. The communication between each subsystem and its neighbors is relatively low, only the current states before optimization and the optimized input variables after optimization are being transferred. For each local controller, the quasi-infinite horizon MPC algorithm is adopted, and the global closed-loop system is proven to be exponentially stable.
Liu, Changxin; Gao, Jian; Li, Huiping; Xu, Demin
2017-08-14
The event-triggered control is a promising solution to cyber-physical systems, such as networked control systems, multiagent systems, and large-scale intelligent systems. In this paper, we propose an event-triggered model predictive control (MPC) scheme for constrained continuous-time nonlinear systems with bounded disturbances. First, a time-varying tightened state constraint is computed to achieve robust constraint satisfaction, and an event-triggered scheduling strategy is designed in the framework of dual-mode MPC. Second, the sufficient conditions for ensuring feasibility and closed-loop robust stability are developed, respectively. We show that robust stability can be ensured and communication load can be reduced with the proposed MPC algorithm. Finally, numerical simulations and comparison studies are performed to verify the theoretical results.
Enhanced Constrained Predictive Control for Applications to Autonomous Vehicles and Missions
2016-10-18
vector consisting of control moments and forces, and is the output vector for set-point following. Note that the state, control, and output matrices ...are time-varying, though there are cases when these matrices are constant (an example being when the chief is not spinning, 0). Due to the...0 and 0 are state error and control weighting matrices . This linear quadratic (LQ) feedback approach is known as periodic linear quadratic
Tang, Xiaoming; Qu, Hongchun; Wang, Ping; Zhao, Meng
2015-03-01
This paper investigates the off-line synthesis approach of model predictive control (MPC) for a class of networked control systems (NCSs) with network-induced delays. A new augmented model which can be readily applied to time-varying control law, is proposed to describe the NCS where bounded deterministic network-induced delays may occur in both sensor to controller (S-A) and controller to actuator (C-A) links. Based on this augmented model, a sufficient condition of the closed-loop stability is derived by applying the Lyapunov method. The off-line synthesis approach of model predictive control is addressed using the stability results of the system, which explicitly considers the satisfaction of input and state constraints. Numerical example is given to illustrate the effectiveness of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Chance-constrained model predictive control applied to inventory management in hospitalary pharmacy.
Maestre, Jose Maria; Ocampo-Martinez, Carlos
2014-01-01
This extended abstract addresses the preliminary results of applying uncertainty handling strategies and advanced control techniques to the inventary management of hospitality pharmacy. Inventory management is one of the main tasks that a pharmacy department has to carry out in a hospital. It is a complex problem because it requires to establish a tradeoff between contradictory optimization criteria. The final goal of the proposed research is to update the inventory management system of hospitals such that it is possible to reduce the average inventory while maintaining preestablished clinical guarantees.
Xavier, MA; Trimboli, MS
2015-07-01
This paper introduces a novel application of model predictive control (MPC) to cell-level charging of a lithium-ion battery utilizing an equivalent circuit model of battery dynamics. The approach employs a modified form of the MPC algorithm that caters for direct feed-though signals in order to model near-instantaneous battery ohmic resistance. The implementation utilizes a 2nd-order equivalent circuit discrete-time state-space model based on actual cell parameters; the control methodology is used to compute a fast charging profile that respects input, output, and state constraints. Results show that MPC is well-suited to the dynamics of the battery control problem and further suggest significant performance improvements might be achieved by extending the result to electrochemical models. (C) 2015 Elsevier B.V. All rights reserved.
NASA Astrophysics Data System (ADS)
Xavier, Marcelo A.; Trimboli, M. Scott
2015-07-01
This paper introduces a novel application of model predictive control (MPC) to cell-level charging of a lithium-ion battery utilizing an equivalent circuit model of battery dynamics. The approach employs a modified form of the MPC algorithm that caters for direct feed-though signals in order to model near-instantaneous battery ohmic resistance. The implementation utilizes a 2nd-order equivalent circuit discrete-time state-space model based on actual cell parameters; the control methodology is used to compute a fast charging profile that respects input, output, and state constraints. Results show that MPC is well-suited to the dynamics of the battery control problem and further suggest significant performance improvements might be achieved by extending the result to electrochemical models.
Exploring constrained quantum control landscapes
NASA Astrophysics Data System (ADS)
Moore, Katharine W.; Rabitz, Herschel
2012-10-01
The broad success of optimally controlling quantum systems with external fields has been attributed to the favorable topology of the underlying control landscape, where the landscape is the physical observable as a function of the controls. The control landscape can be shown to contain no suboptimal trapping extrema upon satisfaction of reasonable physical assumptions, but this topological analysis does not hold when significant constraints are placed on the control resources. This work employs simulations to explore the topology and features of the control landscape for pure-state population transfer with a constrained class of control fields. The fields are parameterized in terms of a set of uniformly spaced spectral frequencies, with the associated phases acting as the controls. This restricted family of fields provides a simple illustration for assessing the impact of constraints upon seeking optimal control. Optimization results reveal that the minimum number of phase controls necessary to assure a high yield in the target state has a special dependence on the number of accessible energy levels in the quantum system, revealed from an analysis of the first- and second-order variation of the yield with respect to the controls. When an insufficient number of controls and/or a weak control fluence are employed, trapping extrema and saddle points are observed on the landscape. When the control resources are sufficiently flexible, solutions producing the globally maximal yield are found to form connected "level sets" of continuously variable control fields that preserve the yield. These optimal yield level sets are found to shrink to isolated points on the top of the landscape as the control field fluence is decreased, and further reduction of the fluence turns these points into suboptimal trapping extrema on the landscape. Although constrained control fields can come in many forms beyond the cases explored here, the behavior found in this paper is illustrative of
Testing a Constrained MPC Controller in a Process Control Laboratory
ERIC Educational Resources Information Center
Ricardez-Sandoval, Luis A.; Blankespoor, Wesley; Budman, Hector M.
2010-01-01
This paper describes an experiment performed by the fourth year chemical engineering students in the process control laboratory at the University of Waterloo. The objective of this experiment is to test the capabilities of a constrained Model Predictive Controller (MPC) to control the operation of a Double Pipe Heat Exchanger (DPHE) in real time.…
Testing a Constrained MPC Controller in a Process Control Laboratory
ERIC Educational Resources Information Center
Ricardez-Sandoval, Luis A.; Blankespoor, Wesley; Budman, Hector M.
2010-01-01
This paper describes an experiment performed by the fourth year chemical engineering students in the process control laboratory at the University of Waterloo. The objective of this experiment is to test the capabilities of a constrained Model Predictive Controller (MPC) to control the operation of a Double Pipe Heat Exchanger (DPHE) in real time.…
On the Constrained Attitude Control Problem
NASA Technical Reports Server (NTRS)
Hadaegh, Fred Y.; Kim, Yoonsoo; Mesbahi, Mehran; Singh, Gurkipal
2004-01-01
In this paper, we consider various classes of constrained attitude control (CAC) problem in single and multiple spacecraft settings. After categorizing attitude constraints into four distinct types, we provide an overview of the existing approaches to this problem. We then proceed to further expand on a recent algorithmic approach to the CAC problem. The paper concludes with an example demonstrating the viability of the proposed algorithm for a multiple spacecraft constrained attitude reconfiguration scenario.
On the Constrained Attitude Control Problem
NASA Technical Reports Server (NTRS)
Hadaegh, Fred Y.; Kim, Yoonsoo; Mesbahi, Mehran; Singh, Gurkipal
2004-01-01
In this paper, we consider various classes of constrained attitude control (CAC) problem in single and multiple spacecraft settings. After categorizing attitude constraints into four distinct types, we provide an overview of the existing approaches to this problem. We then proceed to further expand on a recent algorithmic approach to the CAC problem. The paper concludes with an example demonstrating the viability of the proposed algorithm for a multiple spacecraft constrained attitude reconfiguration scenario.
Constrained target controllability of complex networks
NASA Astrophysics Data System (ADS)
Guo, Wei-Feng; Zhang, Shao-Wu; Wei, Ze-Gang; Zeng, Tao; Liu, Fei; Zhang, Jingsong; Wu, Fang-Xiang; Chen, Luonan
2017-06-01
It is of great theoretical interest and practical significance to study how to control a system by applying perturbations to only a few driver nodes. Recently, a hot topic of modern network researches is how to determine driver nodes that allow the control of an entire network. However, in practice, to control a complex network, especially a biological network, one may know not only the set of nodes which need to be controlled (i.e. target nodes), but also the set of nodes to which only control signals can be applied (i.e. constrained control nodes). Compared to the general concept of controllability, we introduce the concept of constrained target controllability (CTC) of complex networks, which concerns the ability to drive any state of target nodes to their desirable state by applying control signals to the driver nodes from the set of constrained control nodes. To efficiently investigate the CTC of complex networks, we further design a novel graph-theoretic algorithm called CTCA to estimate the ability of a given network to control targets by choosing driver nodes from the set of constrained control nodes. We extensively evaluate the CTC of numerous real complex networks. The results indicate that biological networks with a higher average degree are easier to control than biological networks with a lower average degree, while electronic networks with a lower average degree are easier to control than web networks with a higher average degree. We also show that our CTCA can more efficiently produce driver nodes for target-controlling the networks than existing state-of-the-art methods. Moreover, we use our CTCA to analyze two expert-curated bio-molecular networks and compare to other state-of-the-art methods. The results illustrate that our CTCA can efficiently identify proven drug targets and new potentials, according to the constrained controllability of those biological networks.
Prediction of noise constrained optimum takeoff procedures
NASA Technical Reports Server (NTRS)
Padula, S. L.
1980-01-01
An optimization method is used to predict safe, maximum-performance takeoff procedures which satisfy noise constraints at multiple observer locations. The takeoff flight is represented by two-degree-of-freedom dynamical equations with aircraft angle-of-attack and engine power setting as control functions. The engine thrust, mass flow and noise source parameters are assumed to be given functions of the engine power setting and aircraft Mach number. Effective Perceived Noise Levels at the observers are treated as functionals of the control functions. The method is demonstrated by applying it to an Advanced Supersonic Transport aircraft design. The results indicate that automated takeoff procedures (continuously varying controls) can be used to significantly reduce community and certification noise without jeopardizing safety or degrading performance.
Prediction-Correction Algorithms for Time-Varying Constrained Optimization
Dall-Anese, Emiliano; Simonetto, Andrea
2017-07-26
This paper develops online algorithms to track solutions of time-varying constrained optimization problems. Particularly, resembling workhorse Kalman filtering-based approaches for dynamical systems, the proposed methods involve prediction-correction steps to provably track the trajectory of the optimal solutions of time-varying convex problems. The merits of existing prediction-correction methods have been shown for unconstrained problems and for setups where computing the inverse of the Hessian of the cost function is computationally affordable. This paper addresses the limitations of existing methods by tackling constrained problems and by designing first-order prediction steps that rely on the Hessian of the cost function (and do notmore » require the computation of its inverse). In addition, the proposed methods are shown to improve the convergence speed of existing prediction-correction methods when applied to unconstrained problems. Numerical simulations corroborate the analytical results and showcase performance and benefits of the proposed algorithms. A realistic application of the proposed method to real-time control of energy resources is presented.« less
Vibration control through passive constrained layer damping and active control
NASA Astrophysics Data System (ADS)
Lam, Margaretha J.; Inman, Daniel J.; Saunders, William R.
1997-05-01
To add damping to systems, viscoelastic materials (VEM) are added to structures. In order to enhance the damping effects of the VEM, a constraining layer is attached. When this constraining layer is an active element, the treatment is called active constrained layer damping (ACLD). Recently, the investigation of ACLD treatments has shown it to be an effective method of vibration suppression. In this paper, the treatment of a beam with a separate active element and passive constrained layer (PCLD) element is investigated. A Ritz- Galerkin approach is used to obtain discretized equations of motion. The damping is modeled using the GHM method and the system is analyzed in the time domain. By optimizing on the performance and control effort for both the active and passive case, it is shown that this treatment is capable of lower control effort with more inherent damping, and is therefore a better approach to damp vibration.
Vibration control of cylindrical shells using active constrained layer damping
NASA Astrophysics Data System (ADS)
Ray, Manas C.; Chen, Tung-Huei; Baz, Amr M.
1997-05-01
The fundamentals of controlling the structural vibration of cylindrical shells treated with active constrained layer damping (ACLD) treatments are presented. The effectiveness of the ACLD treatments in enhancing the damping characteristics of thin cylindrical shells is demonstrated theoretically and experimentally. A finite element model (FEM) is developed to describe the dynamic interaction between the shells and the ACLD treatments. The FEM is used to predict the natural frequencies and the modal loss factors of shells which are partially treated with patches of the ACLD treatments. The predictions of the FEM are validated experimentally using stainless steel cylinders which are 20.32 cm in diameter, 30.4 cm in length and 0.05 cm in thickness. The cylinders are treated with ACLD patches of different configurations in order to target single or multi-modes of lobar vibrations. The ACLD patches used are made of DYAD 606 visco-elastic layer which is sandwiched between two layers of PVDF piezo-electric films. Vibration attenuations of 85% are obtained with maximum control voltage of 40 volts. Such attenuations are attributed to the effectiveness of the ACLD treatment in increasing the modal damping ratios by about a factor of four over those of conventional passive constrained layer damping (PCLD) treatments. The obtained results suggest the potential of the ACLD treatments in controlling the vibration of cylindrical shells which constitute the major building block of many critical structures such as cabins of aircrafts, hulls of submarines and bodies of rockets and missiles.
CCTOP: a Consensus Constrained TOPology prediction web server.
Dobson, László; Reményi, István; Tusnády, Gábor E
2015-07-01
The Consensus Constrained TOPology prediction (CCTOP; http://cctop.enzim.ttk.mta.hu) server is a web-based application providing transmembrane topology prediction. In addition to utilizing 10 different state-of-the-art topology prediction methods, the CCTOP server incorporates topology information from existing experimental and computational sources available in the PDBTM, TOPDB and TOPDOM databases using the probabilistic framework of hidden Markov model. The server provides the option to precede the topology prediction with signal peptide prediction and transmembrane-globular protein discrimination. The initial result can be recalculated by (de)selecting any of the prediction methods or mapped experiments or by adding user specified constraints. CCTOP showed superior performance to existing approaches. The reliability of each prediction is also calculated, which correlates with the accuracy of the per protein topology prediction. The prediction results and the collected experimental information are visualized on the CCTOP home page and can be downloaded in XML format. Programmable access of the CCTOP server is also available, and an example of client-side script is provided.
Natural enemy interactions constrain pest control in complex agricultural landscapes
Martin, Emily A.; Reineking, Björn; Seo, Bumsuk; Steffan-Dewenter, Ingolf
2013-01-01
Biological control of pests by natural enemies is a major ecosystem service delivered to agriculture worldwide. Quantifying and predicting its effectiveness at large spatial scales is critical for increased sustainability of agricultural production. Landscape complexity is known to benefit natural enemies, but its effects on interactions between natural enemies and the consequences for crop damage and yield are unclear. Here, we show that pest control at the landscape scale is driven by differences in natural enemy interactions across landscapes, rather than by the effectiveness of individual natural enemy guilds. In a field exclusion experiment, pest control by flying insect enemies increased with landscape complexity. However, so did antagonistic interactions between flying insects and birds, which were neutral in simple landscapes and increasingly negative in complex landscapes. Negative natural enemy interactions thus constrained pest control in complex landscapes. These results show that, by altering natural enemy interactions, landscape complexity can provide ecosystem services as well as disservices. Careful handling of the tradeoffs among multiple ecosystem services, biodiversity, and societal concerns is thus crucial and depends on our ability to predict the functional consequences of landscape-scale changes in trophic interactions. PMID:23513216
Natural enemy interactions constrain pest control in complex agricultural landscapes.
Martin, Emily A; Reineking, Björn; Seo, Bumsuk; Steffan-Dewenter, Ingolf
2013-04-02
Biological control of pests by natural enemies is a major ecosystem service delivered to agriculture worldwide. Quantifying and predicting its effectiveness at large spatial scales is critical for increased sustainability of agricultural production. Landscape complexity is known to benefit natural enemies, but its effects on interactions between natural enemies and the consequences for crop damage and yield are unclear. Here, we show that pest control at the landscape scale is driven by differences in natural enemy interactions across landscapes, rather than by the effectiveness of individual natural enemy guilds. In a field exclusion experiment, pest control by flying insect enemies increased with landscape complexity. However, so did antagonistic interactions between flying insects and birds, which were neutral in simple landscapes and increasingly negative in complex landscapes. Negative natural enemy interactions thus constrained pest control in complex landscapes. These results show that, by altering natural enemy interactions, landscape complexity can provide ecosystem services as well as disservices. Careful handling of the tradeoffs among multiple ecosystem services, biodiversity, and societal concerns is thus crucial and depends on our ability to predict the functional consequences of landscape-scale changes in trophic interactions.
Constrained tracking control for nonlinear systems.
Khani, Fatemeh; Haeri, Mohammad
2017-09-01
This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be estimated off-line for a range of set-point changes. The efficiencies of the proposed algorithm are illustrated via two example simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Active/Passive Control of Sound Radiation from Panels using Constrained Layer Damping
NASA Technical Reports Server (NTRS)
Gibbs, Gary P.; Cabell, Randolph H.
2003-01-01
A hybrid passive/active noise control system utilizing constrained layer damping and model predictive feedback control is presented. This system is used to control the sound radiation of panels due to broadband disturbances. To facilitate the hybrid system design, a methodology for placement of constrained layer damping which targets selected modes based on their relative radiated sound power is developed. The placement methodology is utilized to determine two constrained layer damping configurations for experimental evaluation of a hybrid system. The first configuration targets the (4,1) panel mode which is not controllable by the piezoelectric control actuator, and the (2,3) and (5,2) panel modes. The second configuration targets the (1,1) and (3,1) modes. The experimental results demonstrate the improved reduction of radiated sound power using the hybrid passive/active control system as compared to the active control system alone.
Constrained modes in control theory - Transmission zeros of uniform beams
NASA Technical Reports Server (NTRS)
Williams, T.
1992-01-01
Mathematical arguments are presented demonstrating that the well-established control system concept of the transmission zero is very closely related to the structural concept of the constrained mode. It is shown that the transmission zeros of a flexible structure form a set of constrained natural frequencies for it, with the constraints depending explicitly on the locations and the types of sensors and actuators used for control. Based on this formulation, an algorithm is derived and used to produce dimensionless plots of the zero of a uniform beam with a compatible sensor/actuator pair.
A lexicographic approach to constrained MDP admission control
NASA Astrophysics Data System (ADS)
Panfili, Martina; Pietrabissa, Antonio; Oddi, Guido; Suraci, Vincenzo
2016-02-01
This paper proposes a reinforcement learning-based lexicographic approach to the call admission control problem in communication networks. The admission control problem is modelled as a multi-constrained Markov decision process. To overcome the problems of the standard approaches to the solution of constrained Markov decision processes, based on the linear programming formulation or on a Lagrangian approach, a multi-constraint lexicographic approach is defined, and an online implementation based on reinforcement learning techniques is proposed. Simulations validate the proposed approach.
Constrained time-optimal control of double-integrator system and its application in MPC
NASA Astrophysics Data System (ADS)
Fehér, Marek; Straka, Ondřej; Šmídl, Václav
2017-01-01
The paper deals with the design of a time-optimal controller for systems subject to both state and control constraints. The focus is laid on a double-integrator system, for which the time-to-go function is calculated. The function is then used as a part of a model predictive control criterion where it represents the long-horizon part. The designed model predictive control algorithm is then used in a constrained control problem of permanent magnet synchronous motor model, which behavior can be approximated by a double integrator model. Accomplishments of the control goals are illustrated in a numerical example.
Control of the constrained planar simple inverted pendulum
NASA Technical Reports Server (NTRS)
Bavarian, B.; Wyman, B. F.; Hemami, H.
1983-01-01
Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is tested by digital computer simulation. Pre-compensation by an inverse plant is used to improve performance.
Control of the constrained planar simple inverted pendulum
NASA Technical Reports Server (NTRS)
Bavarian, B.; Wyman, B. F.; Hemami, H.
1983-01-01
Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is tested by digital computer simulation. Pre-compensation by an inverse plant is used to improve performance.
Total energy control system autopilot design with constrained parameter optimization
NASA Technical Reports Server (NTRS)
Ly, Uy-Loi; Voth, Christopher
1990-01-01
A description is given of the application of a multivariable control design method (SANDY) based on constrained parameter optimization to the design of a multiloop aircraft flight control system. Specifically, the design method is applied to the direct synthesis of a multiloop AFCS inner-loop feedback control system based on total energy control system (TECS) principles. The design procedure offers a structured approach for the determination of a set of stabilizing controller design gains that meet design specifications in closed-loop stability, command tracking performance, disturbance rejection, and limits on control activities. The approach can be extended to a broader class of multiloop flight control systems. Direct tradeoffs between many real design goals are rendered systematic by proper formulation of the design objectives and constraints. Satisfactory designs are usually obtained in few iterations. Performance characteristics of the optimized TECS design have been improved, particularly in the areas of closed-loop damping and control activity in the presence of turbulence.
Symmetric stereographic orientation parameters applied to constrained spacecraft attitude control
NASA Astrophysics Data System (ADS)
Southward, Charles M.; Ellis, Joshua R.; Schaub, Hanspeter
2007-09-01
The full kinematic properties of a minimal set of rigid body attitude coordinates called Symmetric Stereographic Orientation Parameters (SSOPs) are developed. These coordinates result from a stereographic projection of the Euler parameter constraint hypersphere onto a three-dimensional hyper-plane. As discussed in previous work [5], this family contains the well-known classical and modified Rodrigues parameters. Considering general SSOP projection points, transformations to the Euler parameters and the direction cosine matrix are discussed. The set of three SSOP coordinates have the unique feature that the associated singularity can be placed at a desired principal rotation angle by adjusting the projection point. In contrast to the Rodrigues parameters, the SSOP coordinates do not represent a unique orientation. The impact of this non-uniqueness on the constrained spacecraft attitude control problem is discussed. An attitude feedback control law in terms of SSOPs will inherently avoid reaching this singular attitude description, and thus constrain the attitude error response to be within a well-defined cone. Lyapunov's direct method is used to illustrate how a SSOP-based control law can be derived to drive the spacecraft attitude away from the singularity and towards a desired orientation. This control law generalizes the previously developed classical and modified Rodrigues parameter-based attitude control laws for general stereographic projection points.
Giovanini, Leonardo L
2003-04-01
In this work a new method for designing predictive controllers for linear single-input/single-output systems is presented. It uses only one prediction of the process output J time intervals ahead to compute the correspondent future error. Then, the predictive feedback controller is defined by introducing a filter which weights the last w predicted errors. In this way, the resulting control action is computed by observing the system future behavior and also by weighting present and past errors. This last feature improves the closed-loop performance to disturbance rejection as shown through simulations of two linear systems and a nonlinear continuous stirred tank reactor.
Stall Recovery Guidance Algorithms Based on Constrained Control Approaches
NASA Technical Reports Server (NTRS)
Stepanyan, Vahram; Krishnakumar, Kalmanje; Kaneshige, John; Acosta, Diana
2016-01-01
Aircraft loss-of-control, in particular approach to stall or fully developed stall, is a major factor contributing to aircraft safety risks, which emphasizes the need to develop algorithms that are capable of assisting the pilots to identify the problem and providing guidance to recover the aircraft. In this paper we present several stall recovery guidance algorithms, which are implemented in the background without interfering with flight control system and altering the pilot's actions. They are using input and state constrained control methods to generate guidance signals, which are provided to the pilot in the form of visual cues. It is the pilot's decision to follow these signals. The algorithms are validated in the pilot-in-the loop medium fidelity simulation experiment.
Digital robust control law synthesis using constrained optimization
NASA Technical Reports Server (NTRS)
Mukhopadhyay, Vivekananda
1989-01-01
Development of digital robust control laws for active control of high performance flexible aircraft and large space structures is a research area of significant practical importance. The flexible system is typically modeled by a large order state space system of equations in order to accurately represent the dynamics. The active control law must satisy multiple conflicting design requirements and maintain certain stability margins, yet should be simple enough to be implementable on an onboard digital computer. Described here is an application of a generic digital control law synthesis procedure for such a system, using optimal control theory and constrained optimization technique. A linear quadratic Gaussian type cost function is minimized by updating the free parameters of the digital control law, while trying to satisfy a set of constraints on the design loads, responses and stability margins. Analytical expressions for the gradients of the cost function and the constraints with respect to the control law design variables are used to facilitate rapid numerical convergence. These gradients can be used for sensitivity study and may be integrated into a simultaneous structure and control optimization scheme.
Constrained ℋ∞ control for low bandwidth active suspensions
NASA Astrophysics Data System (ADS)
Wasiwitono, Unggul; Sutantra, I. Nyoman
2017-08-01
Low Bandwidth Active Suspension (LBAS) is shown to be more competitive to High Bandwidth Active Suspension (HBAS) when energy and cost aspects are taken into account. In this paper, the constrained ℋ∞ control scheme is applied for LBAS system. The ℋ∞ performance is used to measure ride comfort while the concept of reachable set in a state-space ellipsoid defined by a quadratic storage function is used to capture the time domain constraint that representing the requirements for road holding, suspension deflection limitation and actuator saturation. Then, the control problem is derived in the framework of Linear Matrix Inequality (LMI) optimization. The simulation is conducted considering the road disturbance as a stationary random process. The achievable performance of LBAS is analyzed for different values of bandwidth and damping ratio.
NASA Astrophysics Data System (ADS)
McDonough, Kevin K.
these sets for aircraft longitudinal and lateral aircraft dynamics are reported, and it is shown that these sets can be larger in size compared to the more commonly used safe sets. An approach to constrained maneuver planning based on chaining recoverable sets or integral safe sets is described and illustrated with a simulation example. To facilitate the application of this maneuver planning approach in aircraft loss of control (LOC) situations when the model is only identified at the current trim condition but when these sets need to be predicted at other flight conditions, the dependence trends of the safe and recoverable sets on aircraft flight conditions are characterized. The scaling procedure to estimate subsets of safe and recoverable sets at one trim condition based on their knowledge at another trim condition is defined. Finally, two control schemes that exploit integral safe sets are proposed. The first scheme, referred to as the controller state governor (CSG), resets the controller state (typically an integrator) to enforce the constraints and enlarge the set of plant states that can be recovered without constraint violation. The second scheme, referred to as the controller state and reference governor (CSRG), combines the controller state governor with the reference governor control architecture and provides the capability of simultaneously modifying the reference command and the controller state to enforce the constraints. Theoretical results that characterize the response properties of both schemes are presented. Examples are reported that illustrate the operation of these schemes on aircraft flight dynamics models and gas turbine engine dynamic models.
Predicting subsurface uranium transport: Mechanistic modeling constrained by experimental data
NASA Astrophysics Data System (ADS)
Ottman, Michael; Schenkeveld, Walter D. C.; Kraemer, Stephan
2017-04-01
Depleted uranium (DU) munitions and their widespread use throughout conflict zones around the world pose a persistent health threat to the inhabitants of those areas long after the conclusion of active combat. However, little emphasis has been put on developing a comprehensive, quantitative tool for use in remediation and hazard avoidance planning in a wide range of environments. In this context, we report experimental data on U interaction with soils and sediments. Here, we strive to improve existing risk assessment modeling paradigms by incorporating a variety of experimental data into a mechanistic U transport model for subsurface environments. 20 different soils and sediments from a variety of environments were chosen to represent a range of geochemical parameters that are relevant to U transport. The parameters included pH, organic matter content, CaCO3, Fe content and speciation, and clay content. pH ranged from 3 to 10, organic matter content from 6 to 120 g kg-1, CaCO3 from 0 to 700 g kg-1, amorphous Fe content from 0.3 to 6 g kg-1 and clay content from 4 to 580 g kg-1. Sorption experiments were then performed, and linear isotherms were constructed. Sorption experiment results show that among separate sets of sediments and soils, there is an inverse correlation between both soil pH and CaCO¬3 concentration relative to U sorptive affinity. The geological materials with the highest and lowest sorptive affinities for U differed in CaCO3 and organic matter concentrations, as well as clay content and pH. In a further step, we are testing if transport behavior in saturated porous media can be predicted based on adsorption isotherms and generic geochemical parameters, and comparing these modeling predictions with the results from column experiments. The comparison of these two data sets will examine if U transport can be effectively predicted from reactive transport modeling that incorporates the generic geochemical parameters. This work will serve to show
Application of constrained optimization to active control of aeroelastic response
NASA Technical Reports Server (NTRS)
Newsom, J. R.; Mukhopadhyay, V.
1981-01-01
Active control of aeroelastic response is a complex in which the designer usually tries to satisfy many criteria which are often conflicting. To further complicate the design problem, the state space equations describing this type of control problem are usually of high order, involving a large number of states to represent the flexible structure and unsteady aerodynamics. Control laws based on the standard Linear-Quadratic-Gaussian (LQG) method are of the same high order as the aeroelastic plant. To overcome this disadvantage of the LQG mode, an approach developed for designing low order optimal control laws which uses a nonlinear programming algorithm to search for the values of the control law variables that minimize a composite performance index, was extended to the constrained optimization problem. The method involves searching for the values of the control law variables that minimize a basic performance index while satisfying several inequality constraints that describe the design criteria. The method is applied to gust load alleviation of a drone aircraft.
Stable predictive control horizons
NASA Astrophysics Data System (ADS)
Estrada, Raúl; Favela, Antonio; Raimondi, Angelo; Nevado, Antonio; Requena, Ricardo; Beltrán-Carbajal, Francisco
2012-04-01
The stability theory of predictive and adaptive predictive control for processes of linear and stable nature is based on the hypothesis of a physically realisable driving desired trajectory (DDT). The formal theoretical verification of this hypothesis is trivial for processes with a stable inverse, but it is not for processes with an unstable inverse. The extended strategy of predictive control was developed with the purpose of overcoming methodologically this stability problem and it has delivered excellent performance and stability in its industrial applications given a suitable choice of the prediction horizon. From a theoretical point of view, the existence of a prediction horizon capable of ensuring stability for processes with an unstable inverse was proven in the literature. However, no analytical solution has been found for the determination of the prediction horizon values which guarantee stability, in spite of the theoretical and practical interest of this matter. This article presents a new method able to determine the set of prediction horizon values which ensure stability under the extended predictive control strategy formulation and a particular performance criterion for the design of the DDT generically used in many industrial applications. The practical application of this method is illustrated by means of simulation examples.
Luo, Zhongkui; Wang, Enli; Sun, Osbert J
2017-01-23
Pool-based carbon (C) models are widely applied to predict soil C dynamics under global change and infer underlying mechanisms. However, it is unclear about the credibility of model-predicted C pool size, decay rate (k) and/or microbial C use efficiency (e) as only data on bulked total C is usually available for model-constraining. Using observing system simulation experiments (OSSE), we constrained a two-pool model using simulated datasets of total soil C dynamics under topical hypotheses on responses of soil C dynamics to warming and elevated CO2 (i.e., global change scenarios). The results indicated that the model predicted great uncertainties in C pool size, k and e under all global change scenarios, resulting in the difficulty to correctly infer the presupposed "real" values of those parameters that are used to generate the simulated total soil C for constraining the model. Furthermore, the model using the constrained parameters generated divergent future soil C dynamics. Compared with the predictions using the presupposed real parameters (i.e., the real future C dynamics), the percentage uncertainty in 100-year predictions using the constrained parameters was up to 45% depending on global change scenarios and data availability for model-constraining. Such great uncertainty was mainly due to the high collinearity among the model parameters. Using pool-based models, we argue that soil C pool size, k and/or e and their responses to global change have to be estimated explicitly and empirically, rather than through model-fitting, in order to accurately predict C dynamics and infer underlying mechanisms. The OSSE approach provides a powerful way to identify data requirement for the new generation of model development and test model performance. This article is protected by copyright. All rights reserved.
Deadbeat Predictive Controllers
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Phan, Minh
1997-01-01
Several new computational algorithms are presented to compute the deadbeat predictive control law. The first algorithm makes use of a multi-step-ahead output prediction to compute the control law without explicitly calculating the controllability matrix. The system identification must be performed first and then the predictive control law is designed. The second algorithm uses the input and output data directly to compute the feedback law. It combines the system identification and the predictive control law into one formulation. The third algorithm uses an observable-canonical form realization to design the predictive controller. The relationship between all three algorithms is established through the use of the state-space representation. All algorithms are applicable to multi-input, multi-output systems with disturbance inputs. In addition to the feedback terms, feed forward terms may also be added for disturbance inputs if they are measurable. Although the feedforward terms do not influence the stability of the closed-loop feedback law, they enhance the performance of the controlled system.
A dispersal-constrained habitat suitability model for predicting invasion of alpine vegetation.
Williams, Nicholas S G; Hahs, Amy K; Morgan, John W
2008-03-01
Developing tools to predict the location of new biological invasions is essential if exotic species are to be controlled before they become widespread. Currently, alpine areas in Australia are largely free of exotic plant species but face increasing pressure from invasive species due to global warming and intensified human use. To predict the potential spread of highly invasive orange hawkweed (Hieracium aurantiacum) from existing founder populations on the Bogong High Plains in southern Australia, we developed an expert-based, spatially explicit, dispersal-constrained, habitat suitability model. The model combines a habitat suitability index, developed from disturbance, site wetness, and vegetation community parameters, with a phenomenological dispersal kernel that uses wind direction and observed dispersal distances. After generating risk maps that defined the relative suitability of H. aurantiacum establishment across the study area, we intensively searched several locations to evaluate the model. The highest relative suitability for H. aurantiacum establishment was southeast from the initial infestations. Native tussock grasslands and disturbed areas had high suitability for H. aurantiacum establishment. Extensive field searches failed to detect new populations. Time-step evaluation using the location of populations known in 1998-2000, accurately assigned high relative suitability for locations where H. aurantiacum had established post-2003 (AUC [area under curve] = 0.855 +/- 0.035). This suggests our model has good predictive power and will improve the ability to detect populations and prioritize areas for ongoing monitoring.
A directionally constrained adaptive array with phase-only control
NASA Astrophysics Data System (ADS)
Kikuma, N.; Takao, K.
1985-05-01
An adaptive antenna array system with phase-only control and under the principle of DCMP (directionally constrained minimization of power) is discussed. A new penalty function is introduced for the system in order to take into consideration the protection of the desired signal while minimizing the unwanted interference and/or noise. Because of the analytical limitation, computer simulation experiments are extensively carried out. The constraint coefficient that is the most important factor of the penalty function is especially investigated, and the optimum choice is given. It is also shown that the theoretical consideration leads to the same value. Finally, the quantization of phaseshifters is attempted, and the limit of its performance is shown.
On identified predictive control
NASA Technical Reports Server (NTRS)
Bialasiewicz, Jan T.
1993-01-01
Self-tuning control algorithms are potential successors to manually tuned PID controllers traditionally used in process control applications. A very attractive design method for self-tuning controllers, which has been developed over recent years, is the long-range predictive control (LRPC). The success of LRPC is due to its effectiveness with plants of unknown order and dead-time which may be simultaneously nonminimum phase and unstable or have multiple lightly damped poles (as in the case of flexible structures or flexible robot arms). LRPC is a receding horizon strategy and can be, in general terms, summarized as follows. Using assumed long-range (or multi-step) cost function the optimal control law is found in terms of unknown parameters of the predictor model of the process, current input-output sequence, and future reference signal sequence. The common approach is to assume that the input-output process model is known or separately identified and then to find the parameters of the predictor model. Once these are known, the optimal control law determines control signal at the current time t which is applied at the process input and the whole procedure is repeated at the next time instant. Most of the recent research in this field is apparently centered around the LRPC formulation developed by Clarke et al., known as generalized predictive control (GPC). GPC uses ARIMAX/CARIMA model of the process in its input-output formulation. In this paper, the GPC formulation is used but the process predictor model is derived from the state space formulation of the ARIMAX model and is directly identified over the receding horizon, i.e., using current input-output sequence. The underlying technique in the design of identified predictive control (IPC) algorithm is the identification algorithm of observer/Kalman filter Markov parameters developed by Juang et al. at NASA Langley Research Center and successfully applied to identification of flexible structures.
Control of nanoparticle formation using the constrained dewetting of polymer brushes
NASA Astrophysics Data System (ADS)
Lee, Thomas; Hendy, Shaun C.; Neto, Chiara
2015-02-01
We have used coarse-grained molecular dynamics simulations to investigate the use of pinned micelles formed by the constrained dewetting of polymer brushes to act as a template for nanoparticle formation. The evaporation of a thin film containing a dissolved solute from a polymer brush was modeled to study the effect of solubility, concentration, grafting density, and evaporation rate on the nucleation and growth of nanoparticles. Control over particle nucleation could be imposed when the solution was dilute enough such that particle nucleation occurred following the onset of constrained dewetting. We predict that nanoparticles with sizes on the order of 1 nm to 10 nm could be produced from a range of organic molecules under experimentally accessible conditions. This method could allow the functionality of organic materials to potentially be imparted onto surfaces without the need for synthetic modification of the functional molecule, and with control over particle size and aggregation, for application in the preparation of surfaces with useful optical, pharmaceutical, or electronic properties.We have used coarse-grained molecular dynamics simulations to investigate the use of pinned micelles formed by the constrained dewetting of polymer brushes to act as a template for nanoparticle formation. The evaporation of a thin film containing a dissolved solute from a polymer brush was modeled to study the effect of solubility, concentration, grafting density, and evaporation rate on the nucleation and growth of nanoparticles. Control over particle nucleation could be imposed when the solution was dilute enough such that particle nucleation occurred following the onset of constrained dewetting. We predict that nanoparticles with sizes on the order of 1 nm to 10 nm could be produced from a range of organic molecules under experimentally accessible conditions. This method could allow the functionality of organic materials to potentially be imparted onto surfaces without the
Control of nanoparticle formation using the constrained dewetting of polymer brushes
NASA Astrophysics Data System (ADS)
Lee, Thomas; Hendy, Shaun C.; Neto, Chiara
2015-03-01
We have used coarse-grained molecular dynamics simulations to investigate the use of pinned micelles formed by the constrained dewetting of polymer brushes to act as a template for nanoparticle formation. The evaporation of a thin film containing a dissolved solute from a polymer brush was modeled to study the effect of solubility, concentration, grafting density, and evaporation rate on the nucleation and growth of nanoparticles. Control over particle nucleation could be imposed when the solution was dilute enough such that particle nucleation occurred following the onset of constrained dewetting. We predict that nanoparticles with sizes on the order of 1 nm to 10 nm could be produced from a range of organic molecules under experimentally accessable conditions. This method could allow the functionality of organic materials to be imparted onto surfaces without the need for synthetic modification of the functional molecule, and with control over particle size and aggregation, allowing for the preparation of surfaces with useful optical, pharmaceutical, or electronic properties. Now at Department of Civil and Environmental Engineering, Massachusettes Institute of Technology, Cambridge, MA.
Global velocity constrained cloud motion prediction for short-term solar forecasting
NASA Astrophysics Data System (ADS)
Chen, Yanjun; Li, Wei; Zhang, Chongyang; Hu, Chuanping
2016-09-01
Cloud motion is the primary reason for short-term solar power output fluctuation. In this work, a new cloud motion estimation algorithm using a global velocity constraint is proposed. Compared to the most used Particle Image Velocity (PIV) algorithm, which assumes the homogeneity of motion vectors, the proposed method can capture the accurate motion vector for each cloud block, including both the motional tendency and morphological changes. Specifically, global velocity derived from PIV is first calculated, and then fine-grained cloud motion estimation can be achieved by global velocity based cloud block researching and multi-scale cloud block matching. Experimental results show that the proposed global velocity constrained cloud motion prediction achieves comparable performance to the existing PIV and filtered PIV algorithms, especially in a short prediction horizon.
An framework for robust flight control design using constrained optimization
NASA Technical Reports Server (NTRS)
Palazoglu, A.; Yousefpor, M.; Hess, R. A.
1992-01-01
An analytical framework is described for the design of feedback control systems to meet specified performance criteria in the presence of structured and unstructured uncertainty. Attention is focused upon the linear time invariant, single-input, single-output problem for the purposes of exposition. The framework provides for control of the degree of the stabilizing compensator or controller.
State-Constrained Optimal Control Problems of Impulsive Differential Equations
Forcadel, Nicolas; Rao Zhiping Zidani, Hasnaa
2013-08-01
The present paper studies an optimal control problem governed by measure driven differential systems and in presence of state constraints. The first result shows that using the graph completion of the measure, the optimal solutions can be obtained by solving a reparametrized control problem of absolutely continuous trajectories but with time-dependent state-constraints. The second result shows that it is possible to characterize the epigraph of the reparametrized value function by a Hamilton-Jacobi equation without assuming any controllability assumption.
Sensor/Actuator Selection for the Constrained Variance Control Problem
NASA Technical Reports Server (NTRS)
Delorenzo, M. L.; Skelton, R. E.
1985-01-01
The problem of designing a linear controller for systems subject to inequality variance constraints is considered. A quadratic penalty function approach is used to yield a linear controller. Both the weights in the quadratic penalty function and the locations of sensors and actuators are selected by successive approximations to obtain an optimal design which satisfies the input/output variance constraints. The method is applied to NASA's 64 meter Hoop-Column Space Antenna for satellite communications. In addition the solution for the control law, the main feature of these results is the systematic determination of actuator design requirements which allow the given input/output performance constraints to be satisfied.
Extensions of output variance constrained controllers to hard constraints
NASA Technical Reports Server (NTRS)
Skelton, R.; Zhu, G.
1989-01-01
Covariance Controllers assign specified matrix values to the state covariance. A number of robustness results are directly related to the covariance matrix. The conservatism in known upperbounds on the H infinity, L infinity, and L (sub 2) norms for stability and disturbance robustness of linear uncertain systems using covariance controllers is illustrated with examples. These results are illustrated for continuous and discrete time systems. **** ONLY 2 BLOCK MARKERS FOUND -- RETRY *****
Ochiai, Tomoshiro; Nacher, Jose C
2016-07-01
To uncover potential disease molecular pathways and signaling networks, we do not only need undirected maps but also we need to infer the directionality of functional or physical interactions between cellular components. A wide range of methods for identifying functional interactions between genes relies on correlations between experimental gene expression measurements to some extent. However, the standard Pearson or Spearman correlation-based approaches can only determine undirected correlations between cellular components. Here, we apply a volatility-constrained correlation method for gene expression profiles that offers a new metric to capture directionality of interactions between genes. To evaluate the predictions we used four datasets distributed by the DREAM5 network inference challenge including an in silico-constructed network and three organisms such as S. aureus, E. coli and S. cerevisiae. The predictions performed by our proposed method were compared to a gold standard of experimentally verified directionality of genetic regulatory links. Our findings show that our method successfully predicts the genetic interaction directionality with a success rate higher than 0.5 with high statistical significance. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.
Constrained optimization techniques for active control of aeroelastic response
NASA Technical Reports Server (NTRS)
Mukhopadhyay, Vivekananda
1987-01-01
Active control of aeroelastic response is a complex problem in which the designer usually tries to satisfy many design criteria which are often conflicting in nature. To further complicate the design problem, the state space equations describing this type of control problem are usually of high order, involving a large number of states to represent the flexible structure and unsteady aerodynamics. Control laws based on the standard Linear - Quadratic - Gaussian method are of the same high order as the aeroelastic plant and may be difficult to implement in the flight computer. To overcome this disadvantage a new approach was developed for designing low-order optimized robust control laws. In this approach, a nonlinear programming algorithm is used to search for the values of control law design variables that minimize a performance index while satisfying several inequality constraints that describe the design criteria on the stability robustness and responses. The method is applied to a gust load alleviation problem and a stability robustness improvement problem of a drone aircraft.
Constrained Active Learning for Anchor Link Prediction Across Multiple Heterogeneous Social Networks
Zhu, Junxing; Zhang, Jiawei; Wu, Quanyuan; Jia, Yan; Zhou, Bin; Wei, Xiaokai; Yu, Philip S.
2017-01-01
Nowadays, people are usually involved in multiple heterogeneous social networks simultaneously. Discovering the anchor links between the accounts owned by the same users across different social networks is crucial for many important inter-network applications, e.g., cross-network link transfer and cross-network recommendation. Many different supervised models have been proposed to predict anchor links so far, but they are effective only when the labeled anchor links are abundant. However, in real scenarios, such a requirement can hardly be met and most anchor links are unlabeled, since manually labeling the inter-network anchor links is quite costly and tedious. To overcome such a problem and utilize the numerous unlabeled anchor links in model building, in this paper, we introduce the active learning based anchor link prediction problem. Different from the traditional active learning problems, due to the one-to-one constraint on anchor links, if an unlabeled anchor link a=(u,v) is identified as positive (i.e., existing), all the other unlabeled anchor links incident to account u or account v will be negative (i.e., non-existing) automatically. Viewed in such a perspective, asking for the labels of potential positive anchor links in the unlabeled set will be rewarding in the active anchor link prediction problem. Various novel anchor link information gain measures are defined in this paper, based on which several constraint active anchor link prediction methods are introduced. Extensive experiments have been done on real-world social network datasets to compare the performance of these methods with state-of-art anchor link prediction methods. The experimental results show that the proposed Mean-entropy-based Constrained Active Learning (MC) method can outperform other methods with significant advantages. PMID:28771201
Zhu, Junxing; Zhang, Jiawei; Wu, Quanyuan; Jia, Yan; Zhou, Bin; Wei, Xiaokai; Yu, Philip S
2017-08-03
Nowadays, people are usually involved in multiple heterogeneous social networks simultaneously. Discovering the anchor links between the accounts owned by the same users across different social networks is crucial for many important inter-network applications, e.g., cross-network link transfer and cross-network recommendation. Many different supervised models have been proposed to predict anchor links so far, but they are effective only when the labeled anchor links are abundant. However, in real scenarios, such a requirement can hardly be met and most anchor links are unlabeled, since manually labeling the inter-network anchor links is quite costly and tedious. To overcome such a problem and utilize the numerous unlabeled anchor links in model building, in this paper, we introduce the active learning based anchor link prediction problem. Different from the traditional active learning problems, due to the one-to-one constraint on anchor links, if an unlabeled anchor link a = ( u , v ) is identified as positive (i.e., existing), all the other unlabeled anchor links incident to account u or account v will be negative (i.e., non-existing) automatically. Viewed in such a perspective, asking for the labels of potential positive anchor links in the unlabeled set will be rewarding in the active anchor link prediction problem. Various novel anchor link information gain measures are defined in this paper, based on which several constraint active anchor link prediction methods are introduced. Extensive experiments have been done on real-world social network datasets to compare the performance of these methods with state-of-art anchor link prediction methods. The experimental results show that the proposed Mean-entropy-based Constrained Active Learning (MC) method can outperform other methods with significant advantages.
Improved Sensitivity Relations in State Constrained Optimal Control
Bettiol, Piernicola; Frankowska, Hélène; Vinter, Richard B.
2015-04-15
Sensitivity relations in optimal control provide an interpretation of the costate trajectory and the Hamiltonian, evaluated along an optimal trajectory, in terms of gradients of the value function. While sensitivity relations are a straightforward consequence of standard transversality conditions for state constraint free optimal control problems formulated in terms of control-dependent differential equations with smooth data, their verification for problems with either pathwise state constraints, nonsmooth data, or for problems where the dynamic constraint takes the form of a differential inclusion, requires careful analysis. In this paper we establish validity of both ‘full’ and ‘partial’ sensitivity relations for an adjoint state of the maximum principle, for optimal control problems with pathwise state constraints, where the underlying control system is described by a differential inclusion. The partial sensitivity relation interprets the costate in terms of partial Clarke subgradients of the value function with respect to the state variable, while the full sensitivity relation interprets the couple, comprising the costate and Hamiltonian, as the Clarke subgradient of the value function with respect to both time and state variables. These relations are distinct because, for nonsmooth data, the partial Clarke subdifferential does not coincide with the projection of the (full) Clarke subdifferential on the relevant coordinate space. We show for the first time (even for problems without state constraints) that a costate trajectory can be chosen to satisfy the partial and full sensitivity relations simultaneously. The partial sensitivity relation in this paper is new for state constraint problems, while the full sensitivity relation improves on earlier results in the literature (for optimal control problems formulated in terms of Lipschitz continuous multifunctions), because a less restrictive inward pointing hypothesis is invoked in the proof, and because
Yang, Yana; Hua, Changchun; Guan, Xinping
2016-03-01
Due to the cognitive limitations of the human operator and lack of complete information about the remote environment, the work performance of such teleoperation systems cannot be guaranteed in most cases. However, some practical tasks conducted by the teleoperation system require high performances, such as tele-surgery needs satisfactory high speed and more precision control results to guarantee patient' health status. To obtain some satisfactory performances, the error constrained control is employed by applying the barrier Lyapunov function (BLF). With the constrained synchronization errors, some high performances, such as, high convergence speed, small overshoot, and an arbitrarily predefined small residual constrained synchronization error can be achieved simultaneously. Nevertheless, like many classical control schemes only the asymptotic/exponential convergence, i.e., the synchronization errors converge to zero as time goes infinity can be achieved with the error constrained control. It is clear that finite time convergence is more desirable. To obtain a finite-time synchronization performance, the terminal sliding mode (TSM)-based finite time control method is developed for teleoperation system with position error constrained in this paper. First, a new nonsingular fast terminal sliding mode (NFTSM) surface with new transformed synchronization errors is proposed. Second, adaptive neural network system is applied for dealing with the system uncertainties and the external disturbances. Third, the BLF is applied to prove the stability and the nonviolation of the synchronization errors constraints. Finally, some comparisons are conducted in simulation and experiment results are also presented to show the effectiveness of the proposed method.
Measurements of human force control during a constrained arm motion using a force-actuated joystick.
McIntyre, J; Gurfinkel, E V; Lipshits, M I; Droulez, J; Gurfinkel, V S
1995-03-01
1. When interacting with the environment, human arm movements may be prevented in certain directions (i.e., when sliding the hand along a surface) resulting in what is called a "constrained motion." In the directions that the movement is restricted, the subject is instead free to control the forces against the constraint. 2. Control strategies for constrained motion may be characterized by two extreme models. Under the active compliance model, an essentially feedback-based approach, measurements of contact force may be used in real time to modify the motor command and precisely control the forces generated against the constraint. Under the passive compliance model the motion would be executed in a feedforward manner, using an internal model of the constraint geometry. The feedforward model relies on the compliant behavior of the passive mechanical system to maintain contact while avoiding excessive contact forces. 3. Subjects performed a task in which they were required to slide the hand along a rigid surface. This task was performed in a virtual force environment in which contact forces were simulated by a two-dimensional force-actuated joystick. Unknown to the subject, the orientation of the surface constraint was varied from trial to trial, and contact force changes induced by these perturbations were measured. 4. Subjects showed variations in contact force correlated with the direction of the orientation perturbation. "Upward" tilts resulted in higher contact forces, whereas "downward" tilts resulted in lower contact forces. This result is consistent with a feedforward-based control of a passively compliant system. 5. Subject responses did not, however, correspond exactly to the predictions of a static analysis of a passive, feedforward-controlled system. A dynamic analysis reveals a much closer resemblance between a passive, feedforward model and the observed data. Numerical simulations demonstrate that a passive, dynamic system model of the movement captures
NASA Astrophysics Data System (ADS)
Denning, S.
2014-12-01
The carbon-climate community has an historic opportunity to make a step-function improvement in climate prediction by using regional constraints to improve mechanistic model representation of carbon cycle processes. Interactions among atmospheric CO2, global biogeochemistry, and physical climate constitute leading sources of uncertainty in future climate. First-order differences among leading models of these processes produce differences in climate as large as differences in aerosol-cloud-radiation interactions and fossil fuel combustion. Emergent constraints based on global observations of interannual variations provide powerful constraints on model parameterizations. Additional constraints can be defined at regional scales. Organized intercomparison experiments have shown that uncertainties in future carbon-climate feedback arise primarily from model representations of the dependence of photosynthesis on CO2 and drought stress and the dependence of decomposition on temperature. Just as representations of net carbon fluxes have benefited from eddy flux, ecosystem manipulations, and atmospheric CO2, component carbon fluxes (photosynthesis, respiration, decomposition, disturbance) can be constrained at regional scales using new observations. Examples include biogeochemical tracers such as isotopes and carbonyl sulfide as well as remotely-sensed parameters such as chlorophyll fluorescence and biomass. Innovative model evaluation experiments will be needed to leverage the information content of new observations to improve process representations as well as to provide accurate initial conditions for coupled climate model simulations. Successful implementation of a comprehensive benchmarking program could have a huge impact on understanding and predicting future climate change.
De, Wang; Nie, Feiping; Huang, Heng; Yan, Jingwen; Risacher, Shannon L; Saykin, Andrew J; Shen, Li
2013-01-01
Neuroimaging markers have been widely used to predict the cognitive functions relevant to the progression of Alzheimer's disease (AD). Most previous studies identify the imaging markers without considering the brain structural correlations between neuroimaging measures. However, many neuroimaging markers interrelate and work together to reveal the cognitive functions, such that these relevant markers should be selected together as the phenotypic markers. To solve this problem, in this paper, we propose a novel network constrained feature selection (NCFS) model to identify the neuroimaging markers guided by the structural brain network, which is constructed by the sparse representation method such that the interrelations between neuroimaging features are encoded into probabilities. Our new methods are evaluated by the MRI and AV45-PET data from ADNI-GO and ADNI-2 (Alzheimer's Disease Neuroimaging Initiative). In all cognitive function prediction tasks, our new NCFS method outperforms other state-of-the-art regression approaches. Meanwhile, we show that the new method can select the correlated imaging markers, which are ignored by the competing approaches.
Predictive fuzzy controller for robotic motion control
Huang, S.J.; Hu, C.F.
1995-12-31
A system output prediction strategy incorporated with a fuzzy controller is proposed to manipulate the robotic motion control. Usually, the current position and velocity errors are used to operate the fuzzy logic controller for picking out a corresponding rule. When the system has fast planning speed or time varying behavior, the required tracking accuracy is difficult to achieve by adjusting the fuzzy rules. In order to improve the position control accuracy and system robustness for the industrial application, the current position error in the fuzzy rules look-up table is substituted by the predictive position error of the next step by using the grey predictive algorithm. This idea is implemented on a five degrees of freedom robot. The experimental results show that this fuzzy controller has effectively improve the system performance and achieved the facilitation of fuzzy controller implementation.
Understanding and constraining global controls on dust emissions from playas
NASA Astrophysics Data System (ADS)
Bryant, Robert; Eckardt, Frank; Vickery, Kate; Wiggs, Giles; Hipondoka, Martin; Murray, Jon; Baddock, Matt; Brindley, Helen; King, James; Nield, Jo; Thomas, Dave; Washington, Richard; Haustein, Karsten
2016-04-01
Playas are ephemeral, endorheic lake systems that are common in arid regions. They have been identified as both regionally and globally significant sources of mineral dust. Emissions of dust from large playas can therefore impact significantly on regional climate through a range of land/atmosphere interactions. However, not all playas have or will emit dust, and those that do emit dust rarely do so consistently. Thus, global models that target ephemeral lakes at source areas often struggle to model the emission characteristics of the locations accurately. It is clear that our understanding of controls on dust emission from these environments varies at global scales (i.e. relevant to climate models) is poorly understood. Existing research confirms that the potential for dust emission from playas within dryland regions can be extremely varied; large disparities are noted to exist from one playa to another, and significant spatial/temporal heterogeneity has been observed within those playas that do emit dust. Research also shows that dust fluxes from playa surfaces varies vary based on hydrological gradient or ephemeral inflows and may change over time in response to human or climate forcing mechanisms. Consequently, despite the presence of abundant fine sediment and suitable wind conditions, some playas will remain supply limited and will not emit dust as they are either too wet (e.g. via extensive groundwater discharge) not salty enough (e.g. salts have been removed from the surface by groundwater recharge) or there is not a sufficient supply of sand (coarse particles) on or at the upwind edge of the playa surface to cause dust emission. Other playas (e.g. Owens Lake) have emitted dust at a disproportionate (regionally/nationally) significant level seemingly without constraint (becoming effectively transport capacity limited) through optimal combinations of the same factors. Finally, we can also see situations where dust emitting playa systems flip between supply
Adaptive, Distributed Control of Constrained Multi-Agent Systems
NASA Technical Reports Server (NTRS)
Bieniawski, Stefan; Wolpert, David H.
2004-01-01
Product Distribution (PO) theory was recently developed as a broad framework for analyzing and optimizing distributed systems. Here we demonstrate its use for adaptive distributed control of Multi-Agent Systems (MASS), i.e., for distributed stochastic optimization using MAS s. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (Probability dist&&on on the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. One common way to find that equilibrium is to have each agent run a Reinforcement Learning (E) algorithm. PD theory reveals this to be a particular type of search algorithm for minimizing the Lagrangian. Typically that algorithm i s quite inefficient. A more principled alternative is to use a variant of Newton's method to minimize the Lagrangian. Here we compare this alternative to RL-based search in three sets of computer experiments. These are the N Queen s problem and bin-packing problem from the optimization literature, and the Bar problem from the distributed RL literature. Our results confirm that the PD-theory-based approach outperforms the RL-based scheme in all three domains.
Improving global soil carbon predictions with data-constrained microbial based models
NASA Astrophysics Data System (ADS)
Hararuk, O.; Smith, M. J.; Luo, Y.
2013-12-01
Soil is the largest terrestrial pool of carbon (C), storing 1395-2293 Pg C, but climate change may cause a large amount of the stored C to be released into the atmosphere as CO2. Accurately predicting how much soil C will be lost or gained in the coming decades to centuries requires improved model structure and parameterization. The current generation of Earth System Models (ESMs) have shown a poor ability at predicting the current spatial patterns of soil C storage. It has recently been found that replacing the conventional soil C model with one that explicitly represents soil microbes leads to major improvements in accuracy in predicting spatial patterns of soil C storage. Additionally, it is well known that improvements in the predictive accuracy of models can be made by calibration of model parameters against datasets. In this study, we first evaluated two soil microbial models with two pools as in German et al. 2012 (GCB, page 1471) and four pools as in Allison et al. (2010, Nature Geosci., Supplementary Methods, pages 1-3). With original parameter values, the two models predicted global soil C between 32 Pg and 6590 Pg C. Then we calibrated the two models against the global observed soil C data using Bayesian data assimilation technique for parameter estimation. The constrained 2-pool model estimated global soil C to be 2100-2500 Pg C with the maximum likelihood value at 2275 Pg C; and the 4-pool model had 2050-2350 Pg C with the maximum likelihood value at 2175 Pg C, which was within the range reported in the literature for the observed global soil C content. Spatial correlation between observed and predicted soil C also improved: before calibration, the 2-pool model explained 29% of variability and the 4-pool model explained 34% of the variability in observed soil C; and after parameter estimation the 2-pool model explained 60% and the 4-pool model explained 51% of variability. Finally, after parameter estimation the uncertainty of cumulative soil C change
Constrained motion control of flexible robot manipulators based on recurrent neural networks.
Tian, Lianfang; Wang, Jun; Mao, Zongyuan
2004-06-01
In this paper, a neural network approach is presented for the motion control of constrained flexible manipulators, where both the contact force everted by the flexible manipulator and the position of the end-effector contacting with a surface are controlled. The dynamic equations for vibration of flexible link and constrained force are derived. The developed control, scheme can adaptively estimate the underlying dynamics of the manipulator using recurrent neural networks (RNNs). Based on the error dynamics of a feedback controller, a learning rule for updating the connection weights of the adaptive RNN model is obtained. Local stability properties of the control system are discussed. Simulation results are elaborated on for both position and force trajectory tracking tasks in the presence of varying parameters and unknown dynamics, which show that the designed controller performs remarkably well.
Multiplexed Predictive Control of a Large Commercial Turbofan Engine
NASA Technical Reports Server (NTRS)
Richter, hanz; Singaraju, Anil; Litt, Jonathan S.
2008-01-01
Model predictive control is a strategy well-suited to handle the highly complex, nonlinear, uncertain, and constrained dynamics involved in aircraft engine control problems. However, it has thus far been infeasible to implement model predictive control in engine control applications, because of the combination of model complexity and the time allotted for the control update calculation. In this paper, a multiplexed implementation is proposed that dramatically reduces the computational burden of the quadratic programming optimization that must be solved online as part of the model-predictive-control algorithm. Actuator updates are calculated sequentially and cyclically in a multiplexed implementation, as opposed to the simultaneous optimization taking place in conventional model predictive control. Theoretical aspects are discussed based on a nominal model, and actual computational savings are demonstrated using a realistic commercial engine model.
Empirically Constrained Predictions for Metal-line Emission from the Circumgalactic Medium
NASA Astrophysics Data System (ADS)
Corlies, Lauren; Schiminovich, David
2016-08-01
The circumgalactic medium (CGM) is one of the remaining least constrained components of galaxies and as such has significant potential for advancing galaxy formation theories. In this work, we vary the extragalactic ultraviolet background for a high-resolution cosmological simulation of a Milky-Way-like galaxy and examine the effect on the absorption and emission properties of metals in the CGM. We find that a reduced quasar background brings the column density predictions into better agreement with recent data. Similarly, when the observationally derived physical properties of the gas are compared to the simulation, we find that the simulation gas is always at temperatures approximately 0.5 dex higher. Thus, similar column densities can be produced from fundamentally different gas. However, emission maps can provide complementary information to the line-of-sight column densities to better derive gas properties. From the simulations, we find that the brightest emission is less sensitive to the extragalactic background and that it closely follows the fundamental filamentary structure of the halo. This becomes increasingly true as the galaxy evolves from z = 1 to z = 0 and the majority of the gas transitions to a hotter, more diffuse phase. For the brightest ions (C iii, C iv, O vi), detectable emission can extend as far as 120 kpc at z = 0. Finally, resolution is a limiting factor for the conclusions we can draw from emission observations, but with moderate resolution and reasonable detection limits, upcoming instrumentation should place constraints on the physical properties of the CGM.
2014-06-16
Dowty, Capt Jason McGinthy Title: Supervisory Control and Data Acquisition Security Awareness in a Resouce Constrained Learning Environment Circle...Purposes): O CRADA (Cooperative Research and Development Agreement) exists []Photo/ Video Opportunities [] STEM-outreach Related [) New Invention...material is based on ongoing work to create an interactive teaching tool for highlighting cyber threats. The Department Research Director has reviewed
Antonarakis, Alexander S; Saatchi, Sassan S; Chazdon, Robin L; Moorcroft, Paul R
2011-06-01
Insights into vegetation and aboveground biomass dynamics within terrestrial ecosystems have come almost exclusively from ground-based forest inventories that are limited in their spatial extent. Lidar and synthetic-aperture Radar are promising remote-sensing-based techniques for obtaining comprehensive measurements of forest structure at regional to global scales. In this study we investigate how Lidar-derived forest heights and Radar-derived aboveground biomass can be used to constrain the dynamics of the ED2 terrestrial biosphere model. Four-year simulations initialized with Lidar and Radar structure variables were compared against simulations initialized from forest-inventory data and output from a long-term potential-vegtation simulation. Both height and biomass initializations from Lidar and Radar measurements significantly improved the representation of forest structure within the model, eliminating the bias of too many large trees that arose in the potential-vegtation-initialized simulation. The Lidar and Radar initializations decreased the proportion of larger trees estimated by the potential vegetation by approximately 20-30%, matching the forest inventory. This resulted in improved predictions of ecosystem-scale carbon fluxes and structural dynamics compared to predictions from the potential-vegtation simulation. The Radar initialization produced biomass values that were 75% closer to the forest inventory, with Lidar initializations producing canopy height values closest to the forest inventory. Net primary production values for the Radar and Lidar initializations were around 6-8% closer to the forest inventory. Correcting the Lidar and Radar initializations for forest composition resulted in improved biomass and basal-area dynamics as well as leaf-area index. Correcting the Lidar and Radar initializations for forest composition and fine-scale structure by combining the remote-sensing measurements with ground-based inventory data further improved
Vogelsang, David A; Bonnici, Heidi M; Bergström, Zara M; Ranganath, Charan; Simons, Jon S
2016-08-01
To remember a previous event, it is often helpful to use goal-directed control processes to constrain what comes to mind during retrieval. Behavioral studies have demonstrated that incidental learning of new "foil" words in a recognition test is superior if the participant is trying to remember studied items that were semantically encoded compared to items that were non-semantically encoded. Here, we applied subsequent memory analysis to fMRI data to understand the neural mechanisms underlying the "foil effect". Participants encoded information during deep semantic and shallow non-semantic tasks and were tested in a subsequent blocked memory task to examine how orienting retrieval towards different types of information influences the incidental encoding of new words presented as foils during the memory test phase. To assess memory for foils, participants performed a further surprise old/new recognition test involving foil words that were encountered during the previous memory test blocks as well as completely new words. Subsequent memory effects, distinguishing successful versus unsuccessful incidental encoding of foils, were observed in regions that included the left inferior frontal gyrus and posterior parietal cortex. The left inferior frontal gyrus exhibited disproportionately larger subsequent memory effects for semantic than non-semantic foils, and significant overlap in activity during semantic, but not non-semantic, initial encoding and foil encoding. The results suggest that orienting retrieval towards different types of foils involves re-implementing the neurocognitive processes that were involved during initial encoding.
Optimal vibration control of a rotating plate with self-sensing active constrained layer damping
NASA Astrophysics Data System (ADS)
Xie, Zhengchao; Wong, Pak Kin; Lo, Kin Heng
2012-04-01
This paper proposes a finite element model for optimally controlled constrained layer damped (CLD) rotating plate with self-sensing technique and frequency-dependent material property in both the time and frequency domain. Constrained layer damping with viscoelastic material can effectively reduce the vibration in rotating structures. However, most existing research models use complex modulus approach to model viscoelastic material, and an additional iterative approach which is only available in frequency domain has to be used to include the material's frequency dependency. It is meaningful to model the viscoelastic damping layer in rotating part by using the anelastic displacement fields (ADF) in order to include the frequency dependency in both the time and frequency domain. Also, unlike previous ones, this finite element model treats all three layers as having the both shear and extension strains, so all types of damping are taken into account. Thus, in this work, a single layer finite element is adopted to model a three-layer active constrained layer damped rotating plate in which the constraining layer is made of piezoelectric material to work as both the self-sensing sensor and actuator under an linear quadratic regulation (LQR) controller. After being compared with verified data, this newly proposed finite element model is validated and could be used for future research.
Source-constrained recall: front-end and back-end control of retrieval quality.
Halamish, Vered; Goldsmith, Morris; Jacoby, Larry L
2012-01-01
Research on the strategic regulation of memory accuracy has focused primarily on monitoring and control processes used to edit out incorrect information after it is retrieved (back-end control). Recent studies, however, suggest that rememberers also enhance accuracy by preventing the retrieval of incorrect information in the first place (front-end control). The present study put forward and examined a mechanism called source-constrained recall (cf. Jacoby, Shimizu, Velanova, & Rhodes, 2005) by which rememberers process and use recall cues in qualitatively different ways, depending on the manner of original encoding. Results of 2 experiments in which information about source encoding depth was made available at test showed that when possible, participants constrained recall to the solicited targets by reinstating the original encoding operations on the recall cues. This reinstatement improved the quality of the information that came to mind, which, together with improved postretrieval monitoring, enhanced actual recall performance.
Predicting and Controlling School Violence.
ERIC Educational Resources Information Center
Rich, John Martin
1992-01-01
Discusses the extent to which violence can be accurately predicted, suggesting interventions, control, and remediation. The educator's role in reducing violence includes dealing with the school, parents, media, and community. Educators need conflict resolution skills for defusing aggression and establishing better relations. (SM)
Inhibitory Control Predicts Grammatical Ability
Ibbotson, Paul; Kearvell-White, Jennifer
2015-01-01
We present evidence that individual variation in grammatical ability can be predicted by individual variation in inhibitory control. We tested 81 5-year-olds using two classic tests from linguistics and psychology (Past Tense and the Stroop). Inhibitory control was a better predicator of grammatical ability than either vocabulary or age. Our explanation is that giving the correct response in both tests requires using a common cognitive capacity to inhibit unwanted competition. The implications are that understanding the developmental trajectory of language acquisition can benefit from integrating the developmental trajectory of non-linguistic faculties, such as executive control. PMID:26659926
Predictive control and estimation - State space approach
NASA Technical Reports Server (NTRS)
Gawronski, W.
1991-01-01
A modified output prediction procedure and a new controller design based on the predictive control law are presented. A new predictive estimator enhances system performance. The predictive controller was designed and applied to the tracking control of the NASA/JPL 70-m antenna. Simulation results show significant improvement in tracking performance over the linear quadratic controller and estimator presently in use.
Valencia-Palomo, G; Rossiter, J A
2011-01-01
This paper makes two key contributions. First, it tackles the issue of the availability of constrained predictive control for low-level control loops. Hence, it describes how the constrained control algorithm is embedded in an industrial programmable logic controller (PLC) using the IEC 61131-3 programming standard. Second, there is a definition and implementation of a novel auto-tuned predictive controller; the key novelty is that the modelling is based on relatively crude but pragmatic plant information. Laboratory experiment tests were carried out in two bench-scale laboratory systems to prove the effectiveness of the combined algorithm and hardware solution. For completeness, the results are compared with a commercial proportional-integral-derivative (PID) controller (also embedded in the PLC) using the most up to date auto-tuning rules.
NASA Astrophysics Data System (ADS)
Hau, L. C.; Fung, E. H. K.
2004-08-01
This work presents the use of a multi-objective genetic algorithm (MOGA) to solve an integrated optimization problem for the shape control of flexible beams with an active constrained layer damping (ACLD) treatment. The design objectives are to minimize the total weight of the system, the input voltages and the steady-state error between the achieved and desired shapes. Design variables include the thickness of the constraining and viscoelastic layers, the arrangement of the ACLD patches, as well as the control gains. In order to set up an evaluator for the MOGA, the finite element method (FEM), in conjunction with the Golla-Hughes-McTavish (GHM) method, is employed to model a clamped-free beam with ACLD patches to predict the dynamic behaviour of the system. As a result of the optimization, reasonable Pareto solutions are successfully obtained. It is shown that ACLD treatment is suitable for shape control of flexible structures and that the MOGA is applicable to the present integrated optimization problem.
NASA Astrophysics Data System (ADS)
Hadi, Fatemeh; Janbozorgi, Mohammad; Sheikhi, M. Reza H.; Metghalchi, Hameed
2016-10-01
The rate-controlled constrained-equilibrium (RCCE) method is employed to study the interactions between mixing and chemical reaction. Considering that mixing can influence the RCCE state, the key objective is to assess the accuracy and numerical performance of the method in simulations involving both reaction and mixing. The RCCE formulation includes rate equations for constraint potentials, density and temperature, which allows taking account of mixing alongside chemical reaction without splitting. The RCCE is a dimension reduction method for chemical kinetics based on thermodynamics laws. It describes the time evolution of reacting systems using a series of constrained-equilibrium states determined by RCCE constraints. The full chemical composition at each state is obtained by maximizing the entropy subject to the instantaneous values of the constraints. The RCCE is applied to a spatially homogeneous constant pressure partially stirred reactor (PaSR) involving methane combustion in oxygen. Simulations are carried out over a wide range of initial temperatures and equivalence ratios. The chemical kinetics, comprised of 29 species and 133 reaction steps, is represented by 12 RCCE constraints. The RCCE predictions are compared with those obtained by direct integration of the same kinetics, termed detailed kinetics model (DKM). The RCCE shows accurate prediction of combustion in PaSR with different mixing intensities. The method also demonstrates reduced numerical stiffness and overall computational cost compared to DKM.
Shear wave prediction using committee fuzzy model constrained by lithofacies, Zagros basin, SW Iran
NASA Astrophysics Data System (ADS)
Shiroodi, Sadjad Kazem; Ghafoori, Mohammad; Ansari, Hamid Reza; Lashkaripour, Golamreza; Ghanadian, Mostafa
2017-02-01
The main purpose of this study is to introduce the geological controlling factors in improving an intelligence-based model to estimate shear wave velocity from seismic attributes. The proposed method includes three main steps in the framework of geological events in a complex sedimentary succession located in the Persian Gulf. First, the best attributes were selected from extracted seismic data. Second, these attributes were transformed into shear wave velocity using fuzzy inference systems (FIS) such as Sugeno's fuzzy inference (SFIS), adaptive neuro-fuzzy inference (ANFIS) and optimized fuzzy inference (OFIS). Finally, a committee fuzzy machine (CFM) based on bat-inspired algorithm (BA) optimization was applied to combine previous predictions into an enhanced solution. In order to show the geological effect on improving the prediction, the main classes of predominate lithofacies in the reservoir of interest including shale, sand, and carbonate were selected and then the proposed algorithm was performed with and without lithofacies constraint. The results showed a good agreement between real and predicted shear wave velocity in the lithofacies-based model compared to the model without lithofacies especially in sand and carbonate.
NASA Astrophysics Data System (ADS)
Chen, Zhang; Liang, Bin; Zhang, Tao
2016-05-01
When teleoperations are implemented in the constrained environment, the lack of environment information would lead to contacts and undesired excessive contact forces, which are more evident with the existence of time delays. In this paper, a hybrid compliant bilateral controller is proposed to deal with this problem. The controller adopts a self-adjusting selecting scheme to divide the subspaces online. The master and slave manipulators are synchronized in the position subspace through an adaptive bilateral control scheme. At the same time, the slave manipulator is controlled by a local sliding mode impedance controller in order to achieve the desired compliant motion when contacting with the environment. Theoretical analysis proves the stability of the hybrid bilateral controller and concludes the transient performance of the teleoperators. Simulations are carried out to verify the effectiveness of the proposed approach. The results show that the control goals are all achieved.
NASA Astrophysics Data System (ADS)
Davidson, C. D.; Dietze, M.
2011-12-01
Arctic climate is warming at a rate disproportionate to the rest of the world, and recent interest has emerged in using terrestrial biosphere models to understand and predict the response of tundra ecosystems to such warming. Of particular interest are the potential feedbacks between permafrost melting, plant community dynamics, and biogeochemical cycles. Here, we report on efforts to calibrate and validate version 2 of the Ecosystem Demography model (ED2) for the Alaskan tundra and on the use of model analyses to motivate targeted field measurements. ED2 is a terrestrial biosphere model unique in its ability to scale physiological and plant community dynamics to regional levels. We began by assessing the ability of ED2's land surface model to capture permafrost thermodynamics and hydrology. Simulations at Barrow and Toolik Lake, Alaska bore several incongruities with observed data, with soil temperatures significantly higher and soil moisture lower than observed. Modifications were made to increase the soil column depth and to simulate the effect of wind compaction on snow density, and in turn, the insulation of winter soils. In addition to these changes, a new soil class was created to represent unique characteristics within the organic horizon of tundra soils. Together these changes significantly improved permafrost dynamics without substantially altering dynamics in the temperate region. To capture tundra vegetation dynamics, tundra species were classified into three plant functional types (graminoid, deciduous shrub, evergreen shrub). ED2 was then iteratively calibrated for the tundra using the Predictive Ecosystem Analyzer (PEcAn), a scientific workflow and ecoinformatics toolbox developed to aid model parameterization and analysis. Initial parameter estimates were derived from a formal Bayesian meta-analysis of compiled plant trait data. Sensitivity analyses and variance decomposition demonstrated that model uncertainties were driven by the minimum
Adaptive, predictive controller for optimal process control
Brown, S.K.; Baum, C.C.; Bowling, P.S.; Buescher, K.L.; Hanagandi, V.M.; Hinde, R.F. Jr.; Jones, R.D.; Parkinson, W.J.
1995-12-01
One can derive a model for use in a Model Predictive Controller (MPC) from first principles or from experimental data. Until recently, both methods failed for all but the simplest processes. First principles are almost always incomplete and fitting to experimental data fails for dimensions greater than one as well as for non-linear cases. Several authors have suggested the use of a neural network to fit the experimental data to a multi-dimensional and/or non-linear model. Most networks, however, use simple sigmoid functions and backpropagation for fitting. Training of these networks generally requires large amounts of data and, consequently, very long training times. In 1993 we reported on the tuning and optimization of a negative ion source using a special neural network[2]. One of the properties of this network (CNLSnet), a modified radial basis function network, is that it is able to fit data with few basis functions. Another is that its training is linear resulting in guaranteed convergence and rapid training. We found the training to be rapid enough to support real-time control. This work has been extended to incorporate this network into an MPC using the model built by the network for predictive control. This controller has shown some remarkable capabilities in such non-linear applications as continuous stirred exothermic tank reactors and high-purity fractional distillation columns[3]. The controller is able not only to build an appropriate model from operating data but also to thin the network continuously so that the model adapts to changing plant conditions. The controller is discussed as well as its possible use in various of the difficult control problems that face this community.
NASA Technical Reports Server (NTRS)
Postma, Barry Dirk
2005-01-01
This thesis discusses application of a robust constrained optimization approach to control design to develop an Auto Balancing Controller (ABC) for a centrifuge rotor to be implemented on the International Space Station. The design goal is to minimize a performance objective of the system, while guaranteeing stability and proper performance for a range of uncertain plants. The Performance objective is to minimize the translational response of the centrifuge rotor due to a fixed worst-case rotor imbalance. The robustness constraints are posed with respect to parametric uncertainty in the plant. The proposed approach to control design allows for both of these objectives to be handled within the framework of constrained optimization. The resulting controller achieves acceptable performance and robustness characteristics.
NASA Astrophysics Data System (ADS)
Lee, Haksu; Seo, Dong-Jun; Noh, Seong Jin
2016-11-01
This paper presents a simple yet effective weakly-constrained (WC) data assimilation (DA) approach for hydrologic models which accounts for model structural inadequacies associated with rainfall-runoff transformation processes. Compared to the strongly-constrained (SC) DA, WC DA adjusts the control variables less while producing similarly or more accurate analysis. Hence the adjusted model states are dynamically more consistent with those of the base model. The inadequacy of a rainfall-runoff model was modeled as an additive error to runoff components prior to routing and penalized in the objective function. Two example modeling applications, distributed and lumped, were carried out to investigate the effects of the WC DA approach on DA results. For distributed modeling, the distributed Sacramento Soil Moisture Accounting (SAC-SMA) model was applied to the TIFM7 Basin in Missouri, USA. For lumped modeling, the lumped SAC-SMA model was applied to nineteen basins in Texas. In both cases, the variational DA (VAR) technique was used to assimilate discharge data at the basin outlet. For distributed SAC-SMA, spatially homogeneous error modeling yielded updated states that are spatially much more similar to the a priori states, as quantified by Earth Mover's Distance (EMD), than spatially heterogeneous error modeling by up to ∼10 times. DA experiments using both lumped and distributed SAC-SMA modeling indicated that assimilating outlet flow using the WC approach generally produce smaller mean absolute difference as well as higher correlation between the a priori and the updated states than the SC approach, while producing similar or smaller root mean square error of streamflow analysis and prediction. Large differences were found in both lumped and distributed modeling cases between the updated and the a priori lower zone tension and primary free water contents for both WC and SC approaches, indicating possible model structural deficiency in describing low flows or
NASA Astrophysics Data System (ADS)
Hau, L. C.; Fung, E. H. K.; Yau, D. T. W.
2006-12-01
This paper describes the use of the multi-objective genetic algorithm (MOGA) to solve an integrated optimization problem of a rotating flexible arm with active constrained layer damping (ACLD) treatment. The arm is rotating in a horizontal plane with triangular velocity profiles. The ACLD patch is placed at the clamped end of the arm. The design objectives are to minimize the total treatment weight, the control voltage and the tip displacement of the arm, as well as to maximize the passive damping characteristic of the arm. Design variables include the control gains, the maximum angular velocity, the shear modulus of the viscoelastic layer, the thickness of the piezoelectric constraining and viscoelastic layers, and the length of the ACLD patch. In order to evaluate the effect of different combinations of design variables on the system, the finite element method, in conjunction with the Golla-Hughes-McTavish (GHM) method, is employed to model the flexible arm with ACLD treatment to predict its dynamic behavior, in which the effects of centrifugal stiffening due to the rotation of flexible arm are taken into account. As a result of optimization, reasonable Pareto solutions are successfully obtained. It is shown that the MOGA is applicable to the present integrated optimization problem.
CLFs-based optimization control for a class of constrained visual servoing systems.
Song, Xiulan; Miaomiao, Fu
2017-03-01
In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here.
Data-Based Predictive Control with Multirate Prediction Step
NASA Technical Reports Server (NTRS)
Barlow, Jonathan S.
2010-01-01
Data-based predictive control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. One challenge of MPC is computational requirements increasing with prediction horizon length. This paper develops a closed-loop dynamic output feedback controller that minimizes a multi-step-ahead receding-horizon cost function with multirate prediction step. One result is a reduced influence of prediction horizon and the number of system outputs on the computational requirements of the controller. Another result is an emphasis on portions of the prediction window that are sampled more frequently. A third result is the ability to include more outputs in the feedback path than in the cost function.
NASA Astrophysics Data System (ADS)
Beri, Rajan; Chattopadhyay, Aditi; Nam, Changho
2000-06-01
A rigorous multi-objective optimization procedure, is developed to address the integrated structures/control design of composite plates with surface bonded segmented active constrained layer (ACL) damping treatment. The Kresselmeier- Steinhauser function approach is used to formulate this multidisciplinary problem. The goal is to control vibration without incorporating a weight penalty. Objective functions and constraints include damping ratios, structural weight and natural frequencies. Design variables include the ply stacking sequence, dimensions and placement of segmented ACL. The optimal designs show improved plate vibratory characteristics and reduced structural weight. The results of the multi- objective optimization problem are compared to those of a single objective optimization with vibration control as the objective. Results establish the necessity for developing the integrated structures/controls optimization procedure.
Tang, Yang; Wang, Zidong; Gao, Huijun; Swift, Stephen; Kurths, Jürgen
2012-01-01
Controlling regions in cortical networks, which serve as key nodes to control the dynamics of networks to a desired state, can be detected by minimizing the eigenratio R and the maximum imaginary part \\sigma of an extended connection matrix. Until now, optimal selection of the set of controlling regions is still an open problem and this paper represents the first attempt to include two measures of controllability into one unified framework. The detection problem of controlling regions in cortical networks is converted into a constrained optimization problem (COP), where the objective function R is minimized and \\sigma is regarded as a constraint. Then, the detection of controlling regions of a weighted and directed complex network (e.g., a cortical network of a cat), is thoroughly investigated. The controlling regions of cortical networks are successfully detected by means of an improved dynamic hybrid framework (IDyHF). Our experiments verify that the proposed IDyHF outperforms two recently developed evolutionary computation methods in constrained optimization field and some traditional methods in control theory as well as graph theory. Based on the IDyHF, the controlling regions are detected in a microscopic and macroscopic way. Our results unveil the dependence of controlling regions on the number of driver nodes l and the constraint r. The controlling regions are largely selected from the regions with a large in-degree and a small out-degree. When r=+ \\infty, there exists a concave shape of the mean degrees of the driver nodes, i.e., the regions with a large degree are of great importance to the control of the networks when l is small and the regions with a small degree are helpful to control the networks when l increases. When r=0, the mean degrees of the driver nodes increase as a function of l. We find that controlling \\sigma is becoming more important in controlling a cortical network with increasing l. The methods and results of detecting controlling
Watson, Douglas F.; Berlind, Andreas A.; Zentner, Andrew R.
2012-08-01
We introduce a new technique that uses galaxy clustering to constrain how satellite galaxies lose stellar mass and contribute to the diffuse 'intrahalo light' (IHL). We implement two models that relate satellite galaxy stellar mass loss to the detailed knowledge of subhalo dark matter mass loss. Model 1 assumes that the fractional stellar mass loss of a galaxy, from the time of merging into a larger halo until the final redshift, is proportional to the fractional amount of dark matter mass loss of the subhalo it lives in. Model 2 accounts for a delay in the time that stellar mass is lost due to the fact that the galaxy resides deep in the potential well of the subhalo and the subhalo may experience dark matter mass loss for some time before the galaxy is affected. We use these models to predict the stellar masses of a population of galaxies and we use abundance matching to predict the clustering of several r-band luminosity threshold samples from the Sloan Digital Sky Survey. Abundance matching assuming no stellar mass loss (akin to abundance matching at the time of subhalo infall) overestimates the correlation function on small scales ({approx}< 1 Mpc), while allowing too much stellar mass loss leads to an underestimate of small-scale clustering. For each luminosity threshold sample, we are thus able to constrain the amount of stellar mass loss required to match the observed clustering. We find that satellite galaxy stellar mass loss is strongly luminosity dependent, with less luminous satellite galaxies experiencing substantially more efficient stellar mass loss than luminous satellites. With constrained stellar mass loss models, we can infer the amount of stellar mass that is deposited into the IHL. We find that both of our model predictions for the mean amount of IHL as a function of halo mass are consistent with current observational measurements. However, our two models predict a different amount of scatter in the IHL from halo to halo, with Model 2 being
Nugent, Timothy; Mole, Sara E; Jones, David T
2008-04-02
The CLN3 gene encodes an integral membrane protein of unknown function. Mutations in CLN3 can cause juvenile neuronal ceroid lipofuscinosis, or Batten disease, an inherited neurodegenerative lysosomal storage disease affecting children. Here, we report a topological study of the CLN3 protein using bioinformatic approaches constrained by experimental data. Our results suggest that CLN3 has a six transmembrane helix topology with cytoplasmic N and C-termini, three large lumenal loops, one of which may contain an amphipathic helix, and one large cytoplasmic loop. Surprisingly, varied topological predictions were made using different subsets of orthologous sequences, highlighting the challenges still remaining for bioinformatics.
NASA Technical Reports Server (NTRS)
Parker, Kevin Kit; Brock, Amy Lepre; Brangwynne, Cliff; Mannix, Robert J.; Wang, Ning; Ostuni, Emanuele; Geisse, Nicholas A.; Adams, Josephine C.; Whitesides, George M.; Ingber, Donald E.
2002-01-01
Directed cell migration is critical for tissue morphogenesis and wound healing, but the mechanism of directional control is poorly understood. Here we show that the direction in which cells extend their leading edge can be controlled by constraining cell shape using micrometer-sized extracellular matrix (ECM) islands. When cultured on square ECM islands in the presence of motility factors, cells preferentially extended lamellipodia, filopodia, and microspikes from their corners. Square cells reoriented their stress fibers and focal adhesions so that tractional forces were concentrated in these corner regions. When cell tension was dissipated, lamellipodia extension ceased. Mechanical interactions between cells and ECM that modulate cytoskeletal tension may therefore play a key role in the control of directional cell motility.
NASA Technical Reports Server (NTRS)
Parker, Kevin Kit; Brock, Amy Lepre; Brangwynne, Cliff; Mannix, Robert J.; Wang, Ning; Ostuni, Emanuele; Geisse, Nicholas A.; Adams, Josephine C.; Whitesides, George M.; Ingber, Donald E.
2002-01-01
Directed cell migration is critical for tissue morphogenesis and wound healing, but the mechanism of directional control is poorly understood. Here we show that the direction in which cells extend their leading edge can be controlled by constraining cell shape using micrometer-sized extracellular matrix (ECM) islands. When cultured on square ECM islands in the presence of motility factors, cells preferentially extended lamellipodia, filopodia, and microspikes from their corners. Square cells reoriented their stress fibers and focal adhesions so that tractional forces were concentrated in these corner regions. When cell tension was dissipated, lamellipodia extension ceased. Mechanical interactions between cells and ECM that modulate cytoskeletal tension may therefore play a key role in the control of directional cell motility.
Neural adaptive chaotic control with constrained input using state and output feedback
NASA Astrophysics Data System (ADS)
Gao, Shi-Gen; Dong, Hai-Rong; Sun, Xu-Bin; Ning, Bin
2015-01-01
This paper presents neural adaptive control methods for a class of chaotic nonlinear systems in the presence of constrained input and unknown dynamics. To attenuate the influence of constrained input caused by actuator saturation, an effective auxiliary system is constructed to prevent the stability of closed loop system from being destroyed. Radial basis function neural networks (RBF-NNs) are used in the online learning of the unknown dynamics, which do not require an off-line training phase. Both state and output feedback control laws are developed. In the output feedback case, high-order sliding mode (HOSM) observer is utilized to estimate the unmeasurable system states. Simulation results are presented to verify the effectiveness of proposed schemes. Project supported by the National High Technology Research and Development Program of China (Grant No. 2012AA041701), the Fundamental Research Funds for Central Universities of China (Grant No. 2013JBZ007), the National Natural Science Foundation of China (Grant Nos. 61233001, 61322307, 61304196, and 61304157), and the Research Program of Beijing Jiaotong University, China (Grant No. RCS2012ZZ003).
Broadband Noise Control Using Predictive Techniques
NASA Technical Reports Server (NTRS)
Eure, Kenneth W.; Juang, Jer-Nan
1997-01-01
Predictive controllers have found applications in a wide range of industrial processes. Two types of such controllers are generalized predictive control and deadbeat control. Recently, deadbeat control has been augmented to include an extended horizon. This modification, named deadbeat predictive control, retains the advantage of guaranteed stability and offers a novel way of control weighting. This paper presents an application of both predictive control techniques to vibration suppression of plate modes. Several system identification routines are presented. Both algorithms are outlined and shown to be useful in the suppression of plate vibrations. Experimental results are given and the algorithms are shown to be applicable to non- minimal phase systems.
Corrective Control to Handle Forecast Uncertainty: A Chance Constrained Optimal Power Flow
Roald, Line; Misra, Sidhant; Krause, Thilo; ...
2016-08-25
Higher shares of electricity generation from renewable energy sources and market liberalization is increasing uncertainty in power systems operation. At the same time, operation is becoming more flexible with improved control systems and new technology such as phase shifting transformers (PSTs) and high voltage direct current connections (HVDC). Previous studies have shown that the use of corrective control in response to outages contributes to a reduction in operating cost, while maintaining N-1 security. In this work, we propose a method to extend the use of corrective control of PSTs and HVDCs to react to uncertainty. We characterize the uncertainty asmore » continuous random variables, and define the corrective control actions through affine control policies. This allows us to efficiently model control reactions to a large number of uncertainty sources. The control policies are then included in a chance constrained optimal power flow formulation, which guarantees that the system constraints are enforced with a desired probability. Lastly, by applying an analytical reformulation of the chance constraints, we obtain a second-order cone problem for which we develop an efficient solution algorithm. In a case study for the IEEE 118 bus system, we show that corrective control for uncertainty leads to a decrease in operational cost, while maintaining system security. Further, we demonstrate the scalability of the method by solving the problem for the IEEE 300 bus and the Polish system test cases.« less
Corrective Control to Handle Forecast Uncertainty: A Chance Constrained Optimal Power Flow
Roald, Line; Misra, Sidhant; Krause, Thilo; Andersson, Goran
2016-08-25
Higher shares of electricity generation from renewable energy sources and market liberalization is increasing uncertainty in power systems operation. At the same time, operation is becoming more flexible with improved control systems and new technology such as phase shifting transformers (PSTs) and high voltage direct current connections (HVDC). Previous studies have shown that the use of corrective control in response to outages contributes to a reduction in operating cost, while maintaining N-1 security. In this work, we propose a method to extend the use of corrective control of PSTs and HVDCs to react to uncertainty. We characterize the uncertainty as continuous random variables, and define the corrective control actions through affine control policies. This allows us to efficiently model control reactions to a large number of uncertainty sources. The control policies are then included in a chance constrained optimal power flow formulation, which guarantees that the system constraints are enforced with a desired probability. Lastly, by applying an analytical reformulation of the chance constraints, we obtain a second-order cone problem for which we develop an efficient solution algorithm. In a case study for the IEEE 118 bus system, we show that corrective control for uncertainty leads to a decrease in operational cost, while maintaining system security. Further, we demonstrate the scalability of the method by solving the problem for the IEEE 300 bus and the Polish system test cases.
NASA Astrophysics Data System (ADS)
Langstaff, M. A.; Loveless, J. P.; Meade, B. J.
2013-12-01
We combine stressing rate estimates from geodetically constrained block models with candidate background stress fields to quantify the temporal evolution of stress over the earthquake cycle in southern California. Observations of p-axis rotations have been previously documented both before and after large earthquake events, and postmainshock seismicity indicates ~1.5 deg/yr of p-axis rotation in the vicinities of the Landers, Northridge, Elmore Ranch and Superstition Hills, and Ridgecrest earthquakes. Here we integrate regional stress rate estimates with the annual stress changes generated by interseismic fault system activity to place bounds on the regional background stress magnitudes that may be consistent with the inferred p-axis rotations. These models of time-dependent stress orientations also provide mechanical constraints on the range of stress variability possible through a simple earthquake cycle, including the orientation of stresses just prior to large ruptures.
Reinforcement learning solution for HJB equation arising in constrained optimal control problem.
Luo, Biao; Wu, Huai-Ning; Huang, Tingwen; Liu, Derong
2015-11-01
The constrained optimal control problem depends on the solution of the complicated Hamilton-Jacobi-Bellman equation (HJBE). In this paper, a data-based off-policy reinforcement learning (RL) method is proposed, which learns the solution of the HJBE and the optimal control policy from real system data. One important feature of the off-policy RL is that its policy evaluation can be realized with data generated by other behavior policies, not necessarily the target policy, which solves the insufficient exploration problem. The convergence of the off-policy RL is proved by demonstrating its equivalence to the successive approximation approach. Its implementation procedure is based on the actor-critic neural networks structure, where the function approximation is conducted with linearly independent basis functions. Subsequently, the convergence of the implementation procedure with function approximation is also proved. Finally, its effectiveness is verified through computer simulations.
NASA Astrophysics Data System (ADS)
Wang, Gang; Chen, Changzheng; Yu, Shenbo
2016-09-01
In this paper, the static output-feedback control problem of active suspension systems with information structure constraints is investigated. In order to simultaneously improve the ride comfort and stability, a half car model is used. Other constraints such as suspension deflection, actuator saturation, and controller constrained information are also considered. A novel static output-feedback design method based on the variable substitution is employed in the controller design. A single-step linear matrix inequality (LMI) optimization problem is solved to derive the initial feasible solution with a sparsity constraint. The initial infeasibility issue of the static output-feedback is resolved by using state-feedback information. Specifically, an optimization algorithm is proposed to search for less conservative results based on the feasible controller gain matrix. Finally, the validity of the designed controller for different road profiles is illustrated through numerical examples. The simulation results indicate that the optimized static output-feedback controller can achieve better suspension performances when compared with the feasible static output-feedback controller.
Pradeep Ambati, V N; Murray, Nicholas G; Saucedo, Fabricio; Powell, Douglas W; Reed-Jones, Rebecca J
2013-05-01
Humans use a specific steering synergy, where the eyes and head lead rotation to the new direction, when executing a turn or change in direction. Increasing evidence suggests that eye movement is critical for turning control and that when the eyes are constrained, or participants have difficulties making eye movements, steering control is disrupted. The purpose of the current study was to extend previous research regarding eye movements and steering control to a functional walking and turning task. This study investigated eye, head, trunk, and pelvis kinematics of healthy young adults during a 90° redirection of walking trajectory under two visual conditions: Free Gaze (the eyes were allowed to move naturally in the environment), and Fixed Gaze (participants were required to fixate the eyes on a target in front). Results revealed significant differences in eye, head, and trunk coordination between Free Gaze and Fixed Gaze conditions (p < 0.001). During Free Gaze, the eyes led reorientation followed by the head and trunk. Intersegment timings between the eyes, head, and trunk were significantly different (p < 0.05). In contrast, during Fixed Gaze, the segments moved together with no significant differences between segment onset times. In addition, the sequence of segment rotation during Fixed Gaze suggested a bottom-up postural perturbation control strategy in place of top-down steering control seen in Free Gaze. The results of this study support the hypothesis that eye movement is critical for the release of the steering synergy for turning control.
NASA Astrophysics Data System (ADS)
Balamurugan, V.; Narayanan, S.
2003-10-01
In the present paper, the active-passive hybrid vibration control performance due to Enhanced Smart Constrained Layer Damping (ESCLD) treatment as proposed by Liao and Wang on plate like structures has been considered. This treatment consists of a viscoelastic layer constrained between a smart piezoelectric layer and the base structure being controlled. Also, the smart constraining layer is clamped to the base structure. This type of damping treatment has got both active and passive component of damping. The passive damping is through cyclic shearing of viscoelastic constrained layer which is further enhanced by activating the smart piezoelectric constraining layer and the active component of the damping is through the transfer of control moments from the piezoelectric layer to the base structure through the viscoelastic layer and also bypassed through the clamps. A plate finite element has been formulated using first order shear deformation theory, including the effect of transverse shear and rotary inertia. The effect of the viscoelastic shear layer and piezoelectric constraining layer on the mass and stiffness has been included in the model. The viscoelastic shear layer is modeled usig Golla-Hughes-McTavish (GHM) method, which is a time domain approach. The clamps (edge elements) are modeled as equivalent springs connecting the smart piezoelectric constraining layer with the structure to be controlled. LQR optimal control strategy is used to obtain optimal control gains. The effect of the viscoelastic material properties (shear modulus and loss factor) on the hybrid vibration control performance is studied for both SCLD (without edge elements) and ESCLD systems.
Simulation analysis of adaptive cruise prediction control
NASA Astrophysics Data System (ADS)
Zhang, Li; Cui, Sheng Min
2017-09-01
Predictive control is suitable for multi-variable and multi-constraint system control.In order to discuss the effect of predictive control on the vehicle longitudinal motion, this paper establishes the expected spacing model by combining variable pitch spacing and the of safety distance strategy. The model predictive control theory and the optimization method based on secondary planning are designed to obtain and track the best expected acceleration trajectory quickly. Simulation models are established including predictive and adaptive fuzzy control. Simulation results show that predictive control can realize the basic function of the system while ensuring the safety. The application of predictive and fuzzy adaptive algorithm in cruise condition indicates that the predictive control effect is better.
Predicted functional RNAs within coding regions constrain evolutionary rates of yeast proteins.
Warden, Charles D; Kim, Seong-Ho; Yi, Soojin V
2008-02-13
Functional RNAs (fRNAs) are being recognized as an important regulatory component in biological processes. Interestingly, recent computational studies suggest that the number and biological significance of functional RNAs within coding regions (coding fRNAs) may have been underestimated. We hypothesized that such coding fRNAs will impose additional constraint on sequence evolution because the DNA primary sequence has to simultaneously code for functional RNA secondary structures on the messenger RNA in addition to the amino acid codons for the protein sequence. To test this prediction, we first utilized computational methods to predict conserved fRNA secondary structures within multiple species alignments of Saccharomyces sensu strico genomes. We predict that as much as 5% of the genes in the yeast genome contain at least one functional RNA secondary structure within their protein-coding region. We then analyzed the impact of coding fRNAs on the evolutionary rate of protein-coding genes because a decrease in evolutionary rate implies constraint due to biological functionality. We found that our predicted coding fRNAs have a significant influence on evolutionary rates (especially at synonymous sites), independent of other functional measures. Thus, coding fRNA may play a role on sequence evolution. Given that coding regions of humans and flies contain many more predicted coding fRNAs than yeast, the impact of coding fRNAs on sequence evolution may be substantial in genomes of higher eukaryotes.
Yen, Eric A.; Tsay, Aaron; Waldispuhl, Jerome; Vogel, Jackie
2014-01-01
Protein complexes are not static, but rather highly dynamic with subunits that undergo 1-dimensional diffusion with respect to each other. Interactions within protein complexes are modulated through regulatory inputs that alter interactions and introduce new components and deplete existing components through exchange. While it is clear that the structure and function of any given protein complex is coupled to its dynamical properties, it remains a challenge to predict the possible conformations that complexes can adopt. Protein-fragment Complementation Assays detect physical interactions between protein pairs constrained to ≤8 nm from each other in living cells. This method has been used to build networks composed of 1000s of pair-wise interactions. Significantly, these networks contain a wealth of dynamic information, as the assay is fully reversible and the proteins are expressed in their natural context. In this study, we describe a method that extracts this valuable information in the form of predicted conformations, allowing the user to explore the conformational landscape, to search for structures that correlate with an activity state, and estimate the abundance of conformations in the living cell. The generator is based on a Markov Chain Monte Carlo simulation that uses the interaction dataset as input and is constrained by the physical resolution of the assay. We applied this method to an 18-member protein complex composed of the seven core proteins of the budding yeast Arp2/3 complex and 11 associated regulators and effector proteins. We generated 20,480 output structures and identified conformational states using principle component analysis. We interrogated the conformation landscape and found evidence of symmetry breaking, a mixture of likely active and inactive conformational states and dynamic exchange of the core protein Arc15 between core and regulatory components. Our method provides a novel tool for prediction and visualization of the hidden
PREDICTING CME EJECTA AND SHEATH FRONT ARRIVAL AT L1 WITH A DATA-CONSTRAINED PHYSICAL MODEL
Hess, Phillip; Zhang, Jie
2015-10-20
We present a method for predicting the arrival of a coronal mass ejection (CME) flux rope in situ, as well as the sheath of solar wind plasma accumulated ahead of the driver. For faster CMEs, the front of this sheath will be a shock. The method is based upon geometrical separate measurement of the CME ejecta and sheath. These measurements are used to constrain a drag-based model, improved by including both a height dependence and accurate de-projected velocities. We also constrain the geometry of the model to determine the error introduced as a function of the deviation of the CME nose from the Sun–Earth line. The CME standoff-distance in the heliosphere fit is also calculated, fit, and combined with the ejecta model to determine sheath arrival. Combining these factors allows us to create predictions for both fronts at the L1 point and compare them against observations. We demonstrate an ability to predict the sheath arrival with an average error of under 3.5 hr, with an rms error of about 1.58 hr. For the ejecta the error is less than 1.5 hr, with an rms error within 0.76 hr. We also discuss the physical implications of our model for CME expansion and density evolution. We show the power of our method with ideal data and demonstrate the practical implications of having a permanent L5 observer with space weather forecasting capabilities, while also discussing the limitations of the method that will have to be addressed in order to create a real-time forecasting tool.
Predicting CME Ejecta and Sheath Front Arrival at L1 with a Data-constrained Physical Model
NASA Astrophysics Data System (ADS)
Hess, Phillip; Zhang, Jie
2015-10-01
We present a method for predicting the arrival of a coronal mass ejection (CME) flux rope in situ, as well as the sheath of solar wind plasma accumulated ahead of the driver. For faster CMEs, the front of this sheath will be a shock. The method is based upon geometrical separate measurement of the CME ejecta and sheath. These measurements are used to constrain a drag-based model, improved by including both a height dependence and accurate de-projected velocities. We also constrain the geometry of the model to determine the error introduced as a function of the deviation of the CME nose from the Sun-Earth line. The CME standoff-distance in the heliosphere fit is also calculated, fit, and combined with the ejecta model to determine sheath arrival. Combining these factors allows us to create predictions for both fronts at the L1 point and compare them against observations. We demonstrate an ability to predict the sheath arrival with an average error of under 3.5 hr, with an rms error of about 1.58 hr. For the ejecta the error is less than 1.5 hr, with an rms error within 0.76 hr. We also discuss the physical implications of our model for CME expansion and density evolution. We show the power of our method with ideal data and demonstrate the practical implications of having a permanent L5 observer with space weather forecasting capabilities, while also discussing the limitations of the method that will have to be addressed in order to create a real-time forecasting tool.
The Modelling and Vibration Control of Beams with Active Constrained Layer Damping
NASA Astrophysics Data System (ADS)
SHI, Y. M.; LI, Z. F.; HUA, H. X.; FU, Z. F.; LIU, T. X.
2001-08-01
The finite element method (FEM) is combined with the Golla-Hughes-McTavish (GHM) model of viscoelastic materials (VEM) to model a cantilever beam with active constrained layer damping treatments. This approach avoids time-consuming iteration in solving modal frequencies, modal damping ratios and responses. But the resultant finite element (FE) model has too many degrees of freedom (d.o.f.s) from the point of view of control, nor is it observable and controllable. A new model reduction procedure is proposed. An iterative dynamic condensation is performed in the physical space, and Guyan condensation is taken as an initial iteration approximation. A reduced order model (ROM) of suitable size emerges, but it is still not observable and controllable. Accordingly, a robust model reduction method is then employed in the state space. A numerical example proves that this procedure reduces the model and assures the stability, controllability and observability of the final reduced order model (FROM). Finally, a controller is designed by linear-quadratic Gaussian (LQG) method based on the FROM. The vibration attenuation is evident
Finite-dimensional constrained fuzzy control for a class of nonlinear distributed process systems.
Wu, Huai-Ning; Li, Han-Xiong
2007-10-01
This correspondence studies the problem of finite-dimensional constrained fuzzy control for a class of systems described by nonlinear parabolic partial differential equations (PDEs). Initially, Galerkin's method is applied to the PDE system to derive a nonlinear ordinary differential equation (ODE) system that accurately describes the dynamics of the dominant (slow) modes of the PDE system. Subsequently, a systematic modeling procedure is given to construct exactly a Takagi-Sugeno (T-S) fuzzy model for the finite-dimensional ODE system under state constraints. Then, based on the T-S fuzzy model, a sufficient condition for the existence of a stabilizing fuzzy controller is derived, which guarantees that the state constraints are satisfied and provides an upper bound on the quadratic performance function for the finite-dimensional slow system. The resulting fuzzy controllers can also guarantee the exponential stability of the closed-loop PDE system. Moreover, a local optimization algorithm based on the linear matrix inequalities is proposed to compute the feedback gain matrices of a suboptimal fuzzy controller in the sense of minimizing the quadratic performance bound. Finally, the proposed design method is applied to the control of the temperature profile of a catalytic rod.
NASA Technical Reports Server (NTRS)
Douglass, Anne R.; Stolarski, Richard S.
1987-01-01
Atmospheric photochemistry models have been used to predict the sensitivity of the ozone layer to various perturbations. These same models also predict concentrations of chemical species in the present day atmosphere which can be compared to observations. Model results for both present day values and sensitivity to perturbation depend upon input data for reaction rates, photodissociation rates, and boundary conditions. A method of combining the results of a Monte Carlo uncertainty analysis with the existing set of present atmospheric species measurements is developed. The method is used to examine the range of values for the sensitivity of ozone to chlorine perturbations that is possible within the currently accepted ranges for input data. It is found that model runs which predict ozone column losses much greater than 10 percent as a result of present fluorocarbon fluxes produce concentrations and column amounts in the present atmosphere which are inconsistent with the measurements for ClO, HCl, NO, NO2, and HNO3.
Snow data assimilation-constrained land initialization improves seasonal temperature prediction
NASA Astrophysics Data System (ADS)
Lin, Peirong; Wei, Jiangfeng; Yang, Zong-Liang; Zhang, Yongfei; Zhang, Kai
2016-11-01
We present the first systematic study to quantify the impact of land initialization on seasonal temperature prediction in the Northern Hemisphere, emphasizing the role of land snow data assimilation (DA). Three suites of ensemble seasonal integrations are conducted for coupled land-atmosphere runs. The land component is initialized using datasets from (1) no DA, (2) assimilating Moderate Resolution Imaging Spectroradiometer (MODIS) snow cover fraction (SCF), and (3) assimilating both MODIS SCF and Gravity Recovery and Climate Experiment (GRACE) terrestrial water storage. Results show that snow DA improves temperature predictions especially in the Tibetan Plateau (by 5-20%) and high latitudes. Improvements at low latitudes are seen immediately and last up to 60 days, whereas improvements at high latitudes only appear later in transitional seasons. At high latitudes, assimilating GRACE data results in marked and prolonged improvements (by 25%) due to large initial snow mass changes. This study has great implications for future land DA and seasonal climate prediction studies.
Predictive Control of Speededness in Adaptive Testing
ERIC Educational Resources Information Center
van der Linden, Wim J.
2009-01-01
An adaptive testing method is presented that controls the speededness of a test using predictions of the test takers' response times on the candidate items in the pool. Two different types of predictions are investigated: posterior predictions given the actual response times on the items already administered and posterior predictions that use the…
Predictive Control of Speededness in Adaptive Testing
ERIC Educational Resources Information Center
van der Linden, Wim J.
2009-01-01
An adaptive testing method is presented that controls the speededness of a test using predictions of the test takers' response times on the candidate items in the pool. Two different types of predictions are investigated: posterior predictions given the actual response times on the items already administered and posterior predictions that use the…
NASA Astrophysics Data System (ADS)
Kallel, Hichem
Three classes of postural adjustments are investigated with the view of a better understanding of the control mechanisms involved in human movement. The control mechanisms and responses of human or computer models to deliberately induced disturbances in postural adjustments are the focus of this dissertation. The classes of postural adjustments are automatic adjustments, (i.e. adjustments not involving voluntary deliberate movement), adjustments involving imposition of constraints for the purpose of maintaining support forces, and adjustments involving violation and imposition of constraints for the purpose of maintaining balance, (i.e. taking one or more steps). For each class, based on the physiological attributes of the control mechanisms in human movements, control strategies are developed to synthesize the desired postural response. The control strategies involve position and velocity feedback control, on line relegation control, and pre-stored trajectory control. Stability analysis for constrained and unconstrained maneuvers is carried out based on Lyapunov stability theorems. The analysis is based on multi-segment biped robots. Depending on the class of postural adjustments, different biped models are developed. An eight-segment three dimensional biped model is formulated for the study of automatic adjustments and adjustments for balance. For the study of adjustments for support, a four segment lateral biped model is considered. Muscle synergies in automatic adjustments are analyzed based on a three link six muscle system. The muscle synergies considered involve minimal muscle number and muscle co-activation. The role of active and passive feedback in these automatic adjustments is investigated based on the specified stiffness and damping of the segments. The effectiveness of the control strategies and the role of muscle synergies in automatic adjustments are demonstrated by a number of digital computer simulations.
Risk Prediction for Acute Hypotensive Patients by Using Gap Constrained Sequential Contrast Patterns
Ghosh, Shameek; Feng, Mengling; Nguyen, Hung; Li, Jinyan
2014-01-01
The development of acute hypotension in a critical care patient causes decreased tissue perfusion, which can lead to multiple organ failures. Existing systems that employ population level prognostic scores to stratify the risks of critical care patients based on hypotensive episodes are suboptimal in predicting impending critical conditions, or in directing an effective goal-oriented therapy. In this work, we propose a sequential pattern mining approach which target novel and informative sequential contrast patterns for the detection of hypotension episodes. Our results demonstrate the competitiveness of the approach, in terms of both prediction performance as well as knowledge interpretability. Hence, sequential patterns-based computational biomarkers can help comprehend unusual episodes in critical care patients ahead of time for early warning systems. Sequential patterns can thus aid in the development of a powerful critical care knowledge discovery framework for facilitating novel patient treatment plans. PMID:25954447
NASA Astrophysics Data System (ADS)
Krishnan, Hariharan
1993-06-01
This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude
NASA Technical Reports Server (NTRS)
Krishnan, Hariharan
1993-01-01
This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude
Generalized Predictive and Neural Generalized Predictive Control of Aerospace Systems
NASA Technical Reports Server (NTRS)
Kelkar, Atul G.
2000-01-01
The research work presented in this thesis addresses the problem of robust control of uncertain linear and nonlinear systems using Neural network-based Generalized Predictive Control (NGPC) methodology. A brief overview of predictive control and its comparison with Linear Quadratic (LQ) control is given to emphasize advantages and drawbacks of predictive control methods. It is shown that the Generalized Predictive Control (GPC) methodology overcomes the drawbacks associated with traditional LQ control as well as conventional predictive control methods. It is shown that in spite of the model-based nature of GPC it has good robustness properties being special case of receding horizon control. The conditions for choosing tuning parameters for GPC to ensure closed-loop stability are derived. A neural network-based GPC architecture is proposed for the control of linear and nonlinear uncertain systems. A methodology to account for parametric uncertainty in the system is proposed using on-line training capability of multi-layer neural network. Several simulation examples and results from real-time experiments are given to demonstrate the effectiveness of the proposed methodology.
Constrained optimal controller for linear systems with state and control dependent disturbance
NASA Technical Reports Server (NTRS)
Basuthakur, S.
1975-01-01
The problem is posed with the additional constraints that the dynamic controller uses only noise-corrupted outputs, and that its dimension is significantly lower than that of a Kalman filter. The unknown disturbance is viewed as an adversary which tries to maximize a performance criterion: a criterion that the controller gains attempt to minimize. The optimal controller gains are determined by solving a nonlinear matrix two-point boundary value problem.
Li, Yongming; Ma, Zhiyao; Tong, Shaocheng
2017-09-01
The problem of adaptive fuzzy output-constrained tracking fault-tolerant control (FTC) is investigated for the large-scale stochastic nonlinear systems of pure-feedback form. The nonlinear systems considered in this paper possess the unstructured uncertainties, unknown interconnected terms and unknown nonaffine nonlinear faults. The fuzzy logic systems are employed to identify the unknown lumped nonlinear functions so that the problems of structured uncertainties can be solved. An adaptive fuzzy state observer is designed to solve the nonmeasurable state problem. By combining the barrier Lyapunov function theory, adaptive decentralized and stochastic control principles, a novel fuzzy adaptive output-constrained FTC approach is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.
Li, Yongming; Tong, Shaocheng
2016-08-25
In this paper, an adaptive fuzzy output constrained control design approach is addressed for multi-input multioutput uncertain stochastic nonlinear systems in nonstrict-feedback form. The nonlinear systems addressed in this paper possess unstructured uncertainties, unknown gain functions and unknown stochastic disturbances. Fuzzy logic systems are utilized to tackle the problem of unknown nonlinear uncertainties. The barrier Lyapunov function technique is employed to solve the output constrained problem. In the framework of backstepping design, an adaptive fuzzy control design scheme is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.
NASA Astrophysics Data System (ADS)
Iden, Sascha; Peters, Andre; Durner, Wolfgang
2017-04-01
Soil hydraulic properties are required to solve the Richards equation, the most widely applied model for variably-saturated flow. While the experimental determination of the water retention curve does not pose significant challenges, the measurement of unsaturated hydraulic conductivity is time consuming and costly. The prediction of the unsaturated hydraulic conductivity curve from the soil water retention curve by pore-bundle models is a cost-effective and widely applied technique. A well-known problem of conductivity prediction for retention functions with wide pore-size distributions is the sharp drop in conductivity close to water saturation. This problematic behavior is well known for the van Genuchten model if the shape parameter n assumes values smaller than about 1.3. So far, the workaround for this artefact has been to introduce an explicit air-entry value into the capillary saturation function. However, this correction leads to a retention function which is not continuously differentiable and thus a discontinuous water capacity function. We present an improved parametrization of the hydraulic properties which uses the original capillary saturation function and introduces a maximum pore radius only in the pore-bundle model. Closed-form equations for the hydraulic conductivity function were derived for the unimodal and multimodal retention functions of van Genuchten and have been tested by sensitivity analysis and applied in curve fitting and inverse modeling of multistep outflow experiments. The resulting hydraulic conductivity function is smooth, increases monotonically close to saturation, and eliminates the sharp drop in conductivity close to saturation. Furthermore, the new model retains the smoothness and continuous differentiability of the water retention curve. We conclude that the resulting soil hydraulic functions are physically more reasonable than the ones predicted by previous approaches, and are thus ideally suited for numerical simulations
NASA Astrophysics Data System (ADS)
Smith, P.; Beven, K.; Blazkova, S.; Merta, L.
2003-04-01
This poster outlines a methodology for the estimation of parameters in an Aggregated Dead Zone (ADZ) model of pollutant transport, by use of an example reach of the River Elbe. Both tracer and continuous water quality measurements are analysed to investigate the relationship between discharge and advective time delay. This includes a study of the effects of different error distributions being applied to the measurement of both variables using Monte-Carlo Markov Chain (MCMC) techniques. The derived relationships between discharge and advective time delay can then be incorporated into the formulation of the ADZ model to allow prediction of pollutant transport given uncertainty in the parameter values. The calibration is demonstrated in a hierarchical framework, giving the potential for the selection of appropriate model structures for the change in transport characteristics with discharge in the river. The value of different types and numbers of measurements are assessed within this framework.
Nonlinear stochastic controllers for power-flow-constrained vibratory energy harvesters
NASA Astrophysics Data System (ADS)
Cassidy, Ian L.; Scruggs, Jeffrey T.
2013-06-01
This study addresses the formulation of nonlinear feedback controllers for stochastically excited vibratory energy harvesters. Maximizing the average power generated from such systems requires the transducer current to be regulated using a bi-directional power electronic converter. There are many applications where the implementation of these types of converters is infeasible, due to the higher parasitic losses they must sustain. If instead the transducer current is regulated using a converter capable of single-directional power-flow, then these parasitic losses can be reduced significantly. However, the constraint on the power-flow directionality restricts the domain of feasible feedback laws. The only feasible linear feedback law imposes a static relationship between current and voltage, i.e., a static admittance. In stochastic response, the power generation performance can be enhanced significantly beyond that of the optimal static admittance, using nonlinear feedback. In this paper, a general approach to nonlinear control synthesis for power-flow-constrained energy harvesters is presented, which is analytically guaranteed to outperform the optimal static admittance in stationary stochastic response. Simulation results are presented for a single-degree-of-freedom resonant oscillator with an electromagnetic transducer, as well as for a piezoelectric bimorph cantilever beam.
Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
Nogueira, Samuel L.; Pazelli, Tatiana F. P. A. T.; Siqueira, Adriano A. G.; Terra, Marco H.
2013-01-01
In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second one shows an experimental investigation on the performance of four different adaptive nonlinear ℋ∞ control methods applied to a constrained manipulator subject to uncertainties in the model and external disturbances. Coordinated position and force control is evaluated. Adaptive procedures are based on neural networks and fuzzy systems applied in two different modeling strategies. The first modeling strategy requires a well-known nominal model for the robot, so that the intelligent systems are applied only to estimate the effects of uncertainties, unmodeled dynamics and external disturbances. The second strategy considers that the robot model is completely unknown and, therefore, intelligent systems are used to estimate these dynamics. A comparative study is conducted based on experimental implementations performed with an actual planar manipulator and with the dynamic force sensor developed for this purpose. PMID:23598503
Nogueira, Samuel L; Pazelli, Tatiana F P A T; Siqueira, Adriano A G; Terra, Marco H
2013-04-18
In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second one shows an experimental investigation on the performance of four different adaptive nonlinear H∞ control methods applied to a constrained manipulator subject to uncertainties in the model and external disturbances. Coordinated position and force control is evaluated. Adaptive procedures are based on neural networks and fuzzy systems applied in two different modeling strategies. The first modeling strategy requires a well-known nominal model for the robot, so that the intelligent systems are applied only to estimate the effects of uncertainties, unmodeled dynamics and external disturbances. The second strategy considers that the robot model is completely unknown and, therefore, intelligent systems are used to estimate these dynamics. A comparative study is conducted based on experimental implementations performed with an actual planar manipulator and with the dynamic force sensor developed for this purpose.
Multi-Constrained Optimal Control of 3D Robotic Arm Manipulators
NASA Astrophysics Data System (ADS)
Trivailo, Pavel M.; Fujii, Hironori A.; Kojima, Hirohisa; Watanabe, Takeo
This paper presents a generic method for optimal motion planning for three-dimensional 3-DOF multi-link robotic manipulators. We consider the operation of the manipulator systems, which involve constrained payload transportation/ capture/release, which is a subject to the minimization of the user-defined objective function, enabling for example minimization of the time of the transfer and/or actuation efforts. It should be stressed out that the task is solved in the presence of arbitrary multiple additional constraints. The solutions of the associated nonlinear differential equations of motion are obtained numerically using the direct transcription method. The direct method seeks to transform the continuous optimal control problem into a discrete mathematical programming problem, which in turn is solved using a non-linear programming algorithm. By discretizing the state and control variables at a series of nodes, the integration of the dynamical equations of motion is not required. The Chebyshev pseudospectral method, due to its high accuracy and fast computation times, was chosen as the direct optimization method to be employed to solve the problem. To illustrate the capabilities of the methodology, maneuvering of RRR 3D robot manipulators were considered in detail. Their optimal operations were simulated for the manipulators, binded to move their effectors along the specified 2D plane and 3D spherical and cylindrical surfaces (imitating for example, welding, tooling or scanning robots).
Demand management in healthcare IT. Controlling IT demand to meet constrained IT resource supply.
Mohrmann, Gregg; Schlusberg, Craig; Kropf, Roger
2007-01-01
Healthcare is behind other industries in the ability to manage and control increasing demand for IT services, and to ensure that IT staff are available when and where needed. From everyday support requests to large capital projects, the IT department's ability to meet demand is limited. Organizational and IT leaders need to proactively address this issue and do a better job of predicting when services will be needed and whether appropriate resources will be available. This article describes the common issues that healthcare IT departments face in the efficient delivery of services as a result of factors such as budget constraints, skill sets and project dependencies. Best practices for controlling demand are discussed, including resource allocation, governance processes and a graphical analysis of forecasted vs. actual thresholds. Using specific healthcare provider examples, the article intends to provide IT management with an approach to predicting and controlling resource demand.
Model Constrained by Visual Hierarchy Improves Prediction of Neural Responses to Natural Scenes
Antolík, Ján; Hofer, Sonja B.; Bednar, James A.; Mrsic-Flogel, Thomas D.
2016-01-01
Accurate estimation of neuronal receptive fields is essential for understanding sensory processing in the early visual system. Yet a full characterization of receptive fields is still incomplete, especially with regard to natural visual stimuli and in complete populations of cortical neurons. While previous work has incorporated known structural properties of the early visual system, such as lateral connectivity, or imposing simple-cell-like receptive field structure, no study has exploited the fact that nearby V1 neurons share common feed-forward input from thalamus and other upstream cortical neurons. We introduce a new method for estimating receptive fields simultaneously for a population of V1 neurons, using a model-based analysis incorporating knowledge of the feed-forward visual hierarchy. We assume that a population of V1 neurons shares a common pool of thalamic inputs, and consists of two layers of simple and complex-like V1 neurons. When fit to recordings of a local population of mouse layer 2/3 V1 neurons, our model offers an accurate description of their response to natural images and significant improvement of prediction power over the current state-of-the-art methods. We show that the responses of a large local population of V1 neurons with locally diverse receptive fields can be described with surprisingly limited number of thalamic inputs, consistent with recent experimental findings. Our structural model not only offers an improved functional characterization of V1 neurons, but also provides a framework for studying the relationship between connectivity and function in visual cortical areas. PMID:27348548
Stefanucci, Azzurra; Pinnen, Francesco; Feliciani, Federica; Cacciatore, Ivana; Lucente, Gino; Mollica, Adriano
2011-01-01
A successful design of peptidomimetics must come to terms with χ-space control. The incorporation of χ-space constrained amino acids into bioactive peptides renders the χ1 and χ2 torsional angles of pharmacophore amino acids critical for activity and selectivity as with other relevant structural features of the template. This review describes histidine analogues characterized by replacement of native α and/or β-hydrogen atoms with alkyl substituents as well as analogues with α, β-didehydro unsaturation or Cα-Cβ cyclopropane insertion (ACC derivatives). Attention is also dedicated to the relevant field of β-aminoacid chemistry by describing the synthesis of β2- and β3-models (β-hHis). Structural modifications leading to cyclic imino derivatives such as spinacine, aza-histidine and analogues with shortening or elongation of the native side chain (nor-histidine and homo-histidine, respectively) are also described. Examples of the use of the described analogues to replace native histidine in bioactive peptides are also given. PMID:21686155
An efficient artificial bee colony algorithm with application to nonlinear predictive control
NASA Astrophysics Data System (ADS)
Ait Sahed, Oussama; Kara, Kamel; Benyoucef, Abousoufyane; Laid Hadjili, Mohamed
2016-05-01
In this paper a constrained nonlinear predictive control algorithm, that uses the artificial bee colony (ABC) algorithm to solve the optimization problem, is proposed. The main objective is to derive a simple and efficient control algorithm that can solve the nonlinear constrained optimization problem with minimal computational time. Indeed, a modified version, enhancing the exploring and the exploitation capabilities, of the ABC algorithm is proposed and used to design a nonlinear constrained predictive controller. This version allows addressing the premature and the slow convergence drawbacks of the standard ABC algorithm, using a modified search equation, a well-known organized distribution mechanism for the initial population and a new equation for the limit parameter. A convergence statistical analysis of the proposed algorithm, using some well-known benchmark functions is presented and compared with several other variants of the ABC algorithm. To demonstrate the efficiency of the proposed algorithm in solving engineering problems, the constrained nonlinear predictive control of the model of a Multi-Input Multi-Output industrial boiler is considered. The control performances of the proposed ABC algorithm-based controller are also compared to those obtained using some variants of the ABC algorithms.
NASA Astrophysics Data System (ADS)
Blacksberg, Jordana; Eiler, John; Brown, Mike; Ehlmann, Bethany; Hand, Kevin; Hodyss, Robert; Mahjoub, Ahmed; Poston, Michael; Liu, Yang; Choukroun, Mathieu; Carey, Elizabeth; Wong, Ian
2014-11-01
Hypotheses based on recent dynamical models (e.g. the Nice Model) shape our current understanding of solar system evolution, suggesting radical rearrangement in the first hundreds of millions of years of its history, changing the orbital distances of Jupiter, Saturn, and a large number of small bodies. The goal of this work is to build a methodology to concretely tie individual solar system bodies to dynamical models using observables, providing evidence for their origins and evolutionary pathways. Ultimately, one could imagine identifying a set of chemical or mineralogical signatures that could quantitatively and predictably measure the radial distance at which icy and rocky bodies first accreted. The target of the work presented here is the Jupiter Trojan asteroids, predicted by the Nice Model to have initially formed in the Kuiper belt and later been scattered inward to co-orbit with Jupiter. Here we present our strategy which is fourfold: (1) Generate predictions about the mineralogical, chemical, and isotopic compositions of materials accreted in the early solar system as a function of distance from the Sun. (2) Use temperature and irradiation to simulate evolutionary processing of ices and silicates, and measure the alteration in spectral properties from the UV to mid-IR. (3) Characterize simulants to search for potential fingerprints of origin and processing pathways, and (4) Use telescopic observations to increase our knowledge of the Trojan asteroids, collecting data on populations and using spectroscopy to constrain their compositions. In addition to the overall strategy, we will present preliminary results on compositional modeling, observations, and the synthesis, processing, and characterization of laboratory simulants including ices and silicates. This work has been supported by the Keck Institute for Space Studies (KISS). The research described here was carried out at the Jet Propulsion Laboratory, Caltech, under a contract with the National
H ∞ predictive control of networked control systems
NASA Astrophysics Data System (ADS)
Xia, Yuanqing; Li, Li; Liu, Guo-Ping; Shi, Peng
2011-06-01
This article is concerned with the problem of H ∞ predictive control of networked control system with random network delay. A new control scheme termed networked predictive control is proposed. This scheme mainly consists of the control prediction generator and network delay compensator. While designing the predictor, the control input to the actuator may be different due to networked induced time-delay and data dropout, and two cases are considered depending on the way that the observer obtains the plant control input u t . The necessary and sufficient conditions are given for the closed-loop networked predictive control system to be stochastically stable for different u t and random network delays in controller to actuator channel (CAC) and sensor to controller channel (SCC). A simulation study shows the effectiveness of the proposed scheme.
Prediction and Control in a Dynamic Environment
Osman, Magda; Speekenbrink, Maarten
2011-01-01
The present study compared the accuracy of cue-outcome knowledge gained during prediction-based and control-based learning in stable and unstable dynamic environments. Participants either learnt to make cue-interventions in order to control an outcome, or learnt to predict the outcome from observing changes to the cue values. Study 1 (N = 60) revealed that in tests of control, after a short period of familiarization, performance of Predictors was equivalent to Controllers. Study 2 (N = 28) showed that Controllers showed equivalent task knowledge when to compared to Predictors. Though both Controllers and Predictors showed good performance at test, overall Controllers showed an advantage. The cue-outcome knowledge acquired during learning was sufficiently flexible to enable successful transfer to tests of control and prediction. PMID:22419913
NASA Astrophysics Data System (ADS)
Liu, Suihan; Burgueño, Rigoberto
2016-12-01
Axially compressed bilaterally constrained columns, which can attain multiple snap-through buckling events in their elastic postbuckling response, can be used as energy concentrators and mechanical triggers to transform external quasi-static displacement input to local high-rate motions and excite vibration-based piezoelectric transducers for energy harvesting devices. However, the buckling location with highest kinetic energy release along the element, and where piezoelectric oscillators should be optimally placed, cannot be controlled or isolated due to the changing buckling configurations. This paper proposes the concept of stiffness variations along the column to gain control of the buckling location for optimal placement of piezoelectric transducers. Prototyped non-prismatic columns with piece-wise varying thickness were fabricated through 3D printing for experimental characterization and numerical simulations were conducted using the finite element method. A simple theoretical model was also developed based on the stationary potential energy principle for predicting the critical line contact segment that triggers snap-through events and the buckling morphologies as compression proceeds. Results confirm that non-prismatic column designs allow control of the buckling location in the elastic postbuckling regime. Compared to prismatic columns, non-prismatic designs can attain a concentrated kinetic energy release spot and a higher number of snap-buckling mode transitions under the same global strain. The direct relation between the column’s dynamic response and the output voltage from piezoelectric oscillator transducers allows the tailorable postbuckling response of non-prismatic columns to be used as multi-stable energy concentrators with enhanced performance in micro-energy harvesters.
Missile Guidance Law Based on Robust Model Predictive Control Using Neural-Network Optimization.
Li, Zhijun; Xia, Yuanqing; Su, Chun-Yi; Deng, Jun; Fu, Jun; He, Wei
2015-08-01
In this brief, the utilization of robust model-based predictive control is investigated for the problem of missile interception. Treating the target acceleration as a bounded disturbance, novel guidance law using model predictive control is developed by incorporating missile inside constraints. The combined model predictive approach could be transformed as a constrained quadratic programming (QP) problem, which may be solved using a linear variational inequality-based primal-dual neural network over a finite receding horizon. Online solutions to multiple parametric QP problems are used so that constrained optimal control decisions can be made in real time. Simulation studies are conducted to illustrate the effectiveness and performance of the proposed guidance control law for missile interception.
2012-01-01
Background Few studies discuss the indicators used to assess the effect on cost containment in healthcare across hospitals in a single-payer national healthcare system with constrained medical resources. We present the intraclass correlation coefficient (ICC) to assess how well Taiwan constrained hospital-provided medical services in such a system. Methods A custom Excel-VBA routine to record the distances of standard deviations (SDs) from the central line (the mean over the previous 12 months) of a control chart was used to construct and scale annual medical expenditures sequentially from 2000 to 2009 for 421 hospitals in Taiwan to generate the ICC. The ICC was then used to evaluate Taiwan’s year-based convergent power to remain unchanged in hospital-provided constrained medical services. A bubble chart of SDs for a specific month was generated to present the effects of using control charts in a national healthcare system. Results ICCs were generated for Taiwan’s year-based convergent power to constrain its medical services from 2000 to 2009. All hospital groups showed a gradually well-controlled supply of services that decreased from 0.772 to 0.415. The bubble chart identified outlier hospitals that required investigation of possible excessive reimbursements in a specific time period. Conclusion We recommend using the ICC to annually assess a nation’s year-based convergent power to constrain medical services across hospitals. Using sequential control charts to regularly monitor hospital reimbursements is required to achieve financial control in a single-payer nationwide healthcare system. PMID:22587736
Predicting and Controlling Complex Networks
2015-06-22
networks and control . . . . . . . . . . . . . . . . . . . 7 3.4 Pattern formation, synchronization and outbreak of biodiversity in cyclically...Ni, Y.-C. Lai, and C. Grebogi, “Pattern formation, synchronization and outbreak of biodiversity in cyclically competing games,” Physical Review E 83...of Physics B 76, 179-183 (2010). 3.4 Pattern formation, synchronization and outbreak of biodiversity in cyclically competing games Biodiversity is
A Robustly Stabilizing Model Predictive Control Algorithm
NASA Technical Reports Server (NTRS)
Ackmece, A. Behcet; Carson, John M., III
2007-01-01
A model predictive control (MPC) algorithm that differs from prior MPC algorithms has been developed for controlling an uncertain nonlinear system. This algorithm guarantees the resolvability of an associated finite-horizon optimal-control problem in a receding-horizon implementation.
NASA Astrophysics Data System (ADS)
Bydlon, S. A.; Dunham, E. M.
2016-12-01
Recent increases in seismic activity in historically quiescent areas such as Oklahoma, Texas, and Arkansas, including large, potentially induced events such as the 2011 Mw 5.6 Prague, OK, earthquake, have spurred the need for investigation into expected ground motions associated with these seismic sources. The neoteric nature of this seismicity increase corresponds to a scarcity of ground motion recordings within 50 km of earthquakes Mw 3.0 and greater, with increasing scarcity at larger magnitudes. Gathering additional near-source ground motion data will help better constraints on regional ground motion prediction equations (GMPEs) and will happen over time, but this leaves open the possibility of damaging earthquakes occurring before potential ground shaking and seismic hazard in these areas are properly understood. To aid the effort of constraining near-source GMPEs associated with induced seismicity, we integrate synthetic ground motion data from simulated earthquakes into the process. Using the dynamic rupture and seismic wave propagation code waveqlab3d, we perform verification and validation exercises intended to establish confidence in simulated ground motions for use in constraining GMPEs. We verify the accuracy of our ground motion simulator by performing the PEER/SCEC layer-over-halfspace comparison problem LOH.1 Validation exercises to ensure that we are synthesizing realistic ground motion data include comparisons to recorded ground motions for specific earthquakes in target areas of Oklahoma between Mw 3.0 and 4.0. Using a 3D velocity structure that includes a 1D structure with additional small-scale heterogeneity, the properties of which are based on well-log data from Oklahoma, we perform ground motion simulations of small (Mw 3.0 - 4.0) earthquakes using point moment tensor sources. We use the resulting synthetic ground motion data to develop GMPEs for small earthquakes in Oklahoma. Preliminary results indicate that ground motions can be amplified
Plasma Stabilization Based on Model Predictive Control
NASA Astrophysics Data System (ADS)
Sotnikova, Margarita
The nonlinear model predictive control algorithms for plasma current and shape stabilization are proposed. Such algorithms are quite suitable for the situations when the plant to be controlled has essentially nonlinear dynamics. Besides that, predictive model based control algorithms allow to take into account a lot of requirements and constraints involved both on the controlled and manipulated variables. The significant drawback of the algorithms is that they require a lot of time to compute control input at each sampling instant. In this paper the model predictive control algorithms are demonstrated by the example of plasma vertical stabilization for ITER-FEAT tokamak. The tuning of parameters of algorithms is performed in order to decrease computational load.
Linear predictive control with state variable constraints
NASA Astrophysics Data System (ADS)
Bdirina, K.; Djoudi, D.; Lagoun, M.
2012-11-01
While linear model predictive control is popular since the 70s of the past century, the 90s have witnessed a steadily increasing attention from control theoretists as well as control practitioners in the area of model predictive control (MPC). The practical interest is driven by the fact that today's processes need to be operated under tighter performance specifications. At the same time more and more constraints, stemming for example from environmental and safety considerations, need to besatisfied. Often these demands can only be met when process constraints are explicitly considered in the controller. Predictive control with constraints appears to be a well suited approach for this kind of problems. In this paper the basic principle of MPC with constraints is reviewed and some of the theoretical, computational, and implementation aspects of MPC are discussed. Furthermore the MPC with constraints was applied to linear example.
Prediction, Control and the Challenge to Complexity
ERIC Educational Resources Information Center
Radford, Mike
2008-01-01
The dominant discourse in research, management and teaching is one that may loosely be characterised as that of prediction and control. The objective of research is to identify causal correlations within policy, management, teaching strategies and educational outcomes that are sufficiently robust as to be able to predict outcomes and make…
A Course in... Model Predictive Control.
ERIC Educational Resources Information Center
Arkun, Yaman; And Others
1988-01-01
Describes a graduate engineering course which specializes in model predictive control. Lists course outline and scope. Discusses some specific topics and teaching methods. Suggests final projects for the students. (MVL)
A Course in... Model Predictive Control.
ERIC Educational Resources Information Center
Arkun, Yaman; And Others
1988-01-01
Describes a graduate engineering course which specializes in model predictive control. Lists course outline and scope. Discusses some specific topics and teaching methods. Suggests final projects for the students. (MVL)
Model predictive control: A new approach
NASA Astrophysics Data System (ADS)
Nagy, Endre
2017-01-01
New methods are proposed in this paper for solution of the model predictive control problem. Nonlinear state space design techniques are also treated. For nonlinear state prediction (state evolution computation) a new predictor given with an operator is introduced and tested. Settling the model predictive control problem may be obtained through application of the principle "direct stochastic optimum tracking" with a simple algorithm, which can be derived from a previously developed optimization procedure. The final result is obtained through iterations. Two examples show the applicability and advantages of the method.
NASA Astrophysics Data System (ADS)
Jaouadi, A.; Barrez, E.; Justum, Y.; Desouter-Lecomte, M.
2013-07-01
We simulate the implementation of a 3-qubit quantum Fourier transform gate in the hyperfine levels of ultracold polar alkali dimers in their first two lowest rotational levels. The chosen dimer is 41K87Rb supposed to be trapped in an optical lattice. The hyperfine levels are split by a static magnetic field. The pulses operating in the microwave domain are obtained by optimal control theory. We revisit the problem of phase control in information processing. We compare the efficiency of two optimal fields. The first one is obtained from a functional based on the average of the transition probabilities for each computational basis state but constrained by a supplementary transformation to enforce phase alignment. The second is obtained from a functional constructed on the phase sensitive fidelity involving the sum of the transition amplitudes without any supplementary constrain.
Nonlinear model predictive control based on collective neurodynamic optimization.
Yan, Zheng; Wang, Jun
2015-04-01
In general, nonlinear model predictive control (NMPC) entails solving a sequential global optimization problem with a nonconvex cost function or constraints. This paper presents a novel collective neurodynamic optimization approach to NMPC without linearization. Utilizing a group of recurrent neural networks (RNNs), the proposed collective neurodynamic optimization approach searches for optimal solutions to global optimization problems by emulating brainstorming. Each RNN is guaranteed to converge to a candidate solution by performing constrained local search. By exchanging information and iteratively improving the starting and restarting points of each RNN using the information of local and global best known solutions in a framework of particle swarm optimization, the group of RNNs is able to reach global optimal solutions to global optimization problems. The essence of the proposed collective neurodynamic optimization approach lies in the integration of capabilities of global search and precise local search. The simulation results of many cases are discussed to substantiate the effectiveness and the characteristics of the proposed approach.
Fast predictive control of networked energy systems
NASA Astrophysics Data System (ADS)
Chuang, Frank Fu-Han
In this thesis we study the optimal control of networked energy systems. Networked energy systems consist of a collection of energy storage nodes and a network of links and inputs which allow energy to be exchanged, injected, or removed from the nodes. The nodes may exchange energy between each other autonomously or via controlled flows between the nodes. Examples of networked systems include building heating, ventilation, and air conditioning (HVAC) systems and networked battery systems. In the building system example, the nodes of the system are rooms which store thermal energy in the air and other elements which have thermal capacity. The rooms transfer energy autonomously through thermal conduction, convection, and radiation. Thermal energy can be injected into or removed from the rooms via conditioned air or slabs. In the case of a networked battery system, the batteries store electrical energy in their chemical cells. The batteries may be electrically linked so that a controller can move electrical charge from one battery to another. Networked energy systems are typically large-scale (contain many states and inputs), affected by uncertain forecasts and disturbances, and require fast computation on cheap embedded platforms. In this thesis, the optimal control technique we study is model predictive control for networked energy systems. Model predictive or receding horizon control is a time-domain optimization-based control technique which uses predictive models of a system to forecast its behavior and minimize a performance cost subject to system constraints. In this thesis we address two primary issues concerning model predictive control for networked energy systems: robustness to uncertainty in forecasts and reducing the complexity of the large-scale optimization problem for use in embedded platforms. The first half of the thesis deals primarily with the efficient computation of robust controllers for dealing with random and adversarial uncertainties in the
Reducing usage of the computational resources by event driven approach to model predictive control
NASA Astrophysics Data System (ADS)
Misik, Stefan; Bradac, Zdenek; Cela, Arben
2017-08-01
This paper deals with a real-time and optimal control of dynamic systems while also considers the constraints which these systems might be subject to. Main objective of this work is to propose a simple modification of the existing Model Predictive Control approach to better suit needs of computational resource-constrained real-time systems. An example using model of a mechanical system is presented and the performance of the proposed method is evaluated in a simulated environment.
A patchy approximation of explicit model predictive control
NASA Astrophysics Data System (ADS)
Nguyen, Hoai-Nam; Olaru, Sorin; Hovd, Morten
2012-12-01
The explicit solution of multi-parametric optimisation problems (MPOP) has been used to construct an off-line solution to relatively small- and medium-sized constrained control problems. The control design principles are based on receding horizon optimisation and generally use linear prediction models for the system dynamics. In this context, it can be shown that the optimal control law is a piecewise linear (PWL) state feedback defined over polytopic cells of the state space. However, as the complexity of the related optimisation problems increases, the memory footprint and implementation of such explicit optimal solution may be burdensome for the available hardware, principally due to the high number of polytopic cells in the state-space partition. In this article we provide a solution to this problem by proposing a patchy PWL feedback control law, which intend to approximate the optimal control law. The construction is based on the linear interpolation of the exact solution at the vertices of a feasible set and the solution of an unconstrained linear quadratic regulator (LQR) problem. With a hybrid patchy control implementation, we show that closed-loop stability is preserved in the presence of additive measurement noise despite the existence of discontinuities at the switch between the overlapping regions in the state-space partition.
Ng, Felicia S L; Schütte, Judith; Ruau, David; Diamanti, Evangelia; Hannah, Rebecca; Kinston, Sarah J; Göttgens, Berthold
2014-12-16
Combinatorial transcription factor (TF) binding is essential for cell-type-specific gene regulation. However, much remains to be learned about the mechanisms of TF interactions, including to what extent constrained spacing and orientation of interacting TFs are critical for regulatory element activity. To examine the relative prevalence of the 'enhanceosome' versus the 'TF collective' model of combinatorial TF binding, a comprehensive analysis of TF binding site sequences in large scale datasets is necessary. We developed a motif-pair discovery pipeline to identify motif co-occurrences with preferential distance(s) between motifs in TF-bound regions. Utilizing a compendium of 289 mouse haematopoietic TF ChIP-seq datasets, we demonstrate that haematopoietic-related motif-pairs commonly occur with highly conserved constrained spacing and orientation between motifs. Furthermore, motif clustering revealed specific associations for both heterotypic and homotypic motif-pairs with particular haematopoietic cell types. We also showed that disrupting the spacing between motif-pairs significantly affects transcriptional activity in a well-known motif-pair-E-box and GATA, and in two previously unknown motif-pairs with constrained spacing-Ets and Homeobox as well as Ets and E-box. In this study, we provide evidence for widespread sequence-specific TF pair interaction with DNA that conforms to the 'enhanceosome' model, and furthermore identify associations between specific haematopoietic cell-types and motif-pairs. © The Author(s) 2014. Published by Oxford University Press on behalf of Nucleic Acids Research.
Robust predictive cruise control for commercial vehicles
NASA Astrophysics Data System (ADS)
Junell, Jaime; Tumer, Kagan
2013-10-01
In this paper we explore learning-based predictive cruise control and the impact of this technology on increasing fuel efficiency for commercial trucks. Traditional cruise control is wasteful when maintaining a constant velocity over rolling hills. Predictive cruise control (PCC) is able to look ahead at future road conditions and solve for a cost-effective course of action. Model- based controllers have been implemented in this field but cannot accommodate many complexities of a dynamic environment which includes changing road and vehicle conditions. In this work, we focus on incorporating a learner into an already successful model- based predictive cruise controller in order to improve its performance. We explore back propagating neural networks to predict future errors then take actions to prevent said errors from occurring. The results show that this approach improves the model based PCC by up to 60% under certain conditions. In addition, we explore the benefits of classifier ensembles to further improve the gains due to intelligent cruise control.
Kuramatsu, Yuko; Muraki, Takayuki; Oouchida, Yutaka; Sekiguchi, Yusuke; Izumi, Shin-Ichi
2012-05-01
This study aimed to investigate the manner in which healthy individuals execute robust whole body movements despite unstable body structure from the perspective of perception-action coupling. Twelve healthy adults performed sit-to-stand (STS) movements under conditions of constrained visual and somatic senses. During this movement, centre of mass (COM) of the body in the anterior-posterior, upward-downward and right-left directions was computed. The conditions of perceptual constraint were set as vision-restricted, somatosensory-restricted, vision- and somatosensory-restricted, and normal conditions. To evaluate COM control under these perceptual constraints, the variability in position and velocity of COM were assessed. The variabilities in COM velocity in the anterior-posterior and upward-downward directions decreased around the lift-off period only when both vision and somatic senses were constrained, whereas the variability of the COM position in the right-left direction increased under the somatosensory-restricted condition. Our findings suggested that control of COM velocity was enhanced in the major moving directions (anterior and upward directions) around the lift-off period during STS when both modalities of perception with regard to postural orientation were constrained. These motor regulations with perceptual constraints facilitate better adaptation to changes in body and environmental situations in daily life.
Model Predictive Control of Fractional Order Systems.
Rhouma, Aymen; Bouani, Faouzi; Bouzouita, Badreddine; Ksouri, Mekki
2014-07-01
This paper provides the model predictive control (MPC) of fractional order systems. The direct method will be used as internal model to predict the future dynamic behavior of the process, which is used to achieve the control law. This method is based on the Grünwald-Letnikov's definition that consists of replacing the noninteger derivation operator of the adopted system representation by a discrete approximation. The performances and the efficiency of this approach are illustrated with practical results on a thermal system and compared to the MPC based on the integer ARX model.
Predictive Thermal Control Technology for Stable Telescope
NASA Astrophysics Data System (ADS)
Stahl, H. Philip
Predictive Thermal Control (PTC) project is a multiyear effort to develop, demonstrate, mature towards TRL6, and assess the utility of model based Predictive Thermal Control technology to enable a thermally stable telescope. PTC demonstrates technology maturation by model validation and characterization testing of traceable components in a relevant environment. PTC's efforts are conducted in consultation with the Cosmic Origins Office and NASA Program Analysis Groups. To mature Thermally Stable Telescope technology, PTC has three objectives: • Validate models that predict thermal optical performance of real mirrors and structure based on their designs and constituent material properties, i.e. coefficient of thermal expansion (CTE) distribution, thermal conductivity, thermal mass, etc. • Derive thermal system stability specifications from wavefront stability requirements. • Demonstrate utility of Predictive Thermal Control for achieving thermal stability. To achieve these objectives, PTC has five quantifiable milestones: 1. Develop a high-fidelity model of the AMTD-2 1.5 meter ULE® mirror, including 3D CTE distribution and reflective optical coating, that predicts its optical performance response to steady-state and dynamic thermal gradients under bang/bang and proportional thermal control. 2. Derive specifications for thermal control system as a function of wavefront stability. 3. Design and build a predictive Thermal Control System for a 1.5 meter ULE® mirror using new and existing commercial-off-the-shelf components that sense temperature changes at the 1mK level and actively controls the mirrors thermal environment at the 20mK level. 4. Validate the model by testing a 1.5-m class ULE® mirror in a relevant thermal vacuum environment in the MSFC X-ray and Cryogenic Facility (XRCF) test facility. 5. Use validated model to perform trade studies to optimize thermo-optical performance as a function of mirror design, material selection, mass, etc. PTC advances
Moissenet, Florent; Chèze, Laurence; Dumas, Raphaël
2012-06-01
Inverse dynamics combined with a constrained static optimization analysis has often been proposed to solve the muscular redundancy problem. Typically, the optimization problem consists in a cost function to be minimized and some equality and inequality constraints to be fulfilled. Penalty-based and Lagrange multipliers methods are common optimization methods for the equality constraints management. More recently, the pseudo-inverse method has been introduced in the field of biomechanics. The purpose of this paper is to evaluate the ability and the efficiency of this new method to solve the muscular redundancy problem, by comparing respectively the musculo-tendon forces prediction and its cost-effectiveness against common optimization methods. Since algorithm efficiency and equality constraints fulfillment highly belong to the optimization method, a two-phase procedure is proposed in order to identify and compare the complexity of the cost function, the number of iterations needed to find a solution and the computational time of the penalty-based method, the Lagrange multipliers method and pseudo-inverse method. Using a 2D knee musculo-skeletal model in an isometric context, the study of the cost functions isovalue curves shows that the solution space is 2D with the penalty-based method, 3D with the Lagrange multipliers method and 1D with the pseudo-inverse method. The minimal cost function area (defined as the area corresponding to 5% over the minimal cost) obtained for the pseudo-inverse method is very limited and along the solution space line, whereas the minimal cost function area obtained for other methods are larger or more complex. Moreover, when using a 3D lower limb musculo-skeletal model during a gait cycle simulation, the pseudo-inverse method provides the lowest number of iterations while Lagrange multipliers and pseudo-inverse method have almost the same computational time. The pseudo-inverse method, by providing a better suited cost function and an
Model predictive formation control of helicopter systems
NASA Astrophysics Data System (ADS)
Saffarian, Mehdi
In this thesis, a robust formation control framework for formation control of a group of helicopters is proposed and designed. The dynamic model of the helicopter has been developed and verified through simulations. The control framework is constructed using two main control schemes for navigation of a helicopter group in three-dimensional (3D) environments. Two schemes are designed to maintain the position of one helicopter with respect to one or two other neighboring members, respectively. The developed parameters can uniquely define the position of the helicopters with respect to each other and can be used for any other aerial and under water vehicles such as airplanes, spacecrafts and submarines. Also, since this approach is modular, it is possible to use it for desired number and form of the group helicopters. Using the defined control parameters, two decentralized controllers are designed based on Nonlinear Model Predictive Control (NMPC) algorithm technique. The framework performance has been tested through simulation of different formation scenarios.
NASA Astrophysics Data System (ADS)
Travis, K.; Jacob, D. J.; Fisher, J. A.; Marais, E. A.; Kim, S.; Zhu, L.; Yu, K.; Yantosca, R.; Payer Sulprizio, M.; Paulot, F.; Mao, J.; Wennberg, P. O.; Crounse, J.; Ryerson, T. B.; Wisthaler, A.; Huey, L. G.; Thompson, A. M.
2014-12-01
The Southeast United States (SEUS) is unique in its atmospheric chemistry and the difficulty of models in reproducing observed ozone (O3) (Fiore et al, 2009). Unlike the Western U.S., O3 variability is more heavily influenced by anthropogenic impacts than background sources such as wildfires, foreign transport, and stratospheric intrusions (Zhang et al, 2011). In addition, the SEUS has biogenic VOC emissions, important O3 precursors, which are among the highest in the world. We use observations from the SEAC4RS campaign over the SEUS in summer 2013, interpreted with the global chemical transport model GEOS-Chem, to evaluate the factors controlling O3 in this region. We use the GEOS-Chem model version v9-02 with significant updates, including improved treatment of isoprene nitrates (Lee et al, 2014), revised yields of MVK and MACR (Liu et al, 2013), improved treatment of isoprene epoxides (Bates et al, 2014), and faster deposition of isoprene oxidation products. The model significantly over predicts the observed O3, particularly in isoprene-rich, low-NOx regions. Properly capturing the fate of the isoprene peroxy radical (RO2) is essential to modeling O3 during the campaign. The amount of NOx in the SEUS is mainly driven by anthropogenic emissions with a smaller contribution from lightning and soil NOx, in addition to the amount of NOx recycled by isoprene nitrates. The variability in the amount of HOx available in the model can be influenced by the recycling of OH assumed in the GEOS-Chem chemical mechanism. We use the ratio of measured isoprene hydroxyperoxide (ISOPOOH) to isoprene nitrates (ISOPN) to constrain the modeled branching between the RO2 + HO2 and RO2 + NO2 pathways. Based on this ratio, we find that the RO2 + HO2 pathway is underestimated in our current chemical mechanism. Moreover, our NOx emissions may be overestimated by comparison with satellite tropospheric NO2 columns. We increase the importance of the RO2 + HO2 pathway with the inclusion of HONO
Vinding, Mads S.; Guérin, Bastien; Vosegaard, Thomas; Nielsen, Niels Chr.
2016-01-01
Purpose To present a constrained optimal-control (OC) framework for designing large-flip-angle parallel-transmit (pTx) pulses satisfying hardware peak-power as well as regulatory local and global specific-absorption-rate (SAR) limits. The application is 2D and 3D spatial-selective 90° and 180° pulses. Theory and Methods The OC gradient-ascent-pulse-engineering method with exact gradients and the limited-memory Broyden-Fletcher-Goldfarb-Shanno method is proposed. Local SAR is constrained by the virtual-observation-points method. Two numerical models facilitated the optimizations, a torso at 3 T and a head at 7 T, both in eight-channel pTx coils and acceleration-factors up to 4. Results The proposed approach yielded excellent flip-angle distributions. Enforcing the local-SAR constraint, as opposed to peak power alone, reduced the local SAR 7 and 5-fold with the 2D torso excitation and inversion pulse, respectively. The root-mean-square errors of the magnetization profiles increased less than 5% with the acceleration factor of 4. Conclusion A local and global SAR, and peak-power constrained OC large-flip-angle pTx pulse design was presented, and numerically validated for 2D and 3D spatial-selective 90° and 180° pulses at 3 T and 7 T. PMID:26715084
Vinding, Mads S; Guérin, Bastien; Vosegaard, Thomas; Nielsen, Niels Chr
2017-01-01
To present a constrained optimal-control (OC) framework for designing large-flip-angle parallel-transmit (pTx) pulses satisfying hardware peak-power as well as regulatory local and global specific-absorption-rate (SAR) limits. The application is 2D and 3D spatial-selective 90° and 180° pulses. The OC gradient-ascent-pulse-engineering method with exact gradients and the limited-memory Broyden-Fletcher-Goldfarb-Shanno method is proposed. Local SAR is constrained by the virtual-observation-points method. Two numerical models facilitated the optimizations, a torso at 3 T and a head at 7 T, both in eight-channel pTx coils and acceleration-factors up to 4. The proposed approach yielded excellent flip-angle distributions. Enforcing the local-SAR constraint, as opposed to peak power alone, reduced the local SAR 7 and 5-fold with the 2D torso excitation and inversion pulse, respectively. The root-mean-square errors of the magnetization profiles increased less than 5% with the acceleration factor of 4. A local and global SAR, and peak-power constrained OC large-flip-angle pTx pulse design was presented, and numerically validated for 2D and 3D spatial-selective 90° and 180° pulses at 3 T and 7 T. Magn Reson Med 77:374-384, 2017. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.
Model predictive control for cooperative control of space robots
NASA Astrophysics Data System (ADS)
Kannan, Somasundar; Alamdari, Seyed Amin Sajadi; Dentler, Jan; Olivares-Mendez, Miguel A.; Voos, Holger
2017-01-01
The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.
Model Predictive Control of Sewer Networks
NASA Astrophysics Data System (ADS)
Pedersen, Einar B.; Herbertsson, Hannes R.; Niemann, Henrik; Poulsen, Niels K.; Falk, Anne K. V.
2017-01-01
The developments in solutions for management of urban drainage are of vital importance, as the amount of sewer water from urban areas continues to increase due to the increase of the world’s population and the change in the climate conditions. How a sewer network is structured, monitored and controlled have thus become essential factors for effcient performance of waste water treatment plants. This paper examines methods for simplified modelling and controlling a sewer network. A practical approach to the problem is used by analysing simplified design model, which is based on the Barcelona benchmark model. Due to the inherent constraints the applied approach is based on Model Predictive Control.
NASA Astrophysics Data System (ADS)
Mirzaei, Mahmood; Tibaldi, Carlo; Hansen, Morten H.
2016-09-01
PI/PID controllers are the most common wind turbine controllers. Normally a first tuning is obtained using methods such as pole-placement or Ziegler-Nichols and then extensive aeroelastic simulations are used to obtain the best tuning in terms of regulation of the outputs and reduction of the loads. In the traditional tuning approaches, the properties of different open loop and closed loop transfer functions of the system are not normally considered. In this paper, an assessment of the pole-placement tuning method is presented based on robustness measures. Then a constrained optimization setup is suggested to automatically tune the wind turbine controller subject to robustness constraints. The properties of the system such as the maximum sensitivity and complementary sensitivity functions (Ms and Mt ), along with some of the responses of the system, are used to investigate the controller performance and formulate the optimization problem. The cost function is the integral absolute error (IAE) of the rotational speed from a disturbance modeled as a step in wind speed. Linearized model of the DTU 10-MW reference wind turbine is obtained using HAWCStab2. Thereafter, the model is reduced with model order reduction. The trade-off curves are given to assess the tunings of the poles- placement method and a constrained optimization problem is solved to find the best tuning.
NASA Astrophysics Data System (ADS)
Velarde, P.; Valverde, L.; Maestre, J. M.; Ocampo-Martinez, C.; Bordons, C.
2017-03-01
In this paper, a performance comparison among three well-known stochastic model predictive control approaches, namely, multi-scenario, tree-based, and chance-constrained model predictive control is presented. To this end, three predictive controllers have been designed and implemented in a real renewable-hydrogen-based microgrid. The experimental set-up includes a PEM electrolyzer, lead-acid batteries, and a PEM fuel cell as main equipment. The real experimental results show significant differences from the plant components, mainly in terms of use of energy, for each implemented technique. Effectiveness, performance, advantages, and disadvantages of these techniques are extensively discussed and analyzed to give some valid criteria when selecting an appropriate stochastic predictive controller.
NASA Astrophysics Data System (ADS)
Ibraheem, Omveer, Hasan, N.
2010-10-01
A new hybrid stochastic search technique is proposed to design of suboptimal AGC regulator for a two area interconnected non reheat thermal power system incorporating DC link in parallel with AC tie-line. In this technique, we are proposing the hybrid form of Genetic Algorithm (GA) and simulated annealing (SA) based regulator. GASA has been successfully applied to constrained feedback control problems where other PI based techniques have often failed. The main idea in this scheme is to seek a feasible PI based suboptimal solution at each sampling time. The feasible solution decreases the cost function rather than minimizing the cost function.
Predictive Control of Large Complex Networks
NASA Astrophysics Data System (ADS)
Haber, Aleksandar; Motter, Adilson E.
Networks of coupled dynamical subsystems are increasingly used to represent complex natural and engineered systems. While recent technological developments give us improved means to actively control the dynamics of individual subsystems in various domains, network control remains a challenging problem due to difficulties imposed by intrinsic nonlinearities, control constraints, and the large-scale nature of the systems. In this talk, we will present a model predictive control approach that is effective while accounting for these realistic properties of complex networks. Our method can systematically identify control interventions that steer the trajectory to a desired state, even in the presence of strong nonlinearities and constraints. Numerical tests show that the method is applicable to a variety of networks, ranging from power grids to chemical reaction systems.
A constrained-gradient method to control divergence errors in numerical MHD
NASA Astrophysics Data System (ADS)
Hopkins, Philip F.
2016-10-01
In numerical magnetohydrodynamics (MHD), a major challenge is maintaining nabla \\cdot {B}=0. Constrained transport (CT) schemes achieve this but have been restricted to specific methods. For more general (meshless, moving-mesh, ALE) methods, `divergence-cleaning' schemes reduce the nabla \\cdot {B} errors; however they can still be significant and can lead to systematic errors which converge away slowly. We propose a new constrained gradient (CG) scheme which augments these with a projection step, and can be applied to any numerical scheme with a reconstruction. This iteratively approximates the least-squares minimizing, globally divergence-free reconstruction of the fluid. Unlike `locally divergence free' methods, this actually minimizes the numerically unstable nabla \\cdot {B} terms, without affecting the convergence order of the method. We implement this in the mesh-free code GIZMO and compare various test problems. Compared to cleaning schemes, our CG method reduces the maximum nabla \\cdot {B} errors by ˜1-3 orders of magnitude (˜2-5 dex below typical errors if no nabla \\cdot {B} cleaning is used). By preventing large nabla \\cdot {B} at discontinuities, this eliminates systematic errors at jumps. Our CG results are comparable to CT methods; for practical purposes, the nabla \\cdot {B} errors are eliminated. The cost is modest, ˜30 per cent of the hydro algorithm, and the CG correction can be implemented in a range of numerical MHD methods. While for many problems, we find Dedner-type cleaning schemes are sufficient for good results, we identify a range of problems where using only Powell or `8-wave' cleaning can produce order-of-magnitude errors.
NASA Astrophysics Data System (ADS)
Quinn Thomas, R.; Brooks, Evan B.; Jersild, Annika L.; Ward, Eric J.; Wynne, Randolph H.; Albaugh, Timothy J.; Dinon-Aldridge, Heather; Burkhart, Harold E.; Domec, Jean-Christophe; Fox, Thomas R.; Gonzalez-Benecke, Carlos A.; Martin, Timothy A.; Noormets, Asko; Sampson, David A.; Teskey, Robert O.
2017-07-01
Predicting how forest carbon cycling will change in response to climate change and management depends on the collective knowledge from measurements across environmental gradients, ecosystem manipulations of global change factors, and mathematical models. Formally integrating these sources of knowledge through data assimilation, or model-data fusion, allows the use of past observations to constrain model parameters and estimate prediction uncertainty. Data assimilation (DA) focused on the regional scale has the opportunity to integrate data from both environmental gradients and experimental studies to constrain model parameters. Here, we introduce a hierarchical Bayesian DA approach (Data Assimilation to Predict Productivity for Ecosystems and Regions, DAPPER) that uses observations of carbon stocks, carbon fluxes, water fluxes, and vegetation dynamics from loblolly pine plantation ecosystems across the southeastern US to constrain parameters in a modified version of the Physiological Principles Predicting Growth (3-PG) forest growth model. The observations included major experiments that manipulated atmospheric carbon dioxide (CO2) concentration, water, and nutrients, along with nonexperimental surveys that spanned environmental gradients across an 8.6 × 105 km2 region. We optimized regionally representative posterior distributions for model parameters, which dependably predicted data from plots withheld from the data assimilation. While the mean bias in predictions of nutrient fertilization experiments, irrigation experiments, and CO2 enrichment experiments was low, future work needs to focus modifications to model structures that decrease the bias in predictions of drought experiments. Predictions of how growth responded to elevated CO2 strongly depended on whether ecosystem experiments were assimilated and whether the assimilated field plots in the CO2 study were allowed to have different mortality parameters than the other field plots in the region. We present
Thomas, R. Quinn; Brooks, Evan B.; Jersild, Annika L.; ...
2017-07-26
Predicting how forest carbon cycling will change in response to climate change and management depends on the collective knowledge from measurements across environmental gradients, ecosystem manipulations of global change factors, and mathematical models. Formally integrating these sources of knowledge through data assimilation, or model–data fusion, allows the use of past observations to constrain model parameters and estimate prediction uncertainty. Data assimilation (DA) focused on the regional scale has the opportunity to integrate data from both environmental gradients and experimental studies to constrain model parameters. Here, we introduce a hierarchical Bayesian DA approach (Data Assimilation to Predict Productivity for Ecosystems and Regions,more » DAPPER) that uses observations of carbon stocks, carbon fluxes, water fluxes, and vegetation dynamics from loblolly pine plantation ecosystems across the southeastern US to constrain parameters in a modified version of the Physiological Principles Predicting Growth (3-PG) forest growth model. The observations included major experiments that manipulated atmospheric carbon dioxide (CO2) concentration, water, and nutrients, along with nonexperimental surveys that spanned environmental gradients across an 8.6 × 105 km2 region. We optimized regionally representative posterior distributions for model parameters, which dependably predicted data from plots withheld from the data assimilation. While the mean bias in predictions of nutrient fertilization experiments, irrigation experiments, and CO2 enrichment experiments was low, future work needs to focus modifications to model structures that decrease the bias in predictions of drought experiments. Predictions of how growth responded to elevated CO2 strongly depended on whether ecosystem experiments were assimilated and whether the assimilated field plots in the CO2 study were allowed to have different mortality parameters than the other field plots in the region
Model predictive control of MSMPR crystallizers
NASA Astrophysics Data System (ADS)
Moldoványi, Nóra; Lakatos, Béla G.; Szeifert, Ferenc
2005-02-01
A multi-input-multi-output (MIMO) control problem of isothermal continuous crystallizers is addressed in order to create an adequate model-based control system. The moment equation model of mixed suspension, mixed product removal (MSMPR) crystallizers that forms a dynamical system is used, the state of which is represented by the vector of six variables: the first four leading moments of the crystal size, solute concentration and solvent concentration. Hence, the time evolution of the system occurs in a bounded region of the six-dimensional phase space. The controlled variables are the mean size of the grain; the crystal size-distribution and the manipulated variables are the input concentration of the solute and the flow rate. The controllability and observability as well as the coupling between the inputs and the outputs was analyzed by simulation using the linearized model. It is shown that the crystallizer is a nonlinear MIMO system with strong coupling between the state variables. Considering the possibilities of the model reduction, a third-order model was found quite adequate for the model estimation in model predictive control (MPC). The mean crystal size and the variance of the size distribution can be nearly separately controlled by the residence time and the inlet solute concentration, respectively. By seeding, the controllability of the crystallizer increases significantly, and the overshoots and the oscillations become smaller. The results of the controlling study have shown that the linear MPC is an adaptable and feasible controller of continuous crystallizers.
Robust model predictive control of Wiener systems
NASA Astrophysics Data System (ADS)
Biagiola, S. I.; Figueroa, J. L.
2011-03-01
Block-oriented models (BOMs) have shown to be appealing and efficient as nonlinear representations for many applications. They are at the same time valid and simple models in a more extensive region than time-invariant linear models. In this work, Wiener models are considered. They are one of the most diffused BOMs, and their structure consists in a linear dynamics in cascade with a nonlinear static block. Particularly, the problem of control of these systems in the presence of uncertainty is treated. The proposed methodology makes use of a robust identification procedure in order to obtain a robust model to represent the uncertain system. This model is then employed to design a model predictive controller. The mathematical problem involved in the controller design is formulated in the context of the existing linear matrix inequalities (LMI) theory. The main feature of this approach is that it takes advantage of the static nature of the nonlinearity, which allows to solve the control problem by focusing only in the linear dynamics. This formulation results in a simplified design procedure, because the original nonlinear model predictive control (MPC) problem turns into a linear one.
NASA Astrophysics Data System (ADS)
BALAMURUGAN, V.; NARAYANAN, S.
2002-01-01
This work deals with the active vibration control of beams with smart constrained layer damping (SCLD) treatment. SCLD design consists of viscoelastic shear layer sandwiched between two layers of piezoelectric sensors and actuator. This composite SCLD when bonded to a vibrating structure acts as a smart treatment. The sensor piezoelectric layer measures the vibration response of the structure and a feedback controller is provided which regulates the axial deformation of the piezoelectric actuator (constraining layer), thereby providing adjustable and significant damping in the structure. The damping offered by SCLD treatment has two components, active action and passive action. The active action is transmitted from the piezoelectric actuator to the host structure through the viscoelastic layer. The passive action is through the shear deformation in the viscoelastic layer. The active action apart from providing direct active control also adjusts the passive action by regulating the shear deformation in the structure. The passive damping component of this design eliminates spillover, reduces power consumption, improves robustness and reliability of the system, and reduces vibration response at high-frequency ranges where active damping is difficult to implement. A beam finite element model has been developed based on Timoshenko's beam theory with partially covered SCLD. The Golla-Hughes-McTavish (GHM) method has been used to model the viscoelastic layer. The dissipation co-ordinates, defined using GHM approach, describe the frequency-dependent viscoelastic material properties. Models of PCLD and purely active systems could be obtained as a special case of SCLD. Using linear quadratic regulator (LQR) optimal control, the effects of the SCLD on vibration suppression performance and control effort requirements are investigated. The effects of the viscoelastic layer thickness and material properties on the vibration control performance are investigated.
Mazinan, A H
2016-03-01
The research addresses a Lyapunov-based constrained control strategy to deal with the autonomous space system in the presence of large disturbances. The aforementioned autonomous space system under control is first represented through a dynamics model and subsequently the proposed control strategy is fully investigated with a focus on the three-axis detumbling and the corresponding pointing mode control approaches. The three-axis detumbling mode control approach is designed to deal with the unwanted angular rates of the system to be zero, while the saturations of the actuators are taken into consideration. Moreover, the three-axis pointing mode control approach is designed in the similar state to deal with the rotational angles of the system to be desirable. The contribution of the research is mathematically made to propose a control law in connection with a new candidate of Lyapunov function to deal with the rotational angles and the related angular rates of the present autonomous space system with respect to state-of-the-art. A series of experiments are carried out to consider the efficiency of the proposed control strategy, as long as a number of benchmarks are realized in the same condition to verify and guarantee the strategy performance in both modes of control approaches.
NASA Astrophysics Data System (ADS)
Swaidan, Waleeda; Hussin, Amran
2015-10-01
Most direct methods solve finite time horizon optimal control problems with nonlinear programming solver. In this paper, we propose a numerical method for solving nonlinear optimal control problem with state and control inequality constraints. This method used quasilinearization technique and Haar wavelet operational matrix to convert the nonlinear optimal control problem into a quadratic programming problem. The linear inequality constraints for trajectories variables are converted to quadratic programming constraint by using Haar wavelet collocation method. The proposed method has been applied to solve Optimal Control of Multi-Item Inventory Model. The accuracy of the states, controls and cost can be improved by increasing the Haar wavelet resolution.
Wind farms production: Control and prediction
NASA Astrophysics Data System (ADS)
El-Fouly, Tarek Hussein Mostafa
Wind energy resources, unlike dispatchable central station generation, produce power dependable on external irregular source and that is the incident wind speed which does not always blow when electricity is needed. This results in the variability, unpredictability, and uncertainty of wind resources. Therefore, the integration of wind facilities to utility electrical grid presents a major challenge to power system operator. Such integration has significant impact on the optimum power flow, transmission congestion, power quality issues, system stability, load dispatch, and economic analysis. Due to the irregular nature of wind power production, accurate prediction represents the major challenge to power system operators. Therefore, in this thesis two novel models are proposed for wind speed and wind power prediction. One proposed model is dedicated to short-term prediction (one-hour ahead) and the other involves medium term prediction (one-day ahead). The accuracy of the proposed models is revealed by comparing their results with the corresponding values of a reference prediction model referred to as the persistent model. Utility grid operation is not only impacted by the uncertainty of the future production of wind farms, but also by the variability of their current production and how the active and reactive power exchange with the grid is controlled. To address this particular task, a control technique for wind turbines, driven by doubly-fed induction generators (DFIGs), is developed to regulate the terminal voltage by equally sharing the generated/absorbed reactive power between the rotor-side and the gridside converters. To highlight the impact of the new developed technique in reducing the power loss in the generator set, an economic analysis is carried out. Moreover, a new aggregated model for wind farms is proposed that accounts for the irregularity of the incident wind distribution throughout the farm layout. Specifically, this model includes the wake effect
Real-time Adaptive Control Using Neural Generalized Predictive Control
NASA Technical Reports Server (NTRS)
Haley, Pam; Soloway, Don; Gold, Brian
1999-01-01
The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.
Source-Constrained Recall: Front-End and Back-End Control of Retrieval Quality
ERIC Educational Resources Information Center
Halamish, Vered; Goldsmith, Morris; Jacoby, Larry L.
2012-01-01
Research on the strategic regulation of memory accuracy has focused primarily on monitoring and control processes used to edit out incorrect information after it is retrieved (back-end control). Recent studies, however, suggest that rememberers also enhance accuracy by preventing the retrieval of incorrect information in the first place (front-end…
Source-Constrained Recall: Front-End and Back-End Control of Retrieval Quality
ERIC Educational Resources Information Center
Halamish, Vered; Goldsmith, Morris; Jacoby, Larry L.
2012-01-01
Research on the strategic regulation of memory accuracy has focused primarily on monitoring and control processes used to edit out incorrect information after it is retrieved (back-end control). Recent studies, however, suggest that rememberers also enhance accuracy by preventing the retrieval of incorrect information in the first place (front-end…
Niu, Ben; Liu, Yanjun; Zong, Guangdeng; Han, Zhaoyu; Fu, Jun
2017-01-16
In this paper, a new adaptive approximation-based tracking controller design approach is developed for a class of uncertain nonlinear switched lower-triangular systems with an output constraint using neural networks (NNs). By introducing a novel barrier Lyapunov function (BLF), the constrained switched system is first transformed into a new system without any constraint, which means the control objectives of the both systems are equivalent. Then command filter technique is applied to solve the so-called "explosion of complexity" problem in traditional backstepping procedure, and radial basis function NNs are directly employed to model the unknown nonlinear functions. The designed controller ensures that all the closed-loop variables are ultimately boundedness, while the output limit is not transgressed and the output tracking error can be reduced arbitrarily small. Furthermore, the use of an asymmetric BLF is also explored to handle the case of asymmetric output constraint as a generalization result. Finally, the control performance of the presented control schemes is illustrated via two examples.
NASA Astrophysics Data System (ADS)
Niaki, Seyed Taghi Akhavan; Javad Ershadi, Mohammad
2012-12-01
In this research, the main parameters of the multivariate cumulative sum (CUSUM) control chart (the reference value k, the control limit H, the sample size n and the sampling interval h) are determined by minimising the Lorenzen-Vance cost function [Lorenzen, T.J., and Vance, L.C. (1986), 'The Economic Design of Control Charts: A Unified Approach', Technometrics, 28, 3-10], in which the external costs of employing the chart are added. In addition, the model is statistically constrained to achieve desired in-control and out-of-control average run lengths. The Taguchi loss approach is used to model the problem and a genetic algorithm, for which its main parameters are tuned using the response surface methodology (RSM), is proposed to solve it. At the end, sensitivity analyses on the main parameters of the cost function are presented and their practical conclusions are drawn. The results show that RSM significantly improves the performance of the proposed algorithm and the external costs of applying the chart, which are due to real-world constraints, do not increase the average total loss very much.
Optimal Control of Distributed Energy Resources using Model Predictive Control
Mayhorn, Ebony T.; Kalsi, Karanjit; Elizondo, Marcelo A.; Zhang, Wei; Lu, Shuai; Samaan, Nader A.; Butler-Purry, Karen
2012-07-22
In an isolated power system (rural microgrid), Distributed Energy Resources (DERs) such as renewable energy resources (wind, solar), energy storage and demand response can be used to complement fossil fueled generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation. The problem is formulated as a multi-objective optimization problem with the goals of minimizing fuel costs and changes in power output of diesel generators, minimizing costs associated with low battery life of energy storage and maintaining system frequency at the nominal operating value. Two control modes are considered for controlling the energy storage to compensate either net load variability or wind variability. Model predictive control (MPC) is used to solve the aforementioned problem and the performance is compared to an open-loop look-ahead dispatch problem. Simulation studies using high and low wind profiles, as well as, different MPC prediction horizons demonstrate the efficacy of the closed-loop MPC in compensating for uncertainties in wind and demand.
NASA Astrophysics Data System (ADS)
Moorcroft, P. R.; Zhang, K.; Ali, A. A.; Scott, D.
2015-12-01
In both natural and managed ecosystems the fluxes of carbon into and out of the ecosystem are strongly connected to the dynamics of soil moisture. In this study, we examine how remote-sensing derived estimates of root zone soil moisture (RZSM) available from the AirMOSS P-band radar remote sensing instrument can be used to constrain terrestrial biosphere model predictions of carbon, water and energy fluxes on timescales ranging from hours to decades. Results from ecosystems in the continental US, including an eastern temperate forest, a mid-western grassland, a Californian oak-savannah, and a western conifer forest, indicate that RZSM measurements can provide an important data-constraint on terrestrial biosphere model predictions of how plant photosynthesis and ecosystem respiration respond to changes in soil moisture availability. In doing so, they pave the way for improved estimates of key model parameters and for reducing uncertainty in regional and continental carbon budgets.
Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators.
Li, Zhijun; Ge, Shuzhi Sam; Ming, Aiguo
2007-06-01
In this paper, adaptive robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control is robust not only to parameter uncertainties such as mass variations but also to external ones such as disturbances. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and the bounded constraint force. Simulation results validate that the motion of the system converges to the desired trajectory, and the constraint force converges to the desired force.
Constrained model based control for minimum-time start of hydraulic turbines
NASA Astrophysics Data System (ADS)
Mesnage, Hugo; Alamir, Mazen; Perrissin-Fabert, Nicolas; Alloin, Quentin
2016-11-01
This paper introduces a simplified model of hydraulic turbines including the hydraulic nonlinear hill-chart and a first order model of the penstock. Based on the resulting reduced model, a graphical representation of the vector fields of the resulting controlled system is obtained under band unlimited actuator. This ideal 2D-graphical representation enables an exact evaluation of the lower bound on the minimum achievable start-time as well as the time structure of the control profile. The consequences of the use of a band-limited actuator is also analyzed enabling a close estimation of the lower bound on the start time in practical situations.
NASA Astrophysics Data System (ADS)
Bonne, F.; Alamir, M.; Bonnay, P.
2017-02-01
This paper deals with multivariable constrained model predictive control for Warm Compression Stations (WCS). WCSs are subject to numerous constraints (limits on pressures, actuators) that need to be satisfied using appropriate algorithms. The strategy is to replace all the PID loops controlling the WCS with an optimally designed model-based multivariable loop. This new strategy leads to high stability and fast disturbance rejection such as those induced by a turbine or a compressor stop, a key-aspect in the case of large scale cryogenic refrigeration. The proposed control scheme can be used to achieve precise control of pressures in normal operation or to avoid reaching stopping criteria (such as excessive pressures) under high disturbances (such as a pulsed heat load expected to take place in future fusion reactors, expected in the cryogenic cooling systems of the International Thermonuclear Experimental Reactor ITER or the Japan Torus-60 Super Advanced fusion experiment JT-60SA). The paper details the simulator used to validate this new control scheme and the associated simulation results on the SBTs WCS. This work is partially supported through the French National Research Agency (ANR), task agreement ANR-13-SEED-0005.
Wu, Jian; Singla, Mithun; Olmi, Claudio; Shieh, Leang S; Song, Gangbing
2010-07-01
In this paper, a scalar sign function-based digital design methodology is developed for modeling and control of a class of analog nonlinear systems that are restricted by the absolute value function constraints. As is found to be not uncommon, many real systems are subject to the constraints which are described by the non-smooth functions such as absolute value function. The non-smooth and nonlinear nature poses significant challenges to the modeling and control work. To overcome these difficulties, a novel idea proposed in this work is to use a scalar sign function approach to effectively transform the original nonlinear and non-smooth model into a smooth nonlinear rational function model. Upon the resulting smooth model, a systematic digital controller design procedure is established, in which an optimal linearization method, LQR design and digital implementation through an advanced digital redesign technique are sequentially applied. The example of tracking control of a piezoelectric actuator system is utilized throughout the paper for illustrating the proposed methodology. 2010 ISA. Published by Elsevier Ltd. All rights reserved.
An Anatomically Constrained, Stochastic Model of Eye Movement Control in Reading
ERIC Educational Resources Information Center
McDonald, Scott A.; Carpenter, R. H. S.; Shillcock, Richard C.
2005-01-01
This article presents SERIF, a new model of eye movement control in reading that integrates an established stochastic model of saccade latencies (LATER; R. H. S. Carpenter, 1981) with a fundamental anatomical constraint on reading: the vertically split fovea and the initial projection of information in either visual field to the contralateral…
A policy iteration approach to online optimal control of continuous-time constrained-input systems.
Modares, Hamidreza; Naghibi Sistani, Mohammad-Bagher; Lewis, Frank L
2013-09-01
This paper is an effort towards developing an online learning algorithm to find the optimal control solution for continuous-time (CT) systems subject to input constraints. The proposed method is based on the policy iteration (PI) technique which has recently evolved as a major technique for solving optimal control problems. Although a number of online PI algorithms have been developed for CT systems, none of them take into account the input constraints caused by actuator saturation. In practice, however, ignoring these constraints leads to performance degradation or even system instability. In this paper, to deal with the input constraints, a suitable nonquadratic functional is employed to encode the constraints into the optimization formulation. Then, the proposed PI algorithm is implemented on an actor-critic structure to solve the Hamilton-Jacobi-Bellman (HJB) equation associated with this nonquadratic cost functional in an online fashion. That is, two coupled neural network (NN) approximators, namely an actor and a critic are tuned online and simultaneously for approximating the associated HJB solution and computing the optimal control policy. The critic is used to evaluate the cost associated with the current policy, while the actor is used to find an improved policy based on information provided by the critic. Convergence to a close approximation of the HJB solution as well as stability of the proposed feedback control law are shown. Simulation results of the proposed method on a nonlinear CT system illustrate the effectiveness of the proposed approach.
Blashfield, Roger K; Fuller, A Kenneth
2016-06-01
Twenty years ago, slightly after the Diagnostic and Statistical Manual of Mental Disorders, Fourth Edition was published, we predicted the characteristics of the future Diagnostic and Statistical Manual of Mental Disorders (fifth edition) (). Included in our predictions were how many diagnoses it would contain, the physical size of the Diagnostic and Statistical Manual of Mental Disorders (fifth edition), who its leader would be, how many professionals would be involved in creating it, the revenue generated, and the color of its cover. This article reports on the accuracy of our predictions. Our largest prediction error concerned financial revenue. The earnings growth of the DSM's has been remarkable. Drug company investments, insurance benefits, the financial need of the American Psychiatric Association, and the research grant process are factors that have stimulated the growth of the DSM's. Restoring order and simplicity to the classification of mental disorders will not be a trivial task.
NASA Astrophysics Data System (ADS)
Hormuth, David A., II; Weis, Jared A.; Barnes, Stephanie L.; Miga, Michael I.; Rericha, Erin C.; Quaranta, Vito; Yankeelov, Thomas E.
2015-07-01
Reaction-diffusion models have been widely used to model glioma growth. However, it has not been shown how accurately this model can predict future tumor status using model parameters (i.e., tumor cell diffusion and proliferation) estimated from quantitative in vivo imaging data. To this end, we used in silico studies to develop the methods needed to accurately estimate tumor specific reaction-diffusion model parameters, and then tested the accuracy with which these parameters can predict future growth. The analogous study was then performed in a murine model of glioma growth. The parameter estimation approach was tested using an in silico tumor ‘grown’ for ten days as dictated by the reaction-diffusion equation. Parameters were estimated from early time points and used to predict subsequent growth. Prediction accuracy was assessed at global (total volume and Dice value) and local (concordance correlation coefficient, CCC) levels. Guided by the in silico study, rats (n = 9) with C6 gliomas, imaged with diffusion weighted magnetic resonance imaging, were used to evaluate the model’s accuracy for predicting in vivo tumor growth. The in silico study resulted in low global (tumor volume error <8.8%, Dice >0.92) and local (CCC values >0.80) level errors for predictions up to six days into the future. The in vivo study showed higher global (tumor volume error >11.7%, Dice <0.81) and higher local (CCC <0.33) level errors over the same time period. The in silico study shows that model parameters can be accurately estimated and used to accurately predict future tumor growth at both the global and local scale. However, the poor predictive accuracy in the experimental study suggests the reaction-diffusion equation is an incomplete description of in vivo C6 glioma biology and may require further modeling of intra-tumor interactions including segmentation of (for example) proliferative and necrotic regions.
Analytical optimal controls for the state constrained addition and removal of cryoprotective agents
Chicone, Carmen C.; Critser, John K.
2014-01-01
Cryobiology is a field with enormous scientific, financial and even cultural impact. Successful cryopreservation of cells and tissues depends on the equilibration of these materials with high concentrations of permeating chemicals (CPAs) such as glycerol or 1,2 propylene glycol. Because cells and tissues are exposed to highly anisosmotic conditions, the resulting gradients cause large volume fluctuations that have been shown to damage cells and tissues. On the other hand, there is evidence that toxicity to these high levels of chemicals is time dependent, and therefore it is ideal to minimize exposure time as well. Because solute and solvent flux is governed by a system of ordinary differential equations, CPA addition and removal from cells is an ideal context for the application of optimal control theory. Recently, we presented a mathematical synthesis of the optimal controls for the ODE system commonly used in cryobiology in the absence of state constraints and showed that controls defined by this synthesis were optimal. Here we define the appropriate model, analytically extend the previous theory to one encompassing state constraints, and as an example apply this to the critical and clinically important cell type of human oocytes, where current methodologies are either difficult to implement or have very limited success rates. We show that an enormous increase in equilibration efficiency can be achieved under the new protocols when compared to classic protocols, potentially allowing a greatly increased survival rate for human oocytes, and pointing to a direction for the cryopreservation of many other cell types. PMID:22527943
Analytical optimal controls for the state constrained addition and removal of cryoprotective agents.
Benson, James D; Chicone, Carmen C; Critser, John K
2012-07-01
Cryobiology is a field with enormous scientific, financial, and even cultural impact. Successful cryopreservation of cells and tissues depends on the equilibration of these materials with high concentrations of permeating chemicals (CPAs) such as glycerol or 1,2 propylene glycol. Because cells and tissues are exposed to highly anisosmotic conditions, the resulting gradients cause large volume fluctuations that have been shown to damage cells and tissues. On the other hand, there is evidence that toxicity to these high levels of chemicals is time dependent, and therefore it is ideal to minimize exposure time as well. Because solute and solvent flux is governed by a system of ordinary differential equations, CPA addition and removal from cells is an ideal context for the application of optimal control theory. Recently, we presented a mathematical synthesis of the optimal controls for the ODE system commonly used in cryobiology in the absence of state constraints and showed that controls defined by this synthesis were optimal. Here we define the appropriate model, analytically extend the previous theory to one encompassing state constraints, and as an example apply this to the critical and clinically important cell type of human oocytes, where current methodologies are either difficult to implement or have very limited success rates. We show that an enormous increase in equilibration efficiency can be achieved under the new protocols when compared to classic protocols, potentially allowing a greatly increased survival rate for human oocytes and pointing to a direction for the cryopreservation of many other cell types.
Finite dimensional approximation of a class of constrained nonlinear optimal control problems
NASA Technical Reports Server (NTRS)
Gunzburger, Max D.; Hou, L. S.
1994-01-01
An abstract framework for the analysis and approximation of a class of nonlinear optimal control and optimization problems is constructed. Nonlinearities occur in both the objective functional and in the constraints. The framework includes an abstract nonlinear optimization problem posed on infinite dimensional spaces, and approximate problem posed on finite dimensional spaces, together with a number of hypotheses concerning the two problems. The framework is used to show that optimal solutions exist, to show that Lagrange multipliers may be used to enforce the constraints, to derive an optimality system from which optimal states and controls may be deduced, and to derive existence results and error estimates for solutions of the approximate problem. The abstract framework and the results derived from that framework are then applied to three concrete control or optimization problems and their approximation by finite element methods. The first involves the von Karman plate equations of nonlinear elasticity, the second, the Ginzburg-Landau equations of superconductivity, and the third, the Navier-Stokes equations for incompressible, viscous flows.
NASA Astrophysics Data System (ADS)
Glasgow, M. E.; Schmandt, B.; Gaeuman, D.
2015-12-01
To evaluate the utility of riverside seismic monitoring for constraining temporal and spatial variations in coarse bedload transport in gravel-bed rivers we collected seismic data during a dam-controlled flood of the Trinity River in northern California in May 2015. This field area was chosen because the Trinity River Restoration Project conducts extensive monitoring of water and sediment transport, and riverbed morphology to guide management of the river with the goal of improving salmon habitat. Four three component broadband seismometers were collocated with water discharge and bedload physical sampling sites along a ~30 km reach of the Trinity River downstream of the Lewiston Dam. Arrays with 10-80 cable-free vertical component geophones were also deployed at each of the four sites in order to constrain spatial variability and amplitude decay of seismic signals emanating from the river. Nominal inter-station spacing within the geophone arrays was ~30 m. The largest geophone array consisted of 83 nodes along a 700 m reach of the Trinity River with a gravel augmentation site at its upstream end. Initial analyses of the seismic data show that ground velocity power from averaged from ~7 - 90 Hz is correlated with discharge at all sites. The array at the gravel injection site shows greater high frequency (>30 Hz) power at the upstream end where gravel was injected during the release compared to ~300 m downstream, consistent with bedload transport providing a significant source of seismic energy in addition to water discharge. Declining seismic power during a ~3 day plateau at peak discharge when physical sampler data shows decreasing bedload flux provides a further indication that the seismic data are sensitive to bedload transport. We will use the array data to back-project the seismic signals in multiple frequency bands into the channel to create maps of the time-varying spatial intensity of seismic energy production. We hypothesize that the greatest seismic
NASA Astrophysics Data System (ADS)
Hiremath, Varun; Pope, Stephen B.
2013-04-01
The Rate-Controlled Constrained-Equilibrium (RCCE) method is a thermodynamic based dimension reduction method which enables representation of chemistry involving n s species in terms of fewer n r constraints. Here we focus on the application of the RCCE method to Lagrangian particle probability density function based computations. In these computations, at every reaction fractional step, given the initial particle composition (represented using RCCE), we need to compute the reaction mapping, i.e. the particle composition at the end of the time step. In this work we study three different implementations of RCCE for computing this reaction mapping, and compare their relative accuracy and efficiency. These implementations include: (1) RCCE/TIFS (Trajectory In Full Space): this involves solving a system of n s rate-equations for all the species in the full composition space to obtain the reaction mapping. The other two implementations obtain the reaction mapping by solving a reduced system of n r rate-equations obtained by projecting the n s rate-equations for species evaluated in the full space onto the constrained subspace. These implementations include (2) RCCE: this is the classical implementation of RCCE which uses a direct projection of the rate-equations for species onto the constrained subspace; and (3) RCCE/RAMP (Reaction-mixing Attracting Manifold Projector): this is a new implementation introduced here which uses an alternative projector obtained using the RAMP approach. We test these three implementations of RCCE for methane/air premixed combustion in the partially-stirred reactor with chemistry represented using the n s=31 species GRI-Mech 1.2 mechanism with n r=13 to 19 constraints. We show that: (a) the classical RCCE implementation involves an inaccurate projector which yields large errors (over 50%) in the reaction mapping; (b) both RCCE/RAMP and RCCE/TIFS approaches yield significantly lower errors (less than 2%); and (c) overall the RCCE
Wang, Sen; Wang, Weihong; Xiong, Shaofeng
2016-09-01
Considering a class of skid-to-turn (STT) missile with fixed target and constrained terminal impact angles, a novel three-dimensional (3D) integrated guidance and control (IGC) scheme is proposed in this paper. Based on coriolis theorem, the fully nonlinear IGC model without the assumption that the missile flies heading to the target at initial time is established in the three-dimensional space. For this strict-feedback form of multi-variable system, dynamic surface control algorithm is implemented combining with extended observer (ESO) to complete the preliminary design. Then, in order to deal with the problems of the input constraints, a hyperbolic tangent function is introduced to approximate the saturation function and auxiliary system including a Nussbaum function established to compensate for the approximation error. The stability of the closed-loop system is proven based on Lyapunov theory. Numerical simulations results show that the proposed integrated guidance and control algorithm can ensure the accuracy of target interception with initial alignment angle deviation and the input saturation is suppressed with smooth deflection curves. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Cascade generalized predictive control strategy for boiler drum level.
Xu, Min; Li, Shaoyuan; Cai, Wenjian
2005-07-01
This paper proposes a cascade model predictive control scheme for boiler drum level control. By employing generalized predictive control structures for both inner and outer loops, measured and unmeasured disturbances can be effectively rejected, and drum level at constant load is maintained. In addition, nonminimum phase characteristic and system constraints in both loops can be handled effectively by generalized predictive control algorithms. Simulation results are provided to show that cascade generalized predictive control results in better performance than that of well tuned cascade proportional integral differential controllers. The algorithm has also been implemented to control a 75-MW boiler plant, and the results show an improvement over conventional control schemes.
Chen, Qihong; Long, Rong; Quan, Shuhai; Zhang, Liyan
2014-01-01
This paper presents a neural network predictive control strategy to optimize power distribution for a fuel cell/ultracapacitor hybrid power system of a robot. We model the nonlinear power system by employing time variant auto-regressive moving average with exogenous (ARMAX), and using recurrent neural network to represent the complicated coefficients of the ARMAX model. Because the dynamic of the system is viewed as operating- state- dependent time varying local linear behavior in this frame, a linear constrained model predictive control algorithm is developed to optimize the power splitting between the fuel cell and ultracapacitor. The proposed algorithm significantly simplifies implementation of the controller and can handle multiple constraints, such as limiting substantial fluctuation of fuel cell current. Experiment and simulation results demonstrate that the control strategy can optimally split power between the fuel cell and ultracapacitor, limit the change rate of the fuel cell current, and so as to extend the lifetime of the fuel cell.
Chen, Qihong; Long, Rong; Quan, Shuhai
2014-01-01
This paper presents a neural network predictive control strategy to optimize power distribution for a fuel cell/ultracapacitor hybrid power system of a robot. We model the nonlinear power system by employing time variant auto-regressive moving average with exogenous (ARMAX), and using recurrent neural network to represent the complicated coefficients of the ARMAX model. Because the dynamic of the system is viewed as operating- state- dependent time varying local linear behavior in this frame, a linear constrained model predictive control algorithm is developed to optimize the power splitting between the fuel cell and ultracapacitor. The proposed algorithm significantly simplifies implementation of the controller and can handle multiple constraints, such as limiting substantial fluctuation of fuel cell current. Experiment and simulation results demonstrate that the control strategy can optimally split power between the fuel cell and ultracapacitor, limit the change rate of the fuel cell current, and so as to extend the lifetime of the fuel cell. PMID:24707206
Receding horizon output feedback control for constrained uncertain systems using periodic invariance
NASA Astrophysics Data System (ADS)
Lim, Jae Sik; Son, Sung Yong; Lee, Young Il
2010-06-01
In this article, we consider a receding horizon output feedback control (RHOC) method for linear discrete-time systems with polytopic model uncertainties and input constraints. First, we derive a set of estimator gains and then we obtain, on the basis of the periodic invariance, a series of state feedback gains stabilising the augmented output feedback system with these estimator gains. These procedures are formulated as linear matrix inequalities. An RHOC strategy is proposed based on these state feedback and state estimator gains in conjunction with their corresponding periodically invariant sets. The proposed RHOC strategy enhances the performance in comparison with the case in which static periodic gains are used, and increases the size of the stabilisable region by introducing a degree of freedom to steer the augmented state into periodically invariant sets.
Close, Roger A; Benson, Roger B J; Upchurch, Paul; Butler, Richard J
2017-05-22
Variation in the geographic spread of fossil localities strongly biases inferences about the evolution of biodiversity, due to the ubiquitous scaling of species richness with area. This obscures answers to key questions, such as how tetrapods attained their tremendous extant diversity. Here, we address this problem by applying sampling standardization methods to spatial regions of equal size, within a global Mesozoic-early Palaeogene data set of non-flying terrestrial tetrapods. We recover no significant increase in species richness between the Late Triassic and the Cretaceous/Palaeogene (K/Pg) boundary, strongly supporting bounded diversification in Mesozoic tetrapods. An abrupt tripling of richness in the earliest Palaeogene suggests that this diversity equilibrium was reset following the K/Pg extinction. Spatial heterogeneity in sampling is among the most important biases of fossil data, but has often been overlooked. Our results indicate that controlling for variance in geographic spread in the fossil record significantly impacts inferred patterns of diversity through time.
NASA Astrophysics Data System (ADS)
Talukder, Ashit; Sheikh, Tanwir; Chandramouli, Lavanya
2004-04-01
Previous field-deployable distributed sensing systems for health/biomedical applications and environmental sensing have been designed for data collection and data transmission at pre-set intervals, rather than for on-board processing These previous sensing systems lack autonomous capabilities, and have limited lifespans. We propose the use of an integrated machine learning architecture, with automated planning-scheduling and resource management capabilities that can be used for a variety of autonomous sensing applications with very limited computing, power, and bandwidth resources. We lay out general solutions for efficient processing in a multi-tiered (three-tier) machine learning framework that is suited for remote, mobile sensing systems. Novel dimensionality reduction techniques that are designed for classification are used to compress each individual sensor data and pass only relevant information to the mobile multisensor fusion module (second-tier). Statistical classifiers that are capable of handling missing/partial sensory data due to sensor failure or power loss are used to detect critical events and pass the information to the third tier (central server) for manual analysis and/or analysis by advanced pattern recognition techniques. Genetic optimisation algorithms are used to control the system in the presence of dynamic events, and also ensure that system requirements (i.e. minimum life of the system) are met. This tight integration of control optimisation and machine learning algorithms results in a highly efficient sensor network with intelligent decision making capabilities. The applicability of our technology in remote health monitoring and environmental monitoring is shown. Other uses of our solution are also discussed.
NASA Astrophysics Data System (ADS)
Jaffery, Mujtaba H.; Shead, Leo; Forshaw, Jason L.; Lappas, Vaios J.
2013-12-01
A new linear model predictive control (MPC) algorithm in a state-space framework is presented based on the fusion of two past MPC control laws: steady-state optimal MPC (SSOMPC) and Laguerre optimal MPC (LOMPC). The new controller, SSLOMPC, is demonstrated to have improved feasibility, tracking performance and computation time than its predecessors. This is verified in both simulation and practical experimentation on a quadrotor unmanned air vehicle in an indoor motion-capture testbed. The performance of the control law is experimentally compared with proportional-integral-derivative (PID) and linear quadratic regulator (LQR) controllers in an unconstrained square manoeuvre. The use of soft control output and hard control input constraints is also examined in single and dual constrained manoeuvres.
Close, Roger A.; Benson, Roger B.J.; Upchurch, Paul; Butler, Richard J.
2017-01-01
Variation in the geographic spread of fossil localities strongly biases inferences about the evolution of biodiversity, due to the ubiquitous scaling of species richness with area. This obscures answers to key questions, such as how tetrapods attained their tremendous extant diversity. Here, we address this problem by applying sampling standardization methods to spatial regions of equal size, within a global Mesozoic-early Palaeogene data set of non-flying terrestrial tetrapods. We recover no significant increase in species richness between the Late Triassic and the Cretaceous/Palaeogene (K/Pg) boundary, strongly supporting bounded diversification in Mesozoic tetrapods. An abrupt tripling of richness in the earliest Palaeogene suggests that this diversity equilibrium was reset following the K/Pg extinction. Spatial heterogeneity in sampling is among the most important biases of fossil data, but has often been overlooked. Our results indicate that controlling for variance in geographic spread in the fossil record significantly impacts inferred patterns of diversity through time. PMID:28530240
Nonconvex model predictive control for commercial refrigeration
NASA Astrophysics Data System (ADS)
Gybel Hovgaard, Tobias; Boyd, Stephen; Larsen, Lars F. S.; Bagterp Jørgensen, John
2013-08-01
We consider the control of a commercial multi-zone refrigeration system, consisting of several cooling units that share a common compressor, and is used to cool multiple areas or rooms. In each time period we choose cooling capacity to each unit and a common evaporation temperature. The goal is to minimise the total energy cost, using real-time electricity prices, while obeying temperature constraints on the zones. We propose a variation on model predictive control to achieve this goal. When the right variables are used, the dynamics of the system are linear, and the constraints are convex. The cost function, however, is nonconvex due to the temperature dependence of thermodynamic efficiency. To handle this nonconvexity we propose a sequential convex optimisation method, which typically converges in fewer than 5 or so iterations. We employ a fast convex quadratic programming solver to carry out the iterations, which is more than fast enough to run in real time. We demonstrate our method on a realistic model, with a full year simulation and 15-minute time periods, using historical electricity prices and weather data, as well as random variations in thermal load. These simulations show substantial cost savings, on the order of 30%, compared to a standard thermostat-based control system. Perhaps more important, we see that the method exhibits sophisticated response to real-time variations in electricity prices. This demand response is critical to help balance real-time uncertainties in generation capacity associated with large penetration of intermittent renewable energy sources in a future smart grid.
Zhang, Y M; Huang, G; Lu, H W; He, Li
2015-08-15
A key issue facing integrated water resources management and water pollution control is to address the vague parametric information. A full credibility-based chance-constrained programming (FCCP) method is thus developed by introducing the new concept of credibility into the modeling framework. FCCP can deal with fuzzy parameters appearing concurrently in the objective and both sides of the constraints of the model, but also provide a credibility level indicating how much confidence one can believe the optimal modeling solutions. The method is applied to Heshui River watershed in the south-central China for demonstration. Results from the case study showed that groundwater would make up for the water shortage in terms of the shrinking surface water and rising water demand, and the optimized total pumpage of groundwater from both alluvial and karst aquifers would exceed 90% of its maximum allowable levels when credibility level is higher than or equal to 0.9. It is also indicated that an increase in credibility level would induce a reduction in cost for surface water acquisition, a rise in cost from groundwater withdrawal, and negligible variation in cost for water pollution control. Copyright © 2015 Elsevier B.V. All rights reserved.
Predictive Control of Networked Multiagent Systems via Cloud Computing.
Liu, Guo-Ping
2017-01-18
This paper studies the design and analysis of networked multiagent predictive control systems via cloud computing. A cloud predictive control scheme for networked multiagent systems (NMASs) is proposed to achieve consensus and stability simultaneously and to compensate for network delays actively. The design of the cloud predictive controller for NMASs is detailed. The analysis of the cloud predictive control scheme gives the necessary and sufficient conditions of stability and consensus of closed-loop networked multiagent control systems. The proposed scheme is verified to characterize the dynamical behavior and control performance of NMASs through simulations. The outcome provides a foundation for the development of cooperative and coordinative control of NMASs and its applications.
Predictive controller and estimator for NASA Deep Space Network antennas
NASA Technical Reports Server (NTRS)
Gawronski, W.
1992-01-01
A new design procedure is presented for a predictive controller that significantly improves antenna tracking performance. The predictive controller uses future values of the stored output command to generate the control signal. For antennas tracking stars or spacecraft, these values are known in advance, hence the predictive control scheme is easily implemented in this case. The predictive controller is designed for tracking control of the the NASA/JPL 70-m antenna. On-axis tracking is considered, where the output is taken on the encoder, or tachometer. Simulation results show a significant improvement in performance over the LQ controller.
Vanderwel, Mark C.; Malcolm, Jay R.; Caspersen, John P.
2012-01-01
Mechanistic modelling approaches that explicitly translate from individual-scale resource selection to the distribution and abundance of a larger population may be better suited to predicting responses to spatially heterogeneous habitat alteration than commonly-used regression models. We developed an individual-based model of home range establishment that, given a mapped distribution of local habitat values, estimates species abundance by simulating the number and position of viable home ranges that can be maintained across a spatially heterogeneous area. We estimated parameters for this model from data on red-backed vole (Myodes gapperi) abundances in 31 boreal forest sites in Ontario, Canada. The home range model had considerably more support from these data than both non-spatial regression models based on the same original habitat variables and a mean-abundance null model. It had nearly equivalent support to a non-spatial regression model that, like the home range model, scaled an aggregate measure of habitat value from local associations with habitat resources. The home range and habitat-value regression models gave similar predictions for vole abundance under simulations of light- and moderate-intensity partial forest harvesting, but the home range model predicted lower abundances than the regression model under high-intensity disturbance. Empirical regression-based approaches for predicting species abundance may overlook processes that affect habitat use by individuals, and often extrapolate poorly to novel habitat conditions. Mechanistic home range models that can be parameterized against abundance data from different habitats permit appropriate scaling from individual- to population-level habitat relationships, and can potentially provide better insights into responses to disturbance. PMID:22815772
A method to predict circulation control noise
NASA Astrophysics Data System (ADS)
Reger, Robert W.
Underwater vehicles suffer from reduced maneuverability with conventional lifting append-\\ ages due to the low velocity of operation. Circulation control offers a method to increase maneuverability independent of vehicle speed. However, with circulation control comes additional noise sources, which are not well understood. To better understand these noise sources, a modal-based prediction method is developed, potentially offering a quantitative connection between flow structures and far-field noise. This method involves estimation of the velocity field, surface pressure field, and far-field noise, using only non-time-resolved velocity fields and time-resolved probe measurements. Proper orthogonal decomposition, linear stochastic estimation and Kalman smoothing are employed to estimate time-resolved velocity fields. Poisson's equation is used to calculate time-resolved pressure fields from velocity. Curle's analogy is then used to propagate the surface pressure forces to the far field. This method is developed on a direct numerical simulation of a two-dimensional cylinder at a low Reynolds number (150). Since each of the fields to be estimated are also known from the simulation, a means of obtaining the error from using the methodology is provided. The velocity estimation and the simulated velocity match well when the simulated additive measurement noise is low. The pressure field suffers due to a small domain size; however, the surface pressures estimates fare much better. The far-field estimation contains similar frequency content with reduced magnitudes, attributed to the exclusion of the viscous forces in Curle's analogy. In the absence of added noise, the estimation procedure performs quite nicely for this model problem. The method is tested experimentally on a 650,000 chord-Reynolds-number flow over a 2-D, 20% thick, elliptic circulation control airfoil. Slot jet momentum coefficients of 0 and 0.10 are investigated. Particle image velocimetry, unsteady
A non-linear model predictive controller with obstacle avoidance for a space robot
NASA Astrophysics Data System (ADS)
Wang, Mingming; Luo, Jianjun; Walter, Ulrich
2016-04-01
This study investigates the use of the non-linear model predictive control (NMPC) strategy for a kinematically redundant space robot to approach an un-cooperative target in complex space environment. Collision avoidance, traditionally treated as a high level planning problem, can be effectively translated into control constraints as part of the NMPC. The objective of this paper is to evaluate the performance of the predictive controller in a constrained workspace and to investigate the feasibility of imposing additional constraints into the NMPC. In this paper, we reformulated the issue of the space robot motion control by using NMPC with predefined objectives under input, output and obstacle constraints over a receding horizon. An on-line quadratic programming (QP) procedure is employed to obtain the constrained optimal control decisions in real-time. This study has been implemented for a 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a 6 DOF free-floating spacecraft via simulation studies. Real-time trajectory tracking and collision avoidance particularly demonstrate the effectiveness and potential of the proposed NMPC strategy for the space robot.
Predicting Loss-of-Control Boundaries Toward a Piloting Aid
NASA Technical Reports Server (NTRS)
Barlow, Jonathan; Stepanyan, Vahram; Krishnakumar, Kalmanje
2012-01-01
This work presents an approach to predicting loss-of-control with the goal of providing the pilot a decision aid focused on maintaining the pilot's control action within predicted loss-of-control boundaries. The predictive architecture combines quantitative loss-of-control boundaries, a data-based predictive control boundary estimation algorithm and an adaptive prediction method to estimate Markov model parameters in real-time. The data-based loss-of-control boundary estimation algorithm estimates the boundary of a safe set of control inputs that will keep the aircraft within the loss-of-control boundaries for a specified time horizon. The adaptive prediction model generates estimates of the system Markov Parameters, which are used by the data-based loss-of-control boundary estimation algorithm. The combined algorithm is applied to a nonlinear generic transport aircraft to illustrate the features of the architecture.
Experimental results of a predictive neural network HVAC controller
Jeannette, E.; Assawamartbunlue, K.; Kreider, J.F.; Curtiss, P.S.
1998-12-31
Proportional, integral, and derivative (PID) control is widely used in many HVAC control processes and requires constant attention for optimal control. Artificial neural networks offer the potential for improved control of processes through predictive techniques. This paper introduces and shows experimental results of a predictive neural network (PNN) controller applied to an unstable hot water system in an air-handling unit. Actual laboratory testing of the PNN and PID controllers show favorable results for the PNN controller.
Nonlinear Model Predictive Control for Cooperative Control and Estimation
NASA Astrophysics Data System (ADS)
Ru, Pengkai
Recent advances in computational power have made it possible to do expensive online computations for control systems. It is becoming more realistic to perform computationally intensive optimization schemes online on systems that are not intrinsically stable and/or have very small time constants. Being one of the most important optimization based control approaches, model predictive control (MPC) has attracted a lot of interest from the research community due to its natural ability to incorporate constraints into its control formulation. Linear MPC has been well researched and its stability can be guaranteed in the majority of its application scenarios. However, one issue that still remains with linear MPC is that it completely ignores the system's inherent nonlinearities thus giving a sub-optimal solution. On the other hand, if achievable, nonlinear MPC, would naturally yield a globally optimal solution and take into account all the innate nonlinear characteristics. While an exact solution to a nonlinear MPC problem remains extremely computationally intensive, if not impossible, one might wonder if there is a middle ground between the two. We tried to strike a balance in this dissertation by employing a state representation technique, namely, the state dependent coefficient (SDC) representation. This new technique would render an improved performance in terms of optimality compared to linear MPC while still keeping the problem tractable. In fact, the computational power required is bounded only by a constant factor of the completely linearized MPC. The purpose of this research is to provide a theoretical framework for the design of a specific kind of nonlinear MPC controller and its extension into a general cooperative scheme. The controller is designed and implemented on quadcopter systems.
NASA Astrophysics Data System (ADS)
Chang, Wen-Jer; Meng, Yu-Teh; Tsai, Kuo-Hui
2012-12-01
In this article, Takagi-Sugeno (T-S) fuzzy control theory is proposed as a key tool to design an effective active queue management (AQM) router for the transmission control protocol (TCP) networks. The probability control of packet marking in the TCP networks is characterised by an input constrained control problem in this article. By modelling the TCP network into a time-delay affine T-S fuzzy model, an input constrained fuzzy control methodology is developed in this article to serve the AQM router design. The proposed fuzzy control approach, which is developed based on the parallel distributed compensation technique, can provide smaller probability of dropping packets than previous AQM design schemes. Lastly, a numerical simulation is provided to illustrate the usefulness and effectiveness of the proposed design approach.
NASA Astrophysics Data System (ADS)
Kahagalage, Sanath; Tordesillas, Antoinette; Nitka, Michał; Tejchman, Jacek
2017-06-01
Using data from discrete element simulations, we develop a data analytics approach using network flow theory to study force transmission and failure in a `dog-bone' concrete specimen submitted to uniaxial tension. With this approach, we establish the extent to which the bottlenecks, i.e., a subset of contacts that impedes flow and are prone to becoming overloaded, can predict the location of the ultimate macro-crack. At the heart of this analysis is a capacity function that quantifies, in relative terms, the maximum force that can be transmitted through the different contacts or edges in the network. Here we set this function to be solely governed by the size of the contact area between the deformable spherical grains. During all the initial stages of the loading history, when no bonds are broken, we find the bottlenecks coincide consistently with, and therefore predict, the location of the crack that later forms in the failure regime after peak force. When bonds do start to break, they are spread throughout the specimen: in, near, and far from, the bottlenecks. In one stage leading up to peak force, bonds collectively break in the lower portion of the specimen, momentarily shifting the bottlenecks to this location. Just before and around peak force, however, the bottlenecks return to their original location and remain there until the macro-crack emerges right along the bottlenecks.
Precise flight-path control using a predictive algorithm
NASA Technical Reports Server (NTRS)
Hess, R. A.; Jung, Y. C.
1991-01-01
Generalized predictive control describes an algorithm for the control of dynamic systems in which a control input is generated that minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. A design technique is discussed for applying the single-input/single-output generalized predictive control algorithm to a problem of longitudinal/vertical terrain-following flight of a rotorcraft. By using the generalized predictive control technique to provide inputs to a classically designed stability and control augmentation system, it is demonstrated that a robust flight-path control system can be created that exhibits excellent tracking performance.
NASA Technical Reports Server (NTRS)
Probst, D.; Jensen, L.
1991-01-01
Delay-insensitive VLSI systems have a certain appeal on the ground due to difficulties with clocks; they are even more attractive in space. We answer the question, is it possible to control state explosion arising from various sources during automatic verification (model checking) of delay-insensitive systems? State explosion due to concurrency is handled by introducing a partial-order representation for systems, and defining system correctness as a simple relation between two partial orders on the same set of system events (a graph problem). State explosion due to nondeterminism (chiefly arbitration) is handled when the system to be verified has a clean, finite recurrence structure. Backwards branching is a further optimization. The heart of this approach is the ability, during model checking, to discover a compact finite presentation of the verified system without prior composition of system components. The fully-implemented POM verification system has polynomial space and time performance on traditional asynchronous-circuit benchmarks that are exponential in space and time for other verification systems. We also sketch the generalization of this approach to handle delay-constrained VLSI systems.
Predictive and Neural Predictive Control of Uncertain Systems
NASA Technical Reports Server (NTRS)
Kelkar, Atul G.
2000-01-01
Accomplishments and future work are:(1) Stability analysis: the work completed includes characterization of stability of receding horizon-based MPC in the setting of LQ paradigm. The current work-in-progress includes analyzing local as well as global stability of the closed-loop system under various nonlinearities; for example, actuator nonlinearities; sensor nonlinearities, and other plant nonlinearities. Actuator nonlinearities include three major types of nonlineaxities: saturation, dead-zone, and (0, 00) sector. (2) Robustness analysis: It is shown that receding horizon parameters such as input and output horizon lengths have direct effect on the robustness of the system. (3) Code development: A matlab code has been developed which can simulate various MPC formulations. The current effort is to generalize the code to include ability to handle all plant types and all MPC types. (4) Improved predictor: It is shown that MPC design using better predictors that can minimize prediction errors. It is shown analytically and numerically that Smith predictor can provide closed-loop stability under GPC operation for plants with dead times where standard optimal predictor fails. (5) Neural network predictors: When neural network is used as predictor it can be shown that neural network predicts the plant output within some finite error bound under certain conditions. Our preliminary study shows that with proper choice of update laws and network architectures such bound can be obtained. However, much work needs to be done to obtain a similar result in general case.
Evaluating Prediction Markets for Internal Control Applications
2016-05-01
0 1. Introduction Since the beginning of prediction market research , various applications have been discussed . From the predictions of political...While the use 2 of corporate prediction markets for research purposes tends to lack transparency and reproducibility, the experi ment was...Econontic Research 1.60 Lecturer #3 Responsible Project Management 0.67 Lecturer #5 Macroeconomics 2. 14 Lecturer #6 Market and State 2.59
Multiple model predictive control for a hybrid proton exchange membrane fuel cell system
NASA Astrophysics Data System (ADS)
Chen, Qihong; Gao, Lijun; Dougal, Roger A.; Quan, Shuhai
This paper presents a hierarchical predictive control strategy to optimize both power utilization and oxygen control simultaneously for a hybrid proton exchange membrane fuel cell/ultracapacitor system. The control employs fuzzy clustering-based modeling, constrained model predictive control, and adaptive switching among multiple models. The strategy has three major advantages. First, by employing multiple piecewise linear models of the nonlinear system, we are able to use linear models in the model predictive control, which significantly simplifies implementation and can handle multiple constraints. Second, the control algorithm is able to perform global optimization for both the power allocation and oxygen control. As a result, we can achieve the optimization from the entire system viewpoint, and a good tradeoff between transient performance of the fuel cell and the ultracapacitor can be obtained. Third, models of the hybrid system are identified using real-world data from the hybrid fuel cell system, and models are updated online. Therefore, the modeling mismatch is minimized and high control accuracy is achieved. Study results demonstrate that the control strategy is able to appropriately split power between fuel cell and ultracapacitor, avoid oxygen starvation, and so enhance the transient performance and extend the operating life of the hybrid system.
Sequential Prediction for Information Fusion and Control
2013-10-14
paradigms , and external feedback mechanisms. Online prediction and targeted collection of information is an emerging paradigm at the intersection of...unknown, environmental dynamics, potentially stemming from an adversary who reacts to sensing actions, active sensing paradigms , and external feedback mech...anisms. Online prediction and targeted collection of information is an emerging paradigm at the inter- section of optimization, machine learning and
Luo, Shaohua; Hou, Zhiwei; Chen, Zhong
2015-12-15
In this paper, chaos control is proposed for the output- constrained system with uncertain control gain and time delay and is applied to the brushless DC motor. Using the dynamic surface technology, the controller overcomes the repetitive differentiation of backstepping and boundedness hypothesis of pre-determined control gain by incorporating radial basis function neural network and adaptive technology. The tangent barrier Lyapunov function is employed for time-delay chaotic system to prevent constraint violation. It is proved that the proposed control approach can guarantee asymptotically stable in the sense of uniformly ultimate boundedness without constraint violation. Finally, the effectiveness of the proposed approach is demonstrated on the brushless DC motor example.
NASA Astrophysics Data System (ADS)
Luo, Shaohua; Hou, Zhiwei; Chen, Zhong
2015-12-01
In this paper, chaos control is proposed for the output- constrained system with uncertain control gain and time delay and is applied to the brushless DC motor. Using the dynamic surface technology, the controller overcomes the repetitive differentiation of backstepping and boundedness hypothesis of pre-determined control gain by incorporating radial basis function neural network and adaptive technology. The tangent barrier Lyapunov function is employed for time-delay chaotic system to prevent constraint violation. It is proved that the proposed control approach can guarantee asymptotically stable in the sense of uniformly ultimate boundedness without constraint violation. Finally, the effectiveness of the proposed approach is demonstrated on the brushless DC motor example.
Robust model predictive control by iterative optimisation for polytopic uncertain systems
NASA Astrophysics Data System (ADS)
Wang, Chuanxu
2012-09-01
This article addresses robust model predictive control (MPC) for constrained systems with polytopic uncertainty description. Firstly, in the technique which parametrises the infinite horizon control moves into a single state feedback law and invokes the parameter-dependent Lyapunov method for achieving closed-loop stability, the slack matrices are iteratively solved at each sampling time. Secondly, in the technique which parametrises the infinite horizon control moves into a set of free perturbations followed by a single state feedback law, the feedback gains within the switch horizon are iteratively found at each sampling time, rather than just inherited from the previous sampling time. Numerical examples show that iterative MPC can not only improve the control performance, but also enlarge the region of attraction.
Valtonen, Anu; Ayres, Matthew P; Roininen, Heikki; Pöyry, Juha; Leinonen, Reima
2011-01-01
Ecological systems have naturally high interannual variance in phenology. Component species have presumably evolved to maintain appropriate phenologies under historical climates, but cases of inappropriate phenology can be expected with climate change. Understanding controls on phenology permits predictions of ecological responses to climate change. We studied phenological control systems in Lepidoptera by analyzing flight times recorded at a network of sites in Finland. We evaluated the strength and form of controls from temperature and photoperiod, and tested for geographic variation within species. Temperature controls on phenology were evident in 51% of 112 study species and for a third of those thermal controls appear to be modified by photoperiodic cues. For 24% of the total, photoperiod by itself emerged as the most likely control system. Species with thermal control alone should be most immediately responsive in phenology to climate warming, but variably so depending upon the minimum temperature at which appreciable development occurs and the thermal responsiveness of development rate. Photoperiodic modification of thermal controls constrains phenotypic responses in phenologies to climate change, but can evolve to permit local adaptation. Our results suggest that climate change will alter the phenological structure of the Finnish Lepidoptera community in ways that are predictable with knowledge of the proximate physiological controls. Understanding how phenological controls in Lepidoptera compare to that of their host plants and enemies could permit general inferences regarding climatic effects on mid- to high-latitude ecosystems.
Voltage control in pulsed system by predict-ahead control
Payne, A.N.; Watson, J.A.; Sampayan, S.E.
1994-09-13
A method and apparatus for predict-ahead pulse-to-pulse voltage control in a pulsed power supply system is disclosed. A DC power supply network is coupled to a resonant charging network via a first switch. The resonant charging network is coupled at a node to a storage capacitor. An output load is coupled to the storage capacitor via a second switch. A de-Q-ing network is coupled to the resonant charging network via a third switch. The trigger for the third switch is a derived function of the initial voltage of the power supply network, the initial voltage of the storage capacitor, and the present voltage of the storage capacitor. A first trigger closes the first switch and charges the capacitor. The third trigger is asserted according to the derived function to close the third switch. When the third switch is closed, the first switch opens and voltage on the node is regulated. The second trigger may be thereafter asserted to discharge the capacitor into the output load. 4 figs.
Voltage control in pulsed system by predict-ahead control
Payne, Anthony N.; Watson, James A.; Sampayan, Stephen E.
1994-01-01
A method and apparatus for predict-ahead pulse-to-pulse voltage control in a pulsed power supply system is disclosed. A DC power supply network is coupled to a resonant charging network via a first switch. The resonant charging network is coupled at a node to a storage capacitor. An output load is coupled to the storage capacitor via a second switch. A de-Q-ing network is coupled to the resonant charging network via a third switch. The trigger for the third switch is a derived function of the initial voltage of the power supply network, the initial voltage of the storage capacitor, and the present voltage of the storage capacitor. A first trigger closes the first switch and charges the capacitor. The third trigger is asserted according to the derived function to close the third switch. When the third switch is closed, the first switch opens and voltage on the node is regulated. The second trigger may be thereafter asserted to discharge the capacitor into the output load.
Kettinger, Adam O; Kannengiesser, Stephan A R; Breuer, Felix A; Vidnyanszky, Zoltan; Blaimer, Martin
2017-09-01
Parallel imaging generally entails a reduction in the signal-to-noise ratio of the final image. Phase-constrained methods aim to improve reconstruction quality by using symmetry properties of k-space. Noise amplification in phase-constrained reconstruction depends heavily on the object background phase. The purpose of this work is to present a new approach of using tailored radiofrequency pulses to optimize the object phase distribution in order to maximize the benefit of phase-constrained reconstruction, and to minimize the noise amplification. Intrinsic object phase and coil sensitivity profiles are measured in a prescan. Optimal phase distribution is computed to maximize signal-to-noise ratio in the given setup. Tailored radiofrequency pulses are designed to introduce the optimal phase map in the following accelerated acquisitions, subsequently reconstructed by phase-constrained methods. The potential of the method is demonstrated in vivo with in-plane accelerated (8x) and simultaneous multislice (3x) acquisitions. Mean g-factors are reduced by up to a factor of 2 compared with conventional techniques when an appropriate phase-constrained reconstruction is applied to phase-optimized acquisitions, enhancing the signal-to-noise ratio of the final images and the visibility of small details. Combining phase-constrained reconstruction and phase optimization by tailored radiofrequency pulses can provide notable improvement in the signal-to-noise ratio and reconstruction quality of accelerated MRI. Magn Reson Med, 2017. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.
Power-constrained supercomputing
NASA Astrophysics Data System (ADS)
Bailey, Peter E.
. Adaptive power balancing efficiently predicts where critical paths are likely to occur and distributes power to those paths. Greater power, in turn, allows increased thread concurrency levels, CPU frequency/voltage, or both. We describe these techniques in detail and show that, compared to the state-of-the-art technique of using statically predetermined, per-node power caps, Conductor leads to a best-case performance improvement of up to 30%, and an average improvement of 19.1%. At the node level, an accurate power/performance model will aid in selecting the right configuration from a large set of available configurations. We present a novel approach to generate such a model offline using kernel clustering and multivariate linear regression. Our model requires only two iterations to select a configuration, which provides a significant advantage over exhaustive search-based strategies. We apply our model to predict power and performance for different applications using arbitrary configurations, and show that our model, when used with hardware frequency-limiting in a runtime system, selects configurations with significantly higher performance at a given power limit than those chosen by frequency-limiting alone. When applied to a set of 36 computational kernels from a range of applications, our model accurately predicts power and performance; our runtime system based on the model maintains 91% of optimal performance while meeting power constraints 88% of the time. When the runtime system violates a power constraint, it exceeds the constraint by only 6% in the average case, while simultaneously achieving 54% more performance than an oracle. Through the combination of the above contributions, we hope to provide guidance and inspiration to research practitioners working on runtime systems for power-constrained environments. We also hope this dissertation will draw attention to the need for software and runtime-controlled power management under power constraints at various levels
Networked Robust Predictive Control Systems Design with Packet Loss
NASA Astrophysics Data System (ADS)
Nguyen, Quang T.; Veselý, Vojtech; Kozáková, Alena; Pakshin, Pavel
2014-01-01
The paper addresses problem of designing a robust output feedback model predictive control for uncertain linear systems over networks with packet-loss. The packet-loss process is arbitrary and bounded by the control horizon of model predictive control. Networked predictive control systems with packet loss are modeled as switched linear systems. This enables us to apply the theory of switched systems to establish the stability condition. The stabilizing controller design is based on sufficient robust stability conditions formulated as a solution of bilinear matrix inequality. Finally, a benchmark numerical example-double integrator is given to illustrate the effectiveness of the proposed method.
Consensus and Stability Analysis of Networked Multiagent Predictive Control Systems.
Liu, Guo-Ping
2017-04-01
This paper is concerned with the consensus and stability problem of multiagent control systems via networks with communication delays and data loss. A networked multiagent predictive control scheme is proposed to achieve output consensus and also compensate for the communication delays and data loss actively. The necessary and sufficient conditions of achieving both consensus and stability of the closed-loop networked multiagent control systems are derived. An important result that is obtained is that the consensus and stability of closed-loop networked multiagent predictive control systems are not related to the communication delays and data loss. An example illustrates the performance of the networked multiagent predictive control scheme.
Comparison of Predictive Control Methods for High Consumption Industrial Furnace
2013-01-01
We describe several predictive control approaches for high consumption industrial furnace control. These furnaces are major consumers in production industries, and reducing their fuel consumption and optimizing the quality of the products is one of the most important engineer tasks. In order to demonstrate the benefits from implementation of the advanced predictive control algorithms, we have compared several major criteria for furnace control. On the basis of the analysis, some important conclusions have been drawn. PMID:24319354
Comparison of predictive control methods for high consumption industrial furnace.
Stojanovski, Goran; Stankovski, Mile
2013-01-01
We describe several predictive control approaches for high consumption industrial furnace control. These furnaces are major consumers in production industries, and reducing their fuel consumption and optimizing the quality of the products is one of the most important engineer tasks. In order to demonstrate the benefits from implementation of the advanced predictive control algorithms, we have compared several major criteria for furnace control. On the basis of the analysis, some important conclusions have been drawn.
Model Predictive Control for Nonlinear Parabolic Partial Differential Equations
NASA Astrophysics Data System (ADS)
Hashimoto, Tomoaki; Yoshioka, Yusuke; Ohtsuka, Toshiyuki
In this study, the optimal control problem of nonlinear parabolic partial differential equations (PDEs) is investigated. Optimal control of nonlinear PDEs is an open problem with applications that include fluid, thermal, biological, and chemically-reacting systems. Model predictive control with a fast numerical solution method has been well established to solve the optimal control problem of nonlinear systems described by ordinary differential equations. In this study, we develop a design method of the model predictive control for nonlinear systems described by parabolic PDEs. Our approach is a direct infinite dimensional extension of the model predictive control method for finite-dimensional systems. The objective of this paper is to develop an efficient algorithm for numerically solving the model predictive control problem of nonlinear parabolic PDEs. The effectiveness of the proposed method is verified by numerical simulations.
Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles
NASA Astrophysics Data System (ADS)
Siampis, Efstathios; Velenis, Efstathios; Longo, Stefano
2015-11-01
In this paper we propose a constrained optimal control architecture for combined velocity, yaw and sideslip regulation for stabilisation of the vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model are used to find reference steady-state cornering conditions and design two model predictive control (MPC) strategies of different levels of fidelity: one that uses a linearised version of the full vehicle model with the rear wheels' torques as the input, and another one that neglects the wheel dynamics and uses the rear wheels' slips as the input instead. After analysing the relative trade-offs between performance and computational effort, we compare the two MPC strategies against each other and against an unconstrained optimal control strategy in Simulink and Carsim environment.
Liu, Yan; Li, Xiaohong; Johnson, Margaret; Smith, Collette; Kamarulzaman, Adeeba bte; Montaner, Julio; Mounzer, Karam; Saag, Michael; Cahn, Pedro; Cesar, Carina; Krolewiecki, Alejandro; Sanne, Ian; Montaner, Luis J.
2012-01-01
Background Global programs of anti-HIV treatment depend on sustained laboratory capacity to assess treatment initiation thresholds and treatment response over time. Currently, there is no valid alternative to CD4 count testing for monitoring immunologic responses to treatment, but laboratory cost and capacity limit access to CD4 testing in resource-constrained settings. Thus, methods to prioritize patients for CD4 count testing could improve treatment monitoring by optimizing resource allocation. Methods and Findings Using a prospective cohort of HIV-infected patients (n = 1,956) monitored upon antiretroviral therapy initiation in seven clinical sites with distinct geographical and socio-economic settings, we retrospectively apply a novel prediction-based classification (PBC) modeling method. The model uses repeatedly measured biomarkers (white blood cell count and lymphocyte percent) to predict CD4+ T cell outcome through first-stage modeling and subsequent classification based on clinically relevant thresholds (CD4+ T cell count of 200 or 350 cells/µl). The algorithm correctly classified 90% (cross-validation estimate = 91.5%, standard deviation [SD] = 4.5%) of CD4 count measurements <200 cells/µl in the first year of follow-up; if laboratory testing is applied only to patients predicted to be below the 200-cells/µl threshold, we estimate a potential savings of 54.3% (SD = 4.2%) in CD4 testing capacity. A capacity savings of 34% (SD = 3.9%) is predicted using a CD4 threshold of 350 cells/µl. Similar results were obtained over the 3 y of follow-up available (n = 619). Limitations include a need for future economic healthcare outcome analysis, a need for assessment of extensibility beyond the 3-y observation time, and the need to assign a false positive threshold. Conclusions Our results support the use of PBC modeling as a triage point at the laboratory, lessening the need for laboratory-based CD4+ T cell count testing; implementation
Model-Based Predictive Control of Turbulent Channel Flow
NASA Astrophysics Data System (ADS)
Kellogg, Steven M.; Collis, S. Scott
1999-11-01
In recent simulations of optimal turbulence control, the time horizon over which the control is determined matches the time horizon over which the flow is advanced. A popular workhorse of the controls community, Model-Based Predictive Control (MBPC), suggests using longer predictive horizons than advancement windows. Including additional time information in the optimization may generate improved controls. When the advancement horizon is smaller than the predictive horizon, part of the optimization and resulting control are discarded. Although this inherent inefficiency may be justified by improved control predictions, it has hampered prior investigations of MBPC for turbulent flow due to the expense associated with optimal control based on Direct Numerical Simulation. The current approach overcomes this by using our optimal control formulation based on Large Eddy Simulation. This presentation summarizes the results of optimal control simulations for turbulent channel flow using various ratios of advancement and predictive horizons. These results provide clues as to the roles of foresight, control history, cost functional, and turbulence structures for optimal control of wall-bounded turbulence.
Prospects for earthquake prediction and control
Healy, J.H.; Lee, W.H.K.; Pakiser, L.C.; Raleigh, C.B.; Wood, M.D.
1972-01-01
The San Andreas fault is viewed, according to the concepts of seafloor spreading and plate tectonics, as a transform fault that separates the Pacific and North American plates and along which relative movements of 2 to 6 cm/year have been taking place. The resulting strain can be released by creep, by earthquakes of moderate size, or (as near San Francisco and Los Angeles) by great earthquakes. Microearthquakes, as mapped by a dense seismograph network in central California, generally coincide with zones of the San Andreas fault system that are creeping. Microearthquakes are few and scattered in zones where elastic energy is being stored. Changes in the rate of strain, as recorded by tiltmeter arrays, have been observed before several earthquakes of about magnitude 4. Changes in fluid pressure may control timing of seismic activity and make it possible to control natural earthquakes by controlling variations in fluid pressure in fault zones. An experiment in earthquake control is underway at the Rangely oil field in Colorado, where the rates of fluid injection and withdrawal in experimental wells are being controlled. ?? 1972.
An Intelligent Predictive Controller for Autonomous Vehicles
1994-05-02
Controller for Autonomous Vehicles page 4. 2.2 Mail Marla =e The Map Manager is distinguished from a perception system in the following way. It is considered...872-884. [38] K. Olin, and D. Tseng , "Autonomous Cross Country Navigation", IEEE Expert, August 1991, pp. 16-30. [39] D. A. Pomerleau, "Efficient
Choosing the appropriate forecasting model for predictive parameter control.
Aleti, Aldeida; Moser, Irene; Meedeniya, Indika; Grunske, Lars
2014-01-01
All commonly used stochastic optimisation algorithms have to be parameterised to perform effectively. Adaptive parameter control (APC) is an effective method used for this purpose. APC repeatedly adjusts parameter values during the optimisation process for optimal algorithm performance. The assignment of parameter values for a given iteration is based on previously measured performance. In recent research, time series prediction has been proposed as a method of projecting the probabilities to use for parameter value selection. In this work, we examine the suitability of a variety of prediction methods for the projection of future parameter performance based on previous data. All considered prediction methods have assumptions the time series data has to conform to for the prediction method to provide accurate projections. Looking specifically at parameters of evolutionary algorithms (EAs), we find that all standard EA parameters with the exception of population size conform largely to the assumptions made by the considered prediction methods. Evaluating the performance of these prediction methods, we find that linear regression provides the best results by a very small and statistically insignificant margin. Regardless of the prediction method, predictive parameter control outperforms state of the art parameter control methods when the performance data adheres to the assumptions made by the prediction method. When a parameter's performance data does not adhere to the assumptions made by the forecasting method, the use of prediction does not have a notable adverse impact on the algorithm's performance.
Iterated non-linear model predictive control based on tubes and contractive constraints.
Murillo, M; Sánchez, G; Giovanini, L
2016-05-01
This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.
Launch ascent guidance by discrete multi-model predictive control
NASA Astrophysics Data System (ADS)
Vachon, Alexandre; Desbiens, André; Gagnon, Eric; Bérard, Caroline
2014-02-01
This paper studies the application of discrete multi-model predictive control as a trajectory tracking guidance law for a space launcher. Two different algorithms are developed, each one based on a different representation of launcher translation dynamics. These representations are based on an interpolation of the linear approximation of nonlinear pseudo-five degrees of freedom equations of translation around an elliptical Earth. The interpolation gives a linear-time-varying representation and a linear-fractional representation. They are used as the predictive model of multi-model predictive controllers. The controlled variables are the orbital parameters, and constraints on a terminal region for the minimal accepted precision are also included. Use of orbital parameters as the controlled variables allows for a partial definition of the trajectory. Constraints can also be included in multi-model predictive control to reduce the number of unknowns of the problem by defining input shaping constraints. The guidance algorithms are tested in nominal conditions and off-nominal conditions with uncertainties on the thrust. The results are compared to those of a similar formulation with a nonlinear model predictive controller and to a guidance method based on the resolution of a simplified version of the two-point boundary value problem. In nominal conditions, the model predictive controllers are more precise and produce a more optimal trajectory but are longer to compute than the two-point boundary solution. Moreover, in presence of uncertainties, developed algorithms exhibit poor robustness properties. The multi-model predictive control algorithms do not reach the desired orbit while the nonlinear model predictive control algorithm still converges but produces larger maneuvers than the other method.
Model predictive control of P-time event graphs
NASA Astrophysics Data System (ADS)
Hamri, H.; Kara, R.; Amari, S.
2016-12-01
This paper deals with model predictive control of discrete event systems modelled by P-time event graphs. First, the model is obtained by using the dater evolution model written in the standard algebra. Then, for the control law, we used the finite-horizon model predictive control. For the closed-loop control, we used the infinite-horizon model predictive control (IH-MPC). The latter is an approach that calculates static feedback gains which allows the stability of the closed-loop system while respecting the constraints on the control vector. The problem of IH-MPC is formulated as a linear convex programming subject to a linear matrix inequality problem. Finally, the proposed methodology is applied to a transportation system.
Pilots Rate Augmented Generalized Predictive Control for Reconfiguration
NASA Technical Reports Server (NTRS)
Soloway, Don; Haley, Pam
2004-01-01
The objective of this paper is to report the results from the research being conducted in reconfigurable fight controls at NASA Ames. A study was conducted with three NASA Dryden test pilots to evaluate two approaches of reconfiguring an aircraft's control system when failures occur in the control surfaces and engine. NASA Ames is investigating both a Neural Generalized Predictive Control scheme and a Neural Network based Dynamic Inverse controller. This paper highlights the Predictive Control scheme where a simple augmentation to reduce zero steady-state error led to the neural network predictor model becoming redundant for the task. Instead of using a neural network predictor model, a nominal single point linear model was used and then augmented with an error corrector. This paper shows that the Generalized Predictive Controller and the Dynamic Inverse Neural Network controller perform equally well at reconfiguration, but with less rate requirements from the actuators. Also presented are the pilot ratings for each controller for various failure scenarios and two samples of the required control actuation during reconfiguration. Finally, the paper concludes by stepping through the Generalized Predictive Control's reconfiguration process for an elevator failure.
Rate-Based Model Predictive Control of Turbofan Engine Clearance
NASA Technical Reports Server (NTRS)
DeCastro, Jonathan A.
2006-01-01
An innovative model predictive control strategy is developed for control of nonlinear aircraft propulsion systems and sub-systems. At the heart of the controller is a rate-based linear parameter-varying model that propagates the state derivatives across the prediction horizon, extending prediction fidelity to transient regimes where conventional models begin to lose validity. The new control law is applied to a demanding active clearance control application, where the objectives are to tightly regulate blade tip clearances and also anticipate and avoid detrimental blade-shroud rub occurrences by optimally maintaining a predefined minimum clearance. Simulation results verify that the rate-based controller is capable of satisfying the objectives during realistic flight scenarios where both a conventional Jacobian-based model predictive control law and an unconstrained linear-quadratic optimal controller are incapable of doing so. The controller is evaluated using a variety of different actuators, illustrating the efficacy and versatility of the control approach. It is concluded that the new strategy has promise for this and other nonlinear aerospace applications that place high importance on the attainment of control objectives during transient regimes.
Switched linear model predictive controllers for periodic exogenous signals
NASA Astrophysics Data System (ADS)
Wang, Liuping; Gawthrop, Peter; Owens, David. H.; Rogers, Eric
2010-04-01
This article develops switched linear controllers for periodic exogenous signals using the framework of a continuous-time model predictive control. In this framework, the control signal is generated by an algorithm that uses receding horizon control principle with an on-line optimisation scheme that permits inclusion of operational constraints. Unlike traditional repetitive controllers, applying this method in the form of switched linear controllers ensures bumpless transfer from one controller to another. Simulation studies are included to demonstrate the efficacy of the design with or without hard constraints.
Chang, Wen-Jer; Wu, Wen-Yuan; Ku, Cheung-Chieh
2011-01-01
The purpose of this paper is to study the H(∞) constrained fuzzy controller design problem for discrete-time Takagi-Sugeno (T-S) fuzzy systems with multiplicative noises by using the state observer feedback technique. The proposed fuzzy controller design approach is developed based on the Parallel Distributed Compensation (PDC) technique. Through the Lyapunov stability criterion, the stability analysis is completed to develop stability conditions for the closed-loop systems. Besides, the H(∞) performance constraints is also considered in the stability condition derivations for the worst case effect of disturbance on system states. Solving these stability conditions via the two-step Linear Matrix Inequality (LMI) algorithm, the observer-based fuzzy controller is obtained to achieve the stability and H(∞) performance constraints, simultaneously. Finally, a numerical example is provided to verify the applicability and effectiveness of the proposed fuzzy control approach. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.
Model and Predictive Control for a Wind Turbine
NASA Astrophysics Data System (ADS)
Gilev, B.; Slavchev, J.; Penev, D.; Yonchev, A.
2011-12-01
A mathematical model of the system consisting of wind turbine, gear box and asynchronous generator is presented in this work. The model is linearized. Then a controller, which provides a desire mode of frequency stabilization, is developed using the predictive control theory.
Towards feasible and effective predictive wavefront control for adaptive optics
Poyneer, L A; Veran, J
2008-06-04
We have recently proposed Predictive Fourier Control, a computationally efficient and adaptive algorithm for predictive wavefront control that assumes frozen flow turbulence. We summarize refinements to the state-space model that allow operation with arbitrary computational delays and reduce the computational cost of solving for new control. We present initial atmospheric characterization using observations with Gemini North's Altair AO system. These observations, taken over 1 year, indicate that frozen flow is exists, contains substantial power, and is strongly detected 94% of the time.
Optimal Tuning for Disturbance Suppression Mechanism for Model Predictive Control
NASA Astrophysics Data System (ADS)
Tange, Yoshio; Nakazawa, Chikashi
Disturbance suppression is one of most required performances in process control. We recently proposed a new disturbance suppression mechanism applicable for model predictive control in order to enhance disturbance suppression performance for ramp-like disturbances. The proposed method utilized the prediction error of controlled values and generates a disturbance compensation signal by a constant gain feedback. In this paper, we propose an improved version of the disturbance suppression mechanism by applying a low-pass filter and parameter tuning methods by which we can make the mechanism more tolerant to various disturbances such as ramp, step, and other supposable ones. We also show numerical simulation results with an oil distillation tower plant.
Global stabilization of fixed points using predictive control
NASA Astrophysics Data System (ADS)
Liz, Eduardo; Franco, Daniel
2010-06-01
We analyze the global stability properties of some methods of predictive control. We particularly focus on the optimal control function introduced by de Sousa Vieira and Lichtenberg [Phys. Rev. E 54, 1200 (1996)]. We rigorously prove that it is possible to use this method for the global stabilization of a discrete system xn +1=f(xn) into a positive equilibrium for a class of maps commonly used in population dynamics. Moreover, the controlled system is globally stable for all values of the control parameter for which it is locally asymptotically stable. Our study highlights the difficulty of obtaining global stability results for other methods of predictive control, where higher iterations of f are used in the control scheme.
Predictive neuro-fuzzy controller for multilink robot manipulator
NASA Astrophysics Data System (ADS)
Kaymaz, Emre; Mitra, Sunanda
1995-10-01
A generalized controller based on fuzzy clustering and fuzzy generalized predictive control has been developed for nonlinear systems including multilink robot manipulators. The proposed controller is particularly useful when the dynamics of the nonlinear system to be controlled are difficult to yield exact solutions and the system specification can be obtained in terms of crisp input-output pairs. It inherits the advantages of both fuzzy logic and predictive control. The identification of the nonlinear mapping of the system to be controlled is realized by a three- layer feed-forward neural network model employing the input-output data obtained from the system. The speed of convergence of the neural network is improved by the introduction of a fuzzy logic controlled backpropagation learning algorithm. The neural network model is then used as a simulation tool to generate the input-output data for developing the predictive fuzzy logic controller for the chosen nonlinear system. The use of fuzzy clustering facilitates automatic generation of membership relations of the input-output data. Unlike the linguistic fuzzy logic controller which requires approximate knowledge of the shape and the numbers of the membership functions in the input and output universes of the discourse, this integrated neuro-fuzzy approach allows one to find the fuzzy relations and the membership functions more accurately. Furthermore, it is not necessary to tune the controller. For a two-link robot manipulator, the performance of this predictive fuzzy controller is shown to be superior to that of a conventional controller employing an ARMA model of the system in terms of accuracy and consumption of energy.
Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control.
Mehrabi, Naser; Sharif Razavian, Reza; Ghannadi, Borna; McPhee, John
2016-01-01
This article investigates the application of optimal feedback control to trajectory planning in voluntary human arm movements. A nonlinear model predictive controller (NMPC) with a finite prediction horizon was used as the optimal feedback controller to predict the hand trajectory planning and execution of planar reaching tasks. The NMPC is completely predictive, and motion tracking or electromyography data are not required to obtain the limb trajectories. To present this concept, a two degree of freedom musculoskeletal planar arm model actuated by three pairs of antagonist muscles was used to simulate the human arm dynamics. This study is based on the assumption that the nervous system minimizes the muscular effort during goal-directed movements. The effects of prediction horizon length on the trajectory, velocity profile, and muscle activities of a reaching task are presented. The NMPC predictions of the hand trajectory to reach fixed and moving targets are in good agreement with the trajectories found by dynamic optimization and those from experiments. However, the hand velocity and muscle activations predicted by NMPC did not agree as well with experiments or with those found from dynamic optimization.
Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control
Mehrabi, Naser; Sharif Razavian, Reza; Ghannadi, Borna; McPhee, John
2017-01-01
This article investigates the application of optimal feedback control to trajectory planning in voluntary human arm movements. A nonlinear model predictive controller (NMPC) with a finite prediction horizon was used as the optimal feedback controller to predict the hand trajectory planning and execution of planar reaching tasks. The NMPC is completely predictive, and motion tracking or electromyography data are not required to obtain the limb trajectories. To present this concept, a two degree of freedom musculoskeletal planar arm model actuated by three pairs of antagonist muscles was used to simulate the human arm dynamics. This study is based on the assumption that the nervous system minimizes the muscular effort during goal-directed movements. The effects of prediction horizon length on the trajectory, velocity profile, and muscle activities of a reaching task are presented. The NMPC predictions of the hand trajectory to reach fixed and moving targets are in good agreement with the trajectories found by dynamic optimization and those from experiments. However, the hand velocity and muscle activations predicted by NMPC did not agree as well with experiments or with those found from dynamic optimization. PMID:28133449
Improving active space telescope wavefront control using predictive thermal modeling
NASA Astrophysics Data System (ADS)
Gersh-Range, Jessica; Perrin, Marshall D.
2015-01-01
Active control algorithms for space telescopes are less mature than those for large ground telescopes due to differences in the wavefront control problems. Active wavefront control for space telescopes at L2, such as the James Webb Space Telescope (JWST), requires weighing control costs against the benefits of correcting wavefront perturbations that are a predictable byproduct of the observing schedule, which is known and determined in advance. To improve the control algorithms for these telescopes, we have developed a model that calculates the temperature and wavefront evolution during a hypothetical mission, assuming the dominant wavefront perturbations are due to changes in the spacecraft attitude with respect to the sun. Using this model, we show that the wavefront can be controlled passively by introducing scheduling constraints that limit the allowable attitudes for an observation based on the observation duration and the mean telescope temperature. We also describe the implementation of a predictive controller designed to prevent the wavefront error (WFE) from exceeding a desired threshold. This controller outperforms simpler algorithms even with substantial model error, achieving a lower WFE without requiring significantly more corrections. Consequently, predictive wavefront control based on known spacecraft attitude plans is a promising approach for JWST and other future active space observatories.
Nonlinear model predictive control of managed pressure drilling.
Nandan, Anirudh; Imtiaz, Syed
2017-07-01
A new design of nonlinear model predictive controller (NMPC) is proposed for managed pressure drilling (MPD) system. The NMPC is based on output feedback control architecture and employs offset-free formulation proposed in [1]. NMPC uses active set method for computing control inputs. The controller implements an automatic switching from constant bottom hole pressure (CBHP) regulation to flow control mode in the event of a reservoir kick. In the flow control mode the controller automatically raises the bottom hole pressure setpoint, and thereby keeps the reservoir fluid flow to the surface within a tunable threshold. This is achieved by exploiting constraint handling capability of NMPC. In addition to kick mitigation the controller demonstrated good performance in containing the bottom hole pressure (BHP) during the pipe connection sequence. The controller also delivered satisfactory performance in the presence of measurement noise and uncertainty in the system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
NASA Astrophysics Data System (ADS)
Gidon, Dogan; Graves, David B.; Mesbah, Ali
2017-08-01
Atmospheric pressure plasma jets (APPJs) have been identified as a promising tool for plasma medicine. This paper aims to demonstrate the importance of using model-based feedback control strategies for safe, reproducible, and therapeutically effective application of APPJs for dose delivery to a target substrate. Key challenges in model-based control of APPJs arise from: (i) the multivariable, nonlinear nature of system dynamics, (ii) the need for constraining the system operation within an operating region that ensures safe plasma treatment, and (iii) the cumulative, nondecreasing nature of dose metrics. To systematically address these challenges, we propose a model predictive control (MPC) strategy for real-time feedback control of a radio-frequency APPJ in argon. To this end, a lumped-parameter, physics-based model is developed for describing the jet dynamics. Cumulative dose metrics are defined for quantifying the thermal and nonthermal energy effects of the plasma on substrate. The closed-loop performance of the MPC strategy is compared to that of a basic proportional-integral control system. Simulation results indicate that the MPC stategy provides a versatile framework for dose delivery in the presence of disturbances, while the safety and practical constraints of the APPJ operation can be systematically handled. Model-based feedback control strategies can lead to unprecedented opportunities for effective dose delivery in plasma medicine.
Model Predictive Control with Integral Action for Current Density Profile Tracking in NSTX-U
NASA Astrophysics Data System (ADS)
Ilhan, Z. O.; Wehner, W. P.; Schuster, E.; Boyer, M. D.
2016-10-01
Active control of the toroidal current density profile may play a critical role in non-inductively sustained long-pulse, high-beta scenarios in a spherical torus (ST) configuration, which is among the missions of the NSTX-U facility. In this work, a previously developed physics-based control-oriented model is embedded in a feedback control scheme based on a model predictive control (MPC) strategy to track a desired current density profile evolution specified indirectly by a desired rotational transform profile. An integrator is embedded into the standard MPC formulation to reject various modeling uncertainties and external disturbances. Neutral beam powers, electron density, and total plasma current are used as actuators. The proposed MPC strategy incorporates various state and actuator constraints directly into the control design process by solving a constrained optimization problem in real-time to determine the optimal actuator requests. The effectiveness of the proposed controller in regulating the current density profile in NSTX-U is demonstrated in closed-loop nonlinear simulations. Supported by the US DOE under DE-AC02-09CH11466.
Controlling motion prediction errors in radiotherapy with relevance vector machines.
Dürichen, Robert; Wissel, Tobias; Schweikard, Achim
2015-04-01
Robotic radiotherapy can precisely ablate moving tumors when time latencies have been compensated. Recently, relevance vector machines (RVM), a probabilistic regression technique, outperformed six other prediction algorithms for respiratory compensation. The method has the distinct advantage that each predicted point is assumed to be drawn from a normal distribution. Second-order statistics, the predicted variance, were used to control RVM prediction error during a treatment and to construct hybrid prediction algorithms. First, the duty cycle and the precision were correlated to the variance by interrupting the treatment if the variance exceeds a threshold. Second, two hybrid algorithms based on the variance were developed, one consisting of multiple RVMs (HYB(RVM)) and the other of a combination between a wavelet-based least mean square algorithm (wLMS) and a RVM (HYB(wLMS-RVM)). The variance for different motion traces was analyzed to reveal a characteristic variance pattern which gives insight in what kind of prediction errors can be controlled by the variance. Limiting the variance by a threshold resulted in an increased precision with a decreased duty cycle. All hybrid algorithms showed an increased prediction accuracy compared to using only their individual algorithms. The best hybrid algorithm, HYB(RVM), can decrease the mean RMSE over all 304 motion traces from 0.18 mm for a linear RVM to 0.17 mm. The predicted variance was shown to be an efficient metric to control prediction errors, resulting in a more robust radiotherapy treatment. The hybrid algorithm HYB(RVM) could be translated to clinical practice. It does not require further parameters, can be completely parallelised and easily further extended.
Nonlinear model predictive control using parameter varying BP-ARX combination model
NASA Astrophysics Data System (ADS)
Yang, J.-F.; Xiao, L.-F.; Qian, J.-X.; Li, H.
2012-03-01
A novel back-propagation AutoRegressive with eXternal input (BP-ARX) combination model is constructed for model predictive control (MPC) of MIMO nonlinear systems, whose steady-state relation between inputs and outputs can be obtained. The BP neural network represents the steady-state relation, and the ARX model represents the linear dynamic relation between inputs and outputs of the nonlinear systems. The BP-ARX model is a global model and is identified offline, while the parameters of the ARX model are rescaled online according to BP neural network and operating data. Sequential quadratic programming is employed to solve the quadratic objective function online, and a shift coefficient is defined to constrain the effect time of the recursive least-squares algorithm. Thus, a parameter varying nonlinear MPC (PVNMPC) algorithm that responds quickly to large changes in system set-points and shows good dynamic performance when system outputs approach set-points is proposed. Simulation results in a multivariable stirred tank and a multivariable pH neutralisation process illustrate the applicability of the proposed method and comparisons of the control effect between PVNMPC and multivariable recursive generalised predictive controller are also performed.
Semiconductor CMP Process Control Predicting Degradation Effect of Consumed Materials
NASA Astrophysics Data System (ADS)
Tamaki, Kenji; Kaneko, Shun'ichi
This paper describes a methodology to build a virtual metrology (VM) model for semiconductor chemical mechanical polishing (CMP) process control. The VM model predicts the polishing rate based on equipment-derived data as soon as allowed, and immediately applies the results to advanced process control (APC). The proposed methodology uses Markov chain Monte Carlo (MCMC) methods to build an analytical model with many parameters for individual consumed materials from historical data in small quantities. The mutual interference of two kinds of consumed materials: dresser and pad are modeled in a form of multilevel predictive model. The methodology uses MCMC methods again to identify the multilevel predictive model taking into account the assumed operation of an actual manufacturing line, for instance, using preliminary test result, learning a model parameter online, and being affected by metrology lag as disturbance. The simulation results show the APC with the proposed VM model is low sensitivity to metrology lag and high precision on polishing amount control.
Optimized continuous pharmaceutical manufacturing via model-predictive control.
Rehrl, Jakob; Kruisz, Julia; Sacher, Stephan; Khinast, Johannes; Horn, Martin
2016-08-20
This paper demonstrates the application of model-predictive control to a feeding blending unit used in continuous pharmaceutical manufacturing. The goal of this contribution is, on the one hand, to highlight the advantages of the proposed concept compared to conventional PI-controllers, and, on the other hand, to present a step-by-step guide for controller synthesis. The derivation of the required mathematical plant model is given in detail and all the steps required to develop a model-predictive controller are shown. Compared to conventional concepts, the proposed approach allows to conveniently consider constraints (e.g. mass hold-up in the blender) and offers a straightforward, easy to tune controller setup. The concept is implemented in a simulation environment. In order to realize it on a real system, additional aspects (e.g., state estimation, measurement equipment) will have to be investigated.
Prediction and control of limit cycling motions in boosting rockets
NASA Astrophysics Data System (ADS)
Newman, Brett
An investigation concerning the prediction and control of observed limit cycling behavior in a boosting rocket is considered. The suspected source of the nonlinear behavior is the presence of Coulomb friction in the nozzle pivot mechanism. A classical sinusoidal describing function analysis is used to accurately recreate and predict the observed oscillatory characteristic. In so doing, insight is offered into the limit cycling mechanism and confidence is gained in the closed-loop system design. Nonlinear simulation results are further used to support and verify the results obtained from describing function theory. Insight into the limit cycling behavior is, in turn, used to adjust control system parameters in order to passively control the oscillatory tendencies. Tradeoffs with the guidance and control system stability/performance are also noted. Finally, active control of the limit cycling behavior, using a novel feedback algorithm to adjust the inherent nozzle sticking-unsticking characteristics, is considered.
NASA Astrophysics Data System (ADS)
Goretzki, Nora; Inbar, Nimrod; Siebert, Christian; Möller, Peter; Rosenthal, Eliyahu; Schneider, Michael; Magri, Fabien
2015-04-01
Salty and thermal springs exist along the lakeshore of the Sea of Galilee, which covers most of the Tiberias Basin (TB) in the northern Jordan- Dead Sea Transform, Israel/Jordan. As it is the only freshwater reservoir of the entire area, it is important to study the salinisation processes that pollute the lake. Simulations of thermohaline flow along a 35 km NW-SE profile show that meteoric and relic brines are flushed by the regional flow from the surrounding heights and thermally induced groundwater flow within the faults (Magri et al., 2015). Several model runs with trial and error were necessary to calibrate the hydraulic conductivity of both faults and major aquifers in order to fit temperature logs and spring salinity. It turned out that the hydraulic conductivity of the faults ranges between 30 and 140 m/yr whereas the hydraulic conductivity of the Upper Cenomanian aquifer is as high as 200 m/yr. However, large-scale transport processes are also dependent on other physical parameters such as thermal conductivity, porosity and fluid thermal expansion coefficient, which are hardly known. Here, inverse problems (IP) are solved along the NW-SE profile to better constrain the physical parameters (a) hydraulic conductivity, (b) thermal conductivity and (c) thermal expansion coefficient. The PEST code (Doherty, 2010) is applied via the graphical interface FePEST in FEFLOW (Diersch, 2014). The results show that both thermal and hydraulic conductivity are consistent with the values determined with the trial and error calibrations. Besides being an automatic approach that speeds up the calibration process, the IP allows to cover a wide range of parameter values, providing additional solutions not found with the trial and error method. Our study shows that geothermal systems like TB are more comprehensively understood when inverse models are applied to constrain coupled fluid flow processes over large spatial scales. References Diersch, H.-J.G., 2014. FEFLOW Finite
Model predictive torque control with an extended prediction horizon for electrical drive systems
NASA Astrophysics Data System (ADS)
Wang, Fengxiang; Zhang, Zhenbin; Kennel, Ralph; Rodríguez, José
2015-07-01
This paper presents a model predictive torque control method for electrical drive systems. A two-step prediction horizon is achieved by considering the reduction of the torque ripples. The electromagnetic torque and the stator flux error between predicted values and the references, and an over-current protection are considered in the cost function design. The best voltage vector is selected by minimising the value of the cost function, which aims to achieve a low torque ripple in two intervals. The study is carried out experimentally. The results show that the proposed method achieves good performance in both steady and transient states.
Self-Control Assessments and Implications for Predicting Adolescent Offending.
Fine, Adam; Steinberg, Laurence; Frick, Paul J; Cauffman, Elizabeth
2016-04-01
Although low self-control is consistently related to adolescent offending, it is unknown whether self-report measures or laboratory behavior tasks yield better predictive utility, or if a combination yields incremental predictive power. This is particularly important because developmental theory indicates that self-control is related to adolescent offending and, consequently, risk assessments rely on self-control measures. The present study (a) examines relationships between self-reported self-control on the Weinberger Adjustment Inventory with Go/No-Go response inhibition, and (b) compares the predictive utility of both assessment strategies for short- and long-term adolescent reoffending. It uses longitudinal data from the Crossroads Study of male, first-time adolescent offenders ages 13-17 (N = 930; 46 % Hispanic/Latino, 37 % Black/African-American, 15 % non-Hispanic White, 2 % other race). The results of the study indicate that the measures are largely unrelated, and that the self-report measure is a better indicator of both short- and long-term reoffending. The laboratory task measure does not add value to what is already predicted by the self-report measure. Implications for assessing self-control during adolescence and consequences of assessment strategy are discussed.
Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Eure, Kenneth W.
1998-01-01
Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.
Predicted torque equilibrium attitude utilization for Space Station attitude control
NASA Technical Reports Server (NTRS)
Kumar, Renjith R.; Heck, Michael L.; Robertson, Brent P.
1990-01-01
An approximate knowledge of the torque equilibrium attitude (TEA) is shown to improve the performance of a control moment gyroscope (CMG) momentum management/attitude control law for Space Station Freedom. The linearized equations of motion are used in conjunction with a state transformation to obtain a control law which uses full state feedback and the predicted TEA to minimize both attitude excursions and CMG peak and secular momentum. The TEA can be computationally determined either by observing the steady state attitude of a 'controlled' spacecraft using arbitrary initial attitude, or by simulating a fixed attitude spacecraft flying in desired orbit subject to realistic environmental disturbance models.
Nonlinear Model Predictive Control with Constraint Satisfactions for a Quadcopter
NASA Astrophysics Data System (ADS)
Wang, Ye; Ramirez-Jaime, Andres; Xu, Feng; Puig, Vicenç
2017-01-01
This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the effectiveness of the proposed strategy.
Casas, E.
1999-03-15
In this paper we are concerned with some optimal control problems governed by semilinear elliptic equations. The case of a boundary control is studied. We consider pointwise constraints on the control and a finite number of equality and inequality constraints on the state. The goal is to derive first- and second-order optimality conditions satisfied by locally optimal solutions of the problem.
Congestion Control for TCP/AQM Networks using State Predictive Control
NASA Astrophysics Data System (ADS)
Azuma, Takehito; Fujita, Tsunetoshi; Fujita, Masayuki
The purpose of this paper is to design congestion controllers for TCP/AQM networks using state predictive control and illustrate the effectiveness of designed congestion controllers via SIMULINK and the ns-2 simulator. Linearized models of TCP/AQM networks can be described as linear systems with an information delay simply. Using state predictive control, these linear systems with an information delay is equivalent to linear systems with no delays. Thus congestion controllers (AQM mechanisms) can be designed using the linear control theory. In this paper, LQ control with an observer is adopted for linear systems with no delays which describe linearized systems of TCP/AQM networks. Finally the designed state predictive controllers using LQ control with an observer is implemented and some simulation results are shown via SIMULINK and the ns-2 simulator.
Flow Control Predictions using URANS Modeling: A Parametric Study
NASA Technical Reports Server (NTRS)
Rumsey, Christopher L.; Greenblatt, David
2007-01-01
A computational study was performed for steady and oscillatory flow control over a hump model with flow separation to assess how well the steady and unsteady Reynolds-averaged Navier-Stokes equations predict trends due to Reynolds number, control magnitude, and control frequency. As demonstrated previously, the hump model case is useful because it clearly demonstrates a failing in all known turbulence models: they under-predict the turbulent shear stress in the separated region and consequently reattachment occurs too far downstream. In spite of this known failing, three different turbulence models were employed to determine if trends can be captured even though absolute levels are not. The three turbulence models behaved similarly. Overall they showed very similar trends as experiment for steady suction, but only agreed qualitatively with some of the trends for oscillatory control.
Neural Generalized Predictive Control: A Newton-Raphson Implementation
NASA Technical Reports Server (NTRS)
Soloway, Donald; Haley, Pamela J.
1997-01-01
An efficient implementation of Generalized Predictive Control using a multi-layer feedforward neural network as the plant's nonlinear model is presented. In using Newton-Raphson as the optimization algorithm, the number of iterations needed for convergence is significantly reduced from other techniques. The main cost of the Newton-Raphson algorithm is in the calculation of the Hessian, but even with this overhead the low iteration numbers make Newton-Raphson faster than other techniques and a viable algorithm for real-time control. This paper presents a detailed derivation of the Neural Generalized Predictive Control algorithm with Newton-Raphson as the minimization algorithm. Simulation results show convergence to a good solution within two iterations and timing data show that real-time control is possible. Comments about the algorithm's implementation are also included.
Fuzzy Predictive Control Strategy in the Application of the Industrial Furnace Temperature Control
NASA Astrophysics Data System (ADS)
Dai, Luping; Chen, Xingliang; Chen, Liu; Liu, Xia
Ceramic kiln with large heat capacity, big lag and nonlinear characteristic, this paper proposes a combining fuzzy control and predictive control of the control algorithm, to enhance the tracking and anti-interference ability of the algorithm. The simulation results show, this method compared with the control of PID has the high steady precision and dynamic characteristic.
Predicting worsening asthma control following the common cold
Walter, Michael J.; Castro, Mario; Kunselman, Susan J.; Chinchilli, Vernon M; Reno, Melissa; Ramkumar, Thiruvamoor P.; Avila, Pedro C.; Boushey, Homer A.; Ameredes, Bill T.; Bleecker, Eugene R.; Calhoun, William J.; Cherniack, Reuben M.; Craig, Timothy J.; Denlinger, Loren C.; Israel, Elliot; Fahy, John V.; Jarjour, Nizar N.; Kraft, Monica; Lazarus, Stephen C.; Lemanske, Robert F.; Martin, Richard J.; Peters, Stephen P.; Ramsdell, Joe W.; Sorkness, Christine A.; Rand Sutherland, E.; Szefler, Stanley J.; Wasserman, Stephen I.; Wechsler, Michael E.
2008-01-01
The asthmatic response to the common cold is highly variable and early characteristics that predict worsening of asthma control following a cold have not been identified. In this prospective multi-center cohort study of 413 adult subjects with asthma, we used the mini-Asthma Control Questionnaire (mini-ACQ) to quantify changes in asthma control and the Wisconsin Upper Respiratory Symptom Survey-21 (WURSS-21) to measure cold severity. Univariate and multivariable models examined demographic, physiologic, serologic, and cold-related characteristics for their relationship to changes in asthma control following a cold. We observed a clinically significant worsening of asthma control following a cold (increase in mini-ACQ of 0.69 ± 0.93). Univariate analysis demonstrated season, center location, cold length, and cold severity measurements all associated with a change in asthma control. Multivariable analysis of the covariates available within the first 2 days of cold onset revealed the day 2 and the cumulative sum of the day 1 and 2 WURSS-21 scores were significant predictors for the subsequent changes in asthma control. In asthmatic subjects the cold severity measured within the first 2 days can be used to predict subsequent changes in asthma control. This information may help clinicians prevent deterioration in asthma control following a cold. PMID:18768579
Design of an adaptive predictive controller for steam generators
NASA Astrophysics Data System (ADS)
Na, Man Gyun; Sim, Young Rok; Lee, Yoon Joon
2003-02-01
The water level control of a nuclear steam generator is very important to secure the sufficient cooling inventory for the nuclear reactor and, at the same time, to prevent the damage of turbine blades. The dynamics of steam generators is very different according to power levels and changes as time goes on. The generalized predictive control method is used to solve an optimization problem for the finite future time steps at current time and to implement only the first control input among the solved optimal control inputs of several time steps. A recursive parameter estimation algorithm estimates on-line the mathematical model of steam generator every time step to generate the linear controller design model. In this work, by combining these generalized predictive control method and recursive parameter estimation algorithm, a new controller is designed to control the water level of nuclear steam generators. It is shown through application to a linear model and a nonlinear model of steam generators that the proposed controller has good performance.
The predictive protective control of the heat exchanger
NASA Astrophysics Data System (ADS)
Nevriva, Pavel; Filipova, Blanka; Vilimec, Ladislav
2016-06-01
The paper deals with the predictive control applied to flexible cogeneration energy system FES. FES was designed and developed by the VITKOVICE POWER ENGINEERING joint-stock company and represents a new solution of decentralized cogeneration energy sources. In FES, the heating medium is flue gas generated by combustion of a solid fuel. The heated medium is power gas, which is a gas mixture of air and water steam. Power gas is superheated in the main heat exchanger and led to gas turbines. To protect the main heat exchanger against damage by overheating, the novel predictive protective control based on the mathematical model of exchanger was developed. The paper describes the principle, the design and the simulation of the predictive protective method applied to main heat exchanger of FES.
Approach, Avoidance, and Inhibition: Personality Traits Predict Cognitive Control Abilities
Prabhakaran, Ranjani; Kraemer, David J.M.; Thompson-Schill, Sharon L.
2011-01-01
The extent to which approach and avoidance personality trait sensitivities are associated with specific cognitive control abilities as well as with verbal and nonverbal domains remains unclear. In the current study, we investigated whether approach and avoidance trait sensitivities predict performance on verbal and nonverbal versions of the Stroop task, which taps the specific cognitive control ability of inhibiting task-irrelevant information. The findings from the current study indicate that whereas approach (specifically, Extraversion) sensitivity was predictive of verbal Stroop performance, avoidance (specifically, Behavioral Inhibition System) sensitivity was predictive of nonverbal Stroop performance. These results provide novel evidence suggestive of the integration of motivational personality traits and the ability to inhibit task-irrelevant information in a domain-specific fashion. PMID:21765574
Prediction of active control of subsonic centrifugal compressor rotating stall
NASA Technical Reports Server (NTRS)
Lawless, Patrick B.; Fleeter, Sanford
1993-01-01
A mathematical model is developed to predict the suppression of rotating stall in a centrifugal compressor with a vaned diffuser. This model is based on the employment of a control vortical waveform generated upstream of the impeller inlet to damp weak potential disturbances that are the early stages of rotating stall. The control system is analyzed by matching the perturbation pressure in the compressor inlet and exit flow fields with a model for the unsteady behavior of the compressor. The model was effective at predicting the stalling behavior of the Purdue Low Speed Centrifugal Compressor for two distinctly different stall patterns. Predictions made for the effect of a controlled inlet vorticity wave on the stability of the compressor show that for minimum control wave magnitudes, on the order of the total inlet disturbance magnitude, significant damping of the instability can be achieved. For control waves of sufficient amplitude, the control phase angle appears to be the most important factor in maintaining a stable condition in the compressor.
When Predictions Take Control: The Effect of Task Predictions on Task Switching Performance
Duthoo, Wout; De Baene, Wouter; Wühr, Peter; Notebaert, Wim
2012-01-01
In this paper, we aimed to investigate the role of self-generated predictions in the flexible control of behavior. Therefore, we ran a task switching experiment in which participants were asked to try to predict the upcoming task in three conditions varying in switch rate (30, 50, and 70%). Irrespective of their predictions, the color of the target indicated which task participants had to perform. In line with previous studies (Mayr, 2006; Monsell and Mizon, 2006), the switch cost was attenuated as the switch rate increased. Importantly, a clear task repetition bias was found in all conditions, yet the task repetition prediction rate dropped from 78 over 66 to 49% with increasing switch probability in the three conditions. Irrespective of condition, the switch cost was strongly reduced in expectation of a task alternation compared to the cost of an unexpected task alternation following repetition predictions. Hence, our data suggest that the reduction in the switch cost with increasing switch probability is caused by a diminished expectancy for the task to repeat. Taken together, this paper highlights the importance of predictions in the flexible control of behavior, and suggests a crucial role for task repetition expectancy in the context-sensitive adjusting of task switching performance. PMID:22891063
Predicting asthma control: the role of psychological triggers.
Ritz, Thomas; Bobb, Carol; Griffiths, Chris
2014-01-01
Asthma triggers have been linked to adverse health outcomes in asthma, but little is known about their association with asthma control. Because trigger avoidance is an integral part of successful asthma management, psychological triggers in particular may be associated with suboptimal asthma control, given the difficulty of controlling them. We examined cross-sectional and longitudinal associations of perceived asthma triggers with self-report of asthma control impairment, symptoms, and spirometric lung function (forced expiratory volume in the 1st second, [FEV1]) in 179 adult primary care asthma patients. Perceived asthma triggers explained up to 42.5% of the variance in asthma control and symptoms, but not in FEV1 alone. Allergic triggers explained up to 12.1% of the asthma control and symptom variance, three nonallergic trigger types, air pollution/irritants, physical activity, and infection, explained up to 26.2% over and above allergic triggers, and psychological triggers up to 9.5% over and above all other triggers. Psychological triggers alone explained up to 33.9% of the variance and were the only trigger class that was consistently significant in all final multiple regression models predicting control and symptoms. Psychological triggers also predicted lower asthma control 3-6 months later, although controlling for initial asthma control eliminated this association. In free reports of individually relevant triggers, only psychological triggers were associated with suboptimal asthma control. Trigger factors are important predictors of self-reported asthma control and symptoms but not actual lung function. Particular attention should be directed to psychological triggers as indicators of patients' perceptions of suboptimal asthma control.
Adaptive model predictive process control using neural networks
Buescher, K.L.; Baum, C.C.; Jones, R.D.
1997-08-19
A control system for controlling the output of at least one plant process output parameter is implemented by adaptive model predictive control using a neural network. An improved method and apparatus provides for sampling plant output and control input at a first sampling rate to provide control inputs at the fast rate. The MPC system is, however, provided with a network state vector that is constructed at a second, slower rate so that the input control values used by the MPC system are averaged over a gapped time period. Another improvement is a provision for on-line training that may include difference training, curvature training, and basis center adjustment to maintain the weights and basis centers of the neural in an updated state that can follow changes in the plant operation apart from initial off-line training data. 46 figs.
Adaptive model predictive process control using neural networks
Buescher, Kevin L.; Baum, Christopher C.; Jones, Roger D.
1997-01-01
A control system for controlling the output of at least one plant process output parameter is implemented by adaptive model predictive control using a neural network. An improved method and apparatus provides for sampling plant output and control input at a first sampling rate to provide control inputs at the fast rate. The MPC system is, however, provided with a network state vector that is constructed at a second, slower rate so that the input control values used by the MPC system are averaged over a gapped time period. Another improvement is a provision for on-line training that may include difference training, curvature training, and basis center adjustment to maintain the weights and basis centers of the neural in an updated state that can follow changes in the plant operation apart from initial off-line training data.
Composite predictive flight control for airbreathing hypersonic vehicles
NASA Astrophysics Data System (ADS)
Yang, Jun; Zhao, Zhenhua; Li, Shihua; Zheng, Wei Xing
2014-09-01
The robust optimised tracking control problem for a generic airbreathing hypersonic vehicle (AHV) subject to nonvanishing mismatched disturbances/uncertainties is investigated in this paper. A baseline nonlinear model predictive control (MPC) method is firstly introduced for optimised tracking control of the nominal dynamics. A nonlinear-disturbance-observer-based control law is then developed for robustness enhancement in the presence of both external disturbances and uncertainties. Compared with the existing robust tracking control methods for AHVs, the proposed composite nonlinear MPC method obtains not only promising robustness and disturbance rejection performance but also optimised nominal tracking control performance. The merits of the proposed method are validated by implementing simulation studies on the AHV system.
Eggert, Thomas
2017-01-01
Abstract The smooth pursuit eye movement system incorporates various control features enabling adaptation to specific tracking situations. In this work, we analyzed the interplay between two of these mechanisms: gain control and predictive pursuit. We tested human responses to high-frequency perturbations during step-ramp pursuit, as well as the pursuit of a periodically moving target. For the latter task, we found a nonlinear interaction between perturbation response and carrier acceleration. Responses to perturbations where the initial perturbation acceleration was contradirectional to carrier acceleration increased with carrier velocity, in a manner similar to that observed during step-ramp pursuit. In contrast, responses to perturbations with ipsidirectional initial perturbation and carrier acceleration were large for all carrier velocities. Modeling the pursuit system suggests that gain control and short-term prediction are separable elements. The observed effect may be explained by combining the standard gain control mechanism with a derivative-based short-term predictive mechanism. The nonlinear interaction between perturbation and carrier acceleration can be reproduced by assuming a signal saturation, which is acting on the derivative of the target velocity signal. Our results therefore argue for the existence of an internal estimate of target acceleration as a basis for a simple yet efficient short-term predictive mechanism. PMID:28560317
Predictive control of crystal size distribution in protein crystallization.
Shi, Dan; Mhaskar, Prashant; El-Farra, Nael H; Christofides, Panagiotis D
2005-07-01
This work focuses on the modelling, simulation and control of a batch protein crystallization process that is used to produce the crystals of tetragonal hen egg-white (HEW) lysozyme. First, a model is presented that describes the formation of protein crystals via nucleation and growth. Existing experimental data are used to develop empirical models of the nucleation and growth mechanisms of the tetragonal HEW lysozyme crystal. The developed growth and nucleation rate expressions are used within a population balance model to simulate the batch crystallization process. Then, model reduction techniques are used to derive a reduced-order moments model for the purpose of controller design. Online measurements of the solute concentration and reactor temperature are assumed to be available, and a Luenberger-type observer is used to estimate the moments of the crystal size distribution based on the available measurements. A predictive controller, which uses the available state estimates, is designed to achieve the objective of maximizing the volume-averaged crystal size while respecting constraints on the manipulated input variables (which reflect physical limitations of control actuators) and on the process state variables (which reflect performance considerations). Simulation results demonstrate that the proposed predictive controller is able to increase the volume-averaged crystal size by 30% and 8.5% compared to constant temperature control (CTC) and constant supersaturation control (CSC) strategies, respectively, while reducing the number of fine crystals produced. Furthermore, a comparison of the crystal size distributions (CSDs) indicates that the product achieved by the proposed predictive control strategy has larger total volume and lower polydispersity compared to the CTC and CSC strategies. Finally, the robustness of the proposed method (achieved due to the presence of feedback) with respect to plant-model mismatch is demonstrated. The proposed method is
Effects of modeling errors on trajectory predictions in air traffic control automation
NASA Technical Reports Server (NTRS)
Jackson, Michael R. C.; Zhao, Yiyuan; Slattery, Rhonda
1996-01-01
Air traffic control automation synthesizes aircraft trajectories for the generation of advisories. Trajectory computation employs models of aircraft performances and weather conditions. In contrast, actual trajectories are flown in real aircraft under actual conditions. Since synthetic trajectories are used in landing scheduling and conflict probing, it is very important to understand the differences between computed trajectories and actual trajectories. This paper examines the effects of aircraft modeling errors on the accuracy of trajectory predictions in air traffic control automation. Three-dimensional point-mass aircraft equations of motion are assumed to be able to generate actual aircraft flight paths. Modeling errors are described as uncertain parameters or uncertain input functions. Pilot or autopilot feedback actions are expressed as equality constraints to satisfy control objectives. A typical trajectory is defined by a series of flight segments with different control objectives for each flight segment and conditions that define segment transitions. A constrained linearization approach is used to analyze trajectory differences caused by various modeling errors by developing a linear time varying system that describes the trajectory errors, with expressions to transfer the trajectory errors across moving segment transitions. A numerical example is presented for a complete commercial aircraft descent trajectory consisting of several flight segments.
Implementation of model predictive control on a hydrothermal oxidation reactor
Muske, K.R.; Dell`Orco, P.C.; Le, L.A.; Flesner, R.L.
1998-12-31
This paper describes the model-based control algorithm developed for a hydrothermal oxidation reactor at the Pantex Department of Energy facility in Amarillo, Texas. The combination of base hydrolysis and hydrothermal oxidation is used for the disposal of PBX 9404 high explosive at Pantex. The reactor oxidizes the organic compounds in the hydrolysate solutions obtained from the base hydrolysis process. The objective of the model predictive controller is to minimize the total aqueous nitrogen compounds in the effluent of the reactor. The controller also maintains a desired excess oxygen concentration in the reactor effluent to ensure the complete destruction of the organic carbon compounds in the hydrolysate.
Motivation to control prejudice predicts categorization of multiracials.
Chen, Jacqueline M; Moons, Wesley G; Gaither, Sarah E; Hamilton, David L; Sherman, Jeffrey W
2014-05-01
Multiracial individuals often do not easily fit into existing racial categories. Perceivers may adopt a novel racial category to categorize multiracial targets, but their willingness to do so may depend on their motivations. We investigated whether perceivers' levels of internal motivation to control prejudice (IMS) and external motivation to control prejudice (EMS) predicted their likelihood of categorizing Black-White multiracial faces as Multiracial. Across four studies, IMS positively predicted perceivers' categorizations of multiracial faces as Multiracial. The association between IMS and Multiracial categorizations was strongest when faces were most racially ambiguous. Explicit prejudice, implicit prejudice, and interracial contact were ruled out as explanations for the relationship between IMS and Multiracial categorizations. EMS may be negatively associated with the use of the Multiracial category. Therefore, perceivers' motivations to control prejudice have important implications for racial categorization processes.
Matsuno, Fumitoshi . Dept. of Computer and Systems Engineering); Asano, Toshio; Sakawa, Yoshiyuki . Dept. of Systems Engineering)
1994-06-01
In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. The authors derive dynamic equations of joint angles, vibrations of flexible links, and contact force by means of Hamilton's principle. On the basis of some assumptions the authors derive the quasi-static equations and design the hybrid position/force controller of the flexible manipulator. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown.
Cognitive demand and predictive adaptational responses in dynamic stability control.
Bohm, Sebastian; Mersmann, Falk; Bierbaum, Stefanie; Dietrich, Ralf; Arampatzis, Adamantios
2012-09-21
We studied the effects of a concurrent cognitive task on predictive motor control, a feedforward mechanism of dynamic stability control, during disturbed gait in young and old adults. Thirty-two young and 27 elderly male healthy subjects participated and were randomly assigned to either control or dual task groups. By means of a covered exchangeable element the surface condition on a gangway could be altered to induce gait perturbations. The experimental protocol included a baseline on hard surface and an adaptation phase with twelve trials on soft surface. After the first, sixth and last soft surface trial, the surface condition was changed to hard (H1-3), to examine after-effects and, thus, to quantify predictive motor control. Dynamic stability was assessed using the 'margin of stability (MoS)' as a criterion for the stability state of the human body (extrapolated center of mass concept). In H1-3 the young participants significantly increased the MoS at touchdown of the disturbed leg compared to baseline. The magnitude and the rate of these after-effects were unaffected by the dual task condition. The old participants presented a trend to after-effects (i.e., increase of MoS) in H3 but only under the dual task condition.In conclusion, the additional cognitive demand did not compromise predictive motor control during disturbed walking in the young and old participants. In contrast to the control group, the old dual task group featured a trend to predictive motor adjustments, which may be a result of a higher state of attention or arousal due to the dual task paradigm.
Nonlinear Dynamic Inversion Baseline Control Law: Architecture and Performance Predictions
NASA Technical Reports Server (NTRS)
Miller, Christopher J.
2011-01-01
A model reference dynamic inversion control law has been developed to provide a baseline control law for research into adaptive elements and other advanced flight control law components. This controller has been implemented and tested in a hardware-in-the-loop simulation; the simulation results show excellent handling qualities throughout the limited flight envelope. A simple angular momentum formulation was chosen because it can be included in the stability proofs for many basic adaptive theories, such as model reference adaptive control. Many design choices and implementation details reflect the requirements placed on the system by the nonlinear flight environment and the desire to keep the system as basic as possible to simplify the addition of the adaptive elements. Those design choices are explained, along with their predicted impact on the handling qualities.
Model predictive control of room temperature with disturbance compensation
NASA Astrophysics Data System (ADS)
Kurilla, Jozef; Hubinský, Peter
2017-08-01
This paper deals with temperature control of multivariable system of office building. The system is simplified to several single input-single output systems by decoupling their mutual linkages, which are separately controlled by regulator based on generalized model predictive control. Main part of this paper focuses on the accuracy of the office temperature with respect to occupancy profile and effect of disturbance. Shifting of desired temperature and changing of weighting coefficients are used to achieve the desired accuracy of regulation. The final structure of regulation joins advantages of distributed computing power and possibility to use network communication between individual controllers to consider the constraints. The advantage of using decoupled MPC controllers compared to conventional PID regulators is demonstrated in a simulation study.
Low trait self-control predicts self-handicapping.
Uysal, Ahmet; Knee, C Raymond
2012-02-01
Past research has shown that self-handicapping stems from uncertainty about one's ability and self-presentational concerns. The present studies suggest that low dispositional self-control is also associated with self-handicapping. In 3 studies (N = 289), the association between self-control and self-handicapping was tested. Self-control was operationalized as trait self-control, whereas self-handicapping was operationalized as trait self-handicapping in Study 1 (N = 160), self-reported self-handicapping in Study 2 (N = 74), and behavioral self-handicapping in Study 3 (N = 55). In all 3 studies, hierarchical regression analyses revealed that low self-control predicts self-handicapping, independent of self-esteem, self-doubt, social desirability, and gender. © 2012 The Authors. Journal of Personality © 2012, Wiley Periodicals, Inc.
Health-aware Model Predictive Control of Pasteurization Plant
NASA Astrophysics Data System (ADS)
Karimi Pour, Fatemeh; Puig, Vicenç; Ocampo-Martinez, Carlos
2017-01-01
In order to optimize the trade-off between components life and energy consumption, the integration of a system health management and control modules is required. This paper proposes the integration of model predictive control (MPC) with a fatigue estimation approach that minimizes the damage of the components of a pasteurization plant. The fatigue estimation is assessed with the rainflow counting algorithm. Using data from this algorithm, a simplified model that characterizes the health of the system is developed and integrated with MPC. The MPC controller objective is modified by adding an extra criterion that takes into account the accumulated damage. But, a steady-state offset is created by adding this extra criterion. Finally, by including an integral action in the MPC controller, the steady-state error for regulation purpose is eliminated. The proposed control scheme is validated in simulation using a simulator of a utility-scale pasteurization plant.
Liu, Xudong; Zhang, Chenghui; Li, Ke; Zhang, Qi
2017-09-06
This paper addresses the current control of permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and disturbances. A generalized predictive current control method combined with sliding mode disturbance compensation is proposed to satisfy the requirement of fast response and strong robustness. Firstly, according to the generalized predictive control (GPC) theory based on the continuous time model, a predictive current control method is presented without considering the disturbance, which is convenient to be realized in the digital controller. In fact, it's difficult to derive the exact motor model and parameters in the practical system. Thus, a sliding mode disturbance compensation controller is studied to improve the adaptiveness and robustness of the control system. The designed controller attempts to combine the merits of both predictive control and sliding mode control, meanwhile, the controller parameters are easy to be adjusted. Lastly, the proposed controller is tested on an interior PMSM by simulation and experiment, and the results indicate that it has good performance in both current tracking and disturbance rejection. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Ik Han, Seong; Lee, Jangmyung
2016-11-01
This paper presents finite-time sliding mode control (FSMC) with predefined constraints for the tracking error and sliding surface in order to obtain robust positioning of a robot manipulator with input nonlinearity due to an unknown deadzone and external disturbance. An assumed model feedforward FSMC was designed to avoid tedious identification procedures for the manipulator parameters and to obtain a fast response time. Two constraint switching control functions based on the tracking error and finite-time sliding surface were added to the FSMC to guarantee the predefined tracking performance despite the presence of an unknown deadzone and disturbance. The tracking error due to the deadzone and disturbance can be suppressed within the predefined error boundary simply by tuning the gain value of the constraint switching function and without the addition of an extra compensator. Therefore, the designed constraint controller has a simpler structure than conventional transformed error constraint methods and the sliding surface constraint scheme can also indirectly guarantee the tracking error constraint while being more stable than the tracking error constraint control. A simulation and experiment were performed on an articulated robot manipulator to validate the proposed control schemes.
Varney, Michael C M; Jenness, Nathan J; Smalyukh, Ivan I
2014-02-01
Despite the recent progress in physical control and manipulation of various condensed matter, atomic, and particle systems, including individual atoms and photons, our ability to control topological defects remains limited. Recently, controlled generation, spatial translation, and stretching of topological point and line defects have been achieved using laser tweezers and liquid crystals as model defect-hosting systems. However, many modes of manipulation remain hindered by limitations inherent to optical trapping. To overcome some of these limitations, we integrate holographic optical tweezers with a magnetic manipulation system, which enables fully holonomic manipulation of defects by means of optically and magnetically controllable colloids used as "handles" to transfer forces and torques to various liquid crystal defects. These colloidal handles are magnetically rotated around determined axes and are optically translated along three-dimensional pathways while mechanically attached to defects, which, combined with inducing spatially localized nematic-isotropic phase transitions, allow for geometrically unrestricted control of defects, including previously unrealized modes of noncontact manipulation, such as the twisting of disclination clusters. These manipulation capabilities may allow for probing topological constraints and the nature of defects in unprecedented ways, providing the foundation for a tabletop laboratory to expand our understanding of the role defects play in fields ranging from subatomic particle physics to early-universe cosmology.
NASA Astrophysics Data System (ADS)
Bu, Xiangwei; Wu, Xiaoyan; He, Guangjun; Huang, Jiaqi
2016-03-01
This paper investigates the design of a novel adaptive neural controller for the longitudinal dynamics of a flexible air-breathing hypersonic vehicle with control input constraints. To reduce the complexity of controller design, the vehicle dynamics is decomposed into the velocity subsystem and the altitude subsystem, respectively. For each subsystem, only one neural network is utilized to approach the lumped unknown function. By employing a minimal-learning parameter method to estimate the norm of ideal weight vectors rather than their elements, there are only two adaptive parameters required for neural approximation. Thus, the computational burden is lower than the ones derived from neural back-stepping schemes. Specially, to deal with the control input constraints, additional systems are exploited to compensate the actuators. Lyapunov synthesis proves that all the closed-loop signals involved are uniformly ultimately bounded. Finally, simulation results show that the adopted compensation scheme can tackle actuator constraint effectively and moreover velocity and altitude can stably track their reference trajectories even when the physical limitations on control inputs are in effect.
Liu, Xiaodong; Huang, Wanwei; Du, Lifu
2017-01-01
A new robust three-dimensional integrated guidance and control (3D-IGC) approach is investigated for sliding-to-turn (STT) hypersonic missile, which encounters high uncertainties and strict impact angle constraints. First, a nonlinear state-space model with more generality is established facing to the design of 3D-IGC law. With regard to the as-built nonlinear system, a robust dynamic inversion control (RDIC) approach is proposed to overcome the robustness deficiency of traditional DIC, and then it is applied to construct the basic 3D-IGC law combining with backstepping method. In order to avoid the problems of "explosion of terms" and high-frequency chattering, an improved 3D-IGC law is further proposed by introducing dynamic surface control and continuous approximation approaches. From the computer simulation on a hypersonic missile, the proposed 3D-IGC law not only guarantees the stable flight, but also presents the precise control on terminal locations and impact angles. Moreover, it possesses smooth control output and strong robustness. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Tuning Proportional-Integral controllers to approximate simplified predictive control performance.
Mansour, S E
2009-10-01
An exact equivalence between PI (Proportional-Integral) and two-parameter SPC (Simplified Predictive Control) is developed to provide identical control of first order linear plants. A relationship between the PI control parameters and the SPC control parameters is described. This relationship that allows the same control in the case of first order linear plants is also found to provide tuning formulas that yield PI control which approximates SPC performance in the case of second order linear plants with widely separated Eigenvalues. Finally, an extension of the PI control algorithm to include future errors provides another exact PI-SPC equivalence for networked control of first order plants.
Decentralized robust nonlinear model predictive controller for unmanned aerial systems
NASA Astrophysics Data System (ADS)
Garcia Garreton, Gonzalo A.
The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1. A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2. A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3. An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4. A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible.
NASA Astrophysics Data System (ADS)
Mendoza, Marco; Zavala-Río, Arturo; Santibáñez, Víctor; Reyes, Fernando
2015-10-01
In this paper, a globally stabilising PID-type control scheme with a generalised saturating structure for robot manipulators under input constraints is proposed. It gives rise to various families of bounded PID-type controllers whose implementation is released from the exact knowledge of the system parameters and model structure. Compared to previous approaches of the kind, the proposed scheme is not only characterised by its generalised structure but also by its very simple tuning criterion, the simplest hitherto obtained in the considered analytical framework. Experimental results on a 3-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed approach.
Model Predictive Control of Integrated Gasification Combined Cycle Power Plants
B. Wayne Bequette; Priyadarshi Mahapatra
2010-08-31
The primary project objectives were to understand how the process design of an integrated gasification combined cycle (IGCC) power plant affects the dynamic operability and controllability of the process. Steady-state and dynamic simulation models were developed to predict the process behavior during typical transients that occur in plant operation. Advanced control strategies were developed to improve the ability of the process to follow changes in the power load demand, and to improve performance during transitions between power levels. Another objective of the proposed work was to educate graduate and undergraduate students in the application of process systems and control to coal technology. Educational materials were developed for use in engineering courses to further broaden this exposure to many students. ASPENTECH software was used to perform steady-state and dynamic simulations of an IGCC power plant. Linear systems analysis techniques were used to assess the steady-state and dynamic operability of the power plant under various plant operating conditions. Model predictive control (MPC) strategies were developed to improve the dynamic operation of the power plants. MATLAB and SIMULINK software were used for systems analysis and control system design, and the SIMULINK functionality in ASPEN DYNAMICS was used to test the control strategies on the simulated process. Project funds were used to support a Ph.D. student to receive education and training in coal technology and the application of modeling and simulation techniques.
A nonlinear regression model-based predictive control algorithm.
Dubay, R; Abu-Ayyad, M; Hernandez, J M
2009-04-01
This paper presents a unique approach for designing a nonlinear regression model-based predictive controller (NRPC) for single-input-single-output (SISO) and multi-input-multi-output (MIMO) processes that are common in industrial applications. The innovation of this strategy is that the controller structure allows nonlinear open-loop modeling to be conducted while closed-loop control is executed every sampling instant. Consequently, the system matrix is regenerated every sampling instant using a continuous function providing a more accurate prediction of the plant. Computer simulations are carried out on nonlinear plants, demonstrating that the new approach is easily implemented and provides tight control. Also, the proposed algorithm is implemented on two real time SISO applications; a DC motor, a plastic injection molding machine and a nonlinear MIMO thermal system comprising three temperature zones to be controlled with interacting effects. The experimental closed-loop responses of the proposed algorithm were compared to a multi-model dynamic matrix controller (MPC) with improved results for various set point trajectories. Good disturbance rejection was attained, resulting in improved tracking of multi-set point profiles in comparison to multi-model MPC.
Predictive onboard flow control for packet switching satellites
NASA Technical Reports Server (NTRS)
Bobinsky, Eric A.
1992-01-01
We outline two alternate approaches to predicting the onset of congestion in a packet switching satellite, and argue that predictive, rather than reactive, flow control is necessary for the efficient operation of such a system. The first method discussed is based on standard, statistical techniques which are used to periodically calculate a probability of near-term congestion based on arrival rate statistics. If this probability exceeds a present threshold, the satellite would transmit a rate-reduction signal to all active ground stations. The second method discussed would utilize a neural network to periodically predict the occurrence of buffer overflow based on input data which would include, in addition to arrival rates, the distributions of packet lengths, source addresses, and destination addresses.
Predictive onboard flow control in packet switching satellites
NASA Technical Reports Server (NTRS)
Bobinsky, E. A.
1992-01-01
We outline two alternate approaches to predicting the onset of congestion in a packet switching satellite, and argue that predictive, rather than reactive, flow control is necessary for the efficient operation of such a system. The first method discussed is based on standard, statistical techniques which are used to periodically calculate a probability of near-term congestion based on arrival rate statistics. If this probability exceeds a present threshold, the satellite would transmit a rate-reduction signal to all active ground stations. The second method discussed would utilize a neural network to periodically predict the occurrence of buffer overflow based on input data which would include, in addition to arrival rates, the distributions of packet lengths, source addresses, and destination addresses.
NASA Technical Reports Server (NTRS)
Arneson, Heather M.; Dousse, Nicholas; Langbort, Cedric
2014-01-01
We consider control design for positive compartmental systems in which each compartment's outflow rate is described by a concave function of the amount of material in the compartment.We address the problem of determining the routing of material between compartments to satisfy time-varying state constraints while ensuring that material reaches its intended destination over a finite time horizon. We give sufficient conditions for the existence of a time-varying state-dependent routing strategy which ensures that the closed-loop system satisfies basic network properties of positivity, conservation and interconnection while ensuring that capacity constraints are satisfied, when possible, or adjusted if a solution cannot be found. These conditions are formulated as a linear programming problem. Instances of this linear programming problem can be solved iteratively to generate a solution to the finite horizon routing problem. Results are given for the application of this control design method to an example problem. Key words: linear programming; control of networks; positive systems; controller constraints and structure.
ERIC Educational Resources Information Center
Veldkamp, Bernard P.; van der Linden, Wim J.
2008-01-01
In most operational computerized adaptive testing (CAT) programs, the Sympson-Hetter (SH) method is used to control the exposure of the items. Several modifications and improvements of the original method have been proposed. The Stocking and Lewis (1998) version of the method uses a multinomial experiment to select items. For severely constrained…
Model predictive control of a wind turbine modelled in Simpack
NASA Astrophysics Data System (ADS)
Jassmann, U.; Berroth, J.; Matzke, D.; Schelenz, R.; Reiter, M.; Jacobs, G.; Abel, D.
2014-06-01
Wind turbines (WT) are steadily growing in size to increase their power production, which also causes increasing loads acting on the turbine's components. At the same time large structures, such as the blades and the tower get more flexible. To minimize this impact, the classical control loops for keeping the power production in an optimum state are more and more extended by load alleviation strategies. These additional control loops can be unified by a multiple-input multiple-output (MIMO) controller to achieve better balancing of tuning parameters. An example for MIMO control, which has been paid more attention to recently by wind industry, is Model Predictive Control (MPC). In a MPC framework a simplified model of the WT is used to predict its controlled outputs. Based on a user-defined cost function an online optimization calculates the optimal control sequence. Thereby MPC can intrinsically incorporate constraints e.g. of actuators. Turbine models used for calculation within the MPC are typically simplified. For testing and verification usually multi body simulations, such as FAST, BLADED or FLEX5 are used to model system dynamics, but they are still limited in the number of degrees of freedom (DOF). Detailed information about load distribution (e.g. inside the gearbox) cannot be provided by such models. In this paper a Model Predictive Controller is presented and tested in a co-simulation with SlMPACK, a multi body system (MBS) simulation framework used for detailed load analysis. The analysis are performed on the basis of the IME6.0 MBS WT model, described in this paper. It is based on the rotor of the NREL 5MW WT and consists of a detailed representation of the drive train. This takes into account a flexible main shaft and its main bearings with a planetary gearbox, where all components are modelled flexible, as well as a supporting flexible main frame. The wind loads are simulated using the NREL AERODYN v13 code which has been implemented as a routine to
Constraining the Littlest Higgs
Petriello, Frank J
2002-11-18
Little Higgs models offer a new way to address the hierarchy problem, and give rise to a weakly-coupled Higgs sector. These theories predict the existence of new states which are necessary to cancel the quadratic divergences of the Standard Model. The simplest version of these models, the Littlest Higgs, is based on an SU(5)/SO(5) non-linear sigma model and predicts that four new gauge bosons, a weak isosinglet quark, t{prime}, with Q=2/3, as well as an isotriplet scalar field exist at the TeV scale. We consider the contributions of these new states to precision electroweak observables, and examine their production at the Tevatron. We thoroughly explore the parameter space of this model and find that small regions are allowed by the precision data where the model parameters take on their natural values. These regions are, however, excluded by the Tevatron data. Combined, the direct and indirect effects of these new states constrain the ''decay constant'' f {approx}> 3.5 TeV and m{sub t{prime}} {approx}> 10 TeV. These bounds imply that significant fine-tuning be present in order for this model to resolve the hierarchy problem.
Application of infinite model predictive control methodology to other advanced controllers.
Abu-Ayyad, M; Dubay, R; Hernandez, J M
2009-01-01
This paper presents an application of most recent developed predictive control algorithm an infinite model predictive control (IMPC) to other advanced control schemes. The IMPC strategy was derived for systems with different degrees of nonlinearity on the process gain and time constant. Also, it was shown that IMPC structure uses nonlinear open-loop modeling which is conducted while closed-loop control is executed every sampling instant. The main objective of this work is to demonstrate that the methodology of IMPC can be applied to other advanced control strategies making the methodology generic. The IMPC strategy was implemented on several advanced controllers such as PI controller using Smith-Predictor, Dahlin controller, simplified predictive control (SPC), dynamic matrix control (DMC), and shifted dynamic matrix (m-DMC). Experimental work using these approaches combined with IMPC was conducted on both single-input-single-output (SISO) and multi-input-multi-output (MIMO) systems and compared with the original forms of these advanced controllers. Computer simulations were performed on nonlinear plants demonstrating that the IMPC strategy can be readily implemented on other advanced control schemes providing improved control performance. Practical work included real-time control applications on a DC motor, plastic injection molding machine and a MIMO three zone thermal system.
Distributed predictive control of spiral wave in cardiac excitable media
NASA Astrophysics Data System (ADS)
Gan, Zheng-Ning; Cheng, Xin-Ming
2010-05-01
In this paper, we propose the distributed predictive control strategies of spiral wave in cardiac excitable media. The modified FitzHugh-Nagumo model was used to express the cardiac excitable media approximately. Based on the control-Lyapunov theory, we obtained the distributed control equation, which consists of a positive control-Lyapunov function and a positive cost function. Using the equation, we investigate two kinds of robust control strategies: the time-dependent distributed control strategy and the space-time dependent distributed control strategy. The feasibility of the strategies was demonstrated via an illustrative example, in which the spiral wave was prevented to occur, and the possibility for inducing ventricular fibrillation was eliminated. The strategies are helpful in designing various cardiac devices. Since the second strategy is more efficient and robust than the first one, and the response time in the second strategy is far less than that in the first one, the former is suitable for the quick-response control systems. In addition, our spatiotemporal control strategies, especially the second strategy, can be applied to other cardiac models, even to other reaction-diffusion systems.
Flutter prediction for a wing with active aileron control
NASA Technical Reports Server (NTRS)
Penning, K.; Sandlin, D. R.
1983-01-01
A method for predicting the vibrational stability of an aircraft with an analog active aileron flutter suppression system (FSS) is expained. Active aileron refers to the use of an active control system connected to the aileron to damp vibrations. Wing vibrations are sensed by accelerometers and the information is used to deflect the aileron. Aerodynamic force caused by the aileron deflection oppose wing vibrations and effectively add additional damping to the system.
Model predictive control for tracking randomly varying references
NASA Astrophysics Data System (ADS)
Falugi, Paola
2015-04-01
This paper proposes a model predictive control scheme for tracking a-priori unknown references varying in a wide range and analyses its performance. It is usual to assume that the reference eventually converges to a constant in which case convergence to zero of the tracking error can be established. In this note we remove this simplifying assumption and characterise the set to which the tracking error converges and the associated region of convergence.
Prediction and control of chaotic processes using nonlinear adaptive networks
Jones, R.D.; Barnes, C.W.; Flake, G.W.; Lee, K.; Lewis, P.S.; O'Rouke, M.K.; Qian, S.
1990-01-01
We present the theory of nonlinear adaptive networks and discuss a few applications. In particular, we review the theory of feedforward backpropagation networks. We then present the theory of the Connectionist Normalized Linear Spline network in both its feedforward and iterated modes. Also, we briefly discuss the theory of stochastic cellular automata. We then discuss applications to chaotic time series, tidal prediction in Venice lagoon, finite differencing, sonar transient detection, control of nonlinear processes, control of a negative ion source, balancing a double inverted pendulum and design advice for free electron lasers and laser fusion targets.
Experimental Investigations of Generalized Predictive Control for Tiltrotor Stability Augmentation
NASA Technical Reports Server (NTRS)
Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Piatak, David J.; Kvaternik, Raymond G.; Bennett, Richard L.; Brown, Ross K.
2001-01-01
A team of researchers from the Army Research Laboratory, NASA Langley Research Center (LaRC), and Bell Helicopter-Textron, Inc. have completed hover-cell and wind-tunnel testing of a 1/5-size aeroelastically-scaled tiltrotor model using a new active control system for stability augmentation. The active system is based on a generalized predictive control (GPC) algorithm originally developed at NASA LaRC in 1997 for un-known disturbance rejection. Results of these investigations show that GPC combined with an active swashplate can significantly augment the damping and stability of tiltrotors in both hover and high-speed flight.
Punishment sensitivity predicts the impact of punishment on cognitive control.
Braem, Senne; Duthoo, Wout; Notebaert, Wim
2013-01-01
Cognitive control theories predict enhanced conflict adaptation after punishment. However, no such effect was found in previous work. In the present study, we demonstrate in a flanker task how behavioural adjustments following punishment signals are highly dependent on punishment sensitivity (as measured by the Behavioural Inhibition System (BIS) scale): Whereas low punishment-sensitive participants do show increased conflict adaptation after punishment, high punishment-sensitive participants show no such modulation. Interestingly, participants with a high punishment-sensitivity showed an overall reaction time increase after punishments. Our results stress the role of individual differences in explaining motivational modulations of cognitive control.
de Melo-Martín, Inmaculada; Sondhi, Dolan
2011-01-01
Abstract For more than three decades clinical research in the United States has been explicitly guided by the idea that ethical considerations must be central to research design and practice. In spite of the centrality of this idea, attempting to balance the sometimes conflicting values of advancing scientific knowledge and protecting human subjects continues to pose challenges. Possible conflicts between the standards of scientific research and those of ethics are particularly salient in relation to trial design. Specifically, the choice of a control arm is an aspect of trial design in which ethical and scientific issues are deeply entwined. Although ethical quandaries related to the choice of control arms may arise when conducting any type of clinical trials, they are conspicuous in early phase gene transfer trials that involve highly novel approaches and surgical procedures and have children as the research subjects. Because of children's and their parents' vulnerabilities, in trials that investigate therapies for fatal, rare diseases affecting minors, the scientific and ethical concerns related to choosing appropriate controls are particularly significant. In this paper we use direct gene transfer to the central nervous system to treat late infantile neuronal ceroid lipofuscinosis to illustrate some of these ethical issues and explore possible solutions to real and apparent conflicts between scientific and ethical considerations. PMID:21446781
Applying new optimization algorithms to more predictive control
Wright, S.J.
1996-03-01
The connections between optimization and control theory have been explored by many researchers and optimization algorithms have been applied with success to optimal control. The rapid pace of developments in model predictive control has given rise to a host of new problems to which optimization has yet to be applied. Concurrently, developments in optimization, and especially in interior-point methods, have produced a new set of algorithms that may be especially helpful in this context. In this paper, we reexamine the relatively simple problem of control of linear processes subject to quadratic objectives and general linear constraints. We show how new algorithms for quadratic programming can be applied efficiently to this problem. The approach extends to several more general problems in straightforward ways.
Application of linear gauss pseudospectral method in model predictive control
NASA Astrophysics Data System (ADS)
Yang, Liang; Zhou, Hao; Chen, Wanchun
2014-03-01
This paper presents a model predictive control(MPC) method aimed at solving the nonlinear optimal control problem with hard terminal constraints and quadratic performance index. The method combines the philosophies of the nonlinear approximation model predictive control, linear quadrature optimal control and Gauss Pseudospectral method. The current control is obtained by successively solving linear algebraic equations transferred from the original problem via linearization and the Gauss Pseudospectral method. It is not only of high computational efficiency since it does not need to solve nonlinear programming problem, but also of high accuracy though there are a few discrete points. Therefore, this method is suitable for on-board applications. A design of terminal impact with a specified direction is carried out to evaluate the performance of this method. Augmented PN guidance law in the three-dimensional coordinate system is applied to produce the initial guess. And various cases for target with straight-line movements are employed to demonstrate the applicability in different impact angles. Moreover, performance of the proposed method is also assessed by comparison with other guidance laws. Simulation results indicate that this method is not only of high computational efficiency and accuracy, but also applicable in the framework of guidance design.
NASA Astrophysics Data System (ADS)
Hofer, Christoph; Papritz, Andreas
2011-10-01
The article describes the R-package constrainedKriging, a tool for spatial prediction problems that involve change of support. The package provides software for spatial interpolation by constrained (CK), covariance-matching constrained (CMCK), and customary universal (UK) kriging. CK and CMCK yield approximately unbiased predictions of nonlinear functionals of target quantities under change of support and are therefore an attractive alternative to conditional Gaussian simulations. The constrainedKriging package computes CK, CMCK, and UK predictions for points or blocks of arbitrary shape from data observed at points in a two-dimensional survey domain. Predictions are computed for a random process model that involves a nonstationary mean function (modeled by a linear regression) and a weakly stationary, isotropic covariance function (or variogram). CK, CMCK, and UK require the point-block and block-block averages of the covariance function if the prediction targets are blocks. The constrainedKriging package uses numerically efficient approximations to compute these averages. The article contains, apart from a brief summary of CK and CMCK, a detailed description of the algorithm used to compute the point-block and block-block covariances, and it describes the functionality of the software in detail. The practical use of the package is illustrated by a comparison of universal and constrained lognormal block kriging for the Meuse Bank heavy metal data set.
Control of nonlinear processes by using linear model predictive control algorithms.
Gu, Bingfeng; Gupta, Yash P
2008-04-01
Most chemical processes are inherently nonlinear. However, because of their simplicity, linear control algorithms have been used for the control of nonlinear processes. In this study, the use of the dynamic matrix control algorithm and a simplified model predictive control algorithm for control of a bench-scale pH neutralization process is investigated. The nonlinearity is handled by dividing the operating region into sub-regions and by switching the controller model as the process moves from one sub-region to another. A simple modification for model predictive control algorithms is presented to handle the switching. The simulation and experimental results show that the modification can provide a significant improvement in the control of nonlinear processes.
Jiang, Jiefeng; Beck, Jeffrey; Heller, Katherine; Egner, Tobias
2015-01-01
The anterior cingulate and lateral prefrontal cortices have been implicated in implementing context-appropriate attentional control, but the learning mechanisms underlying our ability to flexibly adapt the control settings to changing environments remain poorly understood. Here we show that human adjustments to varying control demands are captured by a reinforcement learner with a flexible, volatility-driven learning rate. Using model-based functional magnetic resonance imaging, we demonstrate that volatility of control demand is estimated by the anterior insula, which in turn optimizes the prediction of forthcoming demand in the caudate nucleus. The caudate's prediction of control demand subsequently guides the implementation of proactive and reactive attentional control in dorsal anterior cingulate and dorsolateral prefrontal cortices. These data enhance our understanding of the neuro-computational mechanisms of adaptive behaviour by connecting the classic cingulate-prefrontal cognitive control network to a subcortical control-learning mechanism that infers future demands by flexibly integrating remote and recent past experiences. PMID:26391305
Lai, Ying-Cheng; Harrison, Mary Ann F; Frei, Mark G; Osorio, Ivan
2004-09-01
Lyapunov exponents are a set of fundamental dynamical invariants characterizing a system's sensitive dependence on initial conditions. For more than a decade, it has been claimed that the exponents computed from electroencephalogram (EEG) or electrocorticogram (ECoG) signals can be used for prediction of epileptic seizures minutes or even tens of minutes in advance. The purpose of this paper is to examine the predictive power of Lyapunov exponents. Three approaches are employed. (1) We present qualitative arguments suggesting that the Lyapunov exponents generally are not useful for seizure prediction. (2) We construct a two-dimensional, nonstationary chaotic map with a parameter slowly varying in a range containing a crisis, and test whether this critical event can be predicted by monitoring the evolution of finite-time Lyapunov exponents. This can thus be regarded as a "control test" for the claimed predictive power of the exponents for seizure. We find that two major obstacles arise in this application: statistical fluctuations of the Lyapunov exponents due to finite time computation and noise from the time series. We show that increasing the amount of data in a moving window will not improve the exponents' detective power for characteristic system changes, and that the presence of small noise can ruin completely the predictive power of the exponents. (3) We report negative results obtained from ECoG signals recorded from patients with epilepsy. All these indicate firmly that, the use of Lyapunov exponents for seizure prediction is practically impossible as the brain dynamical system generating the ECoG signals is more complicated than low-dimensional chaotic systems, and is noisy. Copyright 2004 American Institute of Physics
NASA Astrophysics Data System (ADS)
Lai, Ying-Cheng; Harrison, Mary Ann F.; Frei, Mark G.; Osorio, Ivan
2004-09-01
Lyapunov exponents are a set of fundamental dynamical invariants characterizing a system's sensitive dependence on initial conditions. For more than a decade, it has been claimed that the exponents computed from electroencephalogram (EEG) or electrocorticogram (ECoG) signals can be used for prediction of epileptic seizures minutes or even tens of minutes in advance. The purpose of this paper is to examine the predictive power of Lyapunov exponents. Three approaches are employed. (1) We present qualitative arguments suggesting that the Lyapunov exponents generally are not useful for seizure prediction. (2) We construct a two-dimensional, nonstationary chaotic map with a parameter slowly varying in a range containing a crisis, and test whether this critical event can be predicted by monitoring the evolution of finite-time Lyapunov exponents. This can thus be regarded as a "control test" for the claimed predictive power of the exponents for seizure. We find that two major obstacles arise in this application: statistical fluctuations of the Lyapunov exponents due to finite time computation and noise from the time series. We show that increasing the amount of data in a moving window will not improve the exponents' detective power for characteristic system changes, and that the presence of small noise can ruin completely the predictive power of the exponents. (3) We report negative results obtained from ECoG signals recorded from patients with epilepsy. All these indicate firmly that, the use of Lyapunov exponents for seizure prediction is practically impossible as the brain dynamical system generating the ECoG signals is more complicated than low-dimensional chaotic systems, and is noisy.
Morisset, J. B.; Mothe, F.; Bock, J.; Bréda, N.; Colin, F.
2012-01-01
Background and Aims There is increasing evidence that suppressed bud burst and thus epicormic shoot emergence (sprouting) are controlled by water–carbohydrate supplies to entire trees and buds. This direct evidence is still lacking for oak. In other respects, recent studies focused on sessile oak, Quercus petraea, have confirmed the important constraints of sprouting by epicormic ontogeny. The main objective of this paper was thus to provide provisional confirmation of the water–carbohydrate control and direct evidence of the ontogenic constraints by bringing together results already published in separate studies on water status and distribution of carbohydrates, and on accompanying vegetation and epicormics, which also quantify epicormic ontogeny. Methods This paper analyses results gained from a sessile oak experiment in which part of the site was free from fairly tall, dense accompanying vegetation. This experiment was initially focused on stand water status and more recently on the carbohydrate distribution of dominant trees. External observations of the epicormic composition and internal observations with X-ray computer tomography were undertaken on 60 and six trees, respectively. Key Results Sprouting was more intense in the part of the stand free from accompanying vegetation and on upper trunk segments. A clear effect of epicormic ontogeny was demonstrated as well: the more epicormics a trunk segment bears, the more chances it had to bear sprouts. Conclusions These results indirectly infer water–carbohydrate control and show direct evidence of constraints by epicormic ontogeny. These results have far-reaching consequences related to the quantification of all functions fulfilled by any type of epicormic structure in any part of the tree. PMID:22147545
NASA Astrophysics Data System (ADS)
Jacox, Michael G.; Hazen, Elliott L.; Bograd, Steven J.
2016-06-01
In Eastern Boundary Current systems, wind-driven upwelling drives nutrient-rich water to the ocean surface, making these regions among the most productive on Earth. Regulation of productivity by changing wind and/or nutrient conditions can dramatically impact ecosystem functioning, though the mechanisms are not well understood beyond broad-scale relationships. Here, we explore bottom-up controls during the California Current System (CCS) upwelling season by quantifying the dependence of phytoplankton biomass (as indicated by satellite chlorophyll estimates) on two key environmental parameters: subsurface nitrate concentration and surface wind stress. In general, moderate winds and high nitrate concentrations yield maximal biomass near shore, while offshore biomass is positively correlated with subsurface nitrate concentration. However, due to nonlinear interactions between the influences of wind and nitrate, bottom-up control of phytoplankton cannot be described by either one alone, nor by a combined metric such as nitrate flux. We quantify optimal environmental conditions for phytoplankton, defined as the wind/nitrate space that maximizes chlorophyll concentration, and present a framework for evaluating ecosystem change relative to environmental drivers. The utility of this framework is demonstrated by (i) elucidating anomalous CCS responses in 1998–1999, 2002, and 2005, and (ii) providing a basis for assessing potential biological impacts of projected climate change.
Jacox, Michael G.; Hazen, Elliott L.; Bograd, Steven J.
2016-01-01
In Eastern Boundary Current systems, wind-driven upwelling drives nutrient-rich water to the ocean surface, making these regions among the most productive on Earth. Regulation of productivity by changing wind and/or nutrient conditions can dramatically impact ecosystem functioning, though the mechanisms are not well understood beyond broad-scale relationships. Here, we explore bottom-up controls during the California Current System (CCS) upwelling season by quantifying the dependence of phytoplankton biomass (as indicated by satellite chlorophyll estimates) on two key environmental parameters: subsurface nitrate concentration and surface wind stress. In general, moderate winds and high nitrate concentrations yield maximal biomass near shore, while offshore biomass is positively correlated with subsurface nitrate concentration. However, due to nonlinear interactions between the influences of wind and nitrate, bottom-up control of phytoplankton cannot be described by either one alone, nor by a combined metric such as nitrate flux. We quantify optimal environmental conditions for phytoplankton, defined as the wind/nitrate space that maximizes chlorophyll concentration, and present a framework for evaluating ecosystem change relative to environmental drivers. The utility of this framework is demonstrated by (i) elucidating anomalous CCS responses in 1998–1999, 2002, and 2005, and (ii) providing a basis for assessing potential biological impacts of projected climate change. PMID:27278260
NASA Astrophysics Data System (ADS)
Carlota, Clara; Chá, Sílvia; Ornelas, António
2016-07-01
We generalize the Liapunov convexity theorem's version for vectorial control systems driven by linear ODEs of first-order p = 1, in any dimension d ∈ N, by including a pointwise state-constraint. More precisely, given a x ‾ (ṡ) ∈W p , 1 ([ a , b ] ,Rd) solving the convexified p-th order differential inclusion Lp x ‾ (t) ∈ co {u0 (t) ,u1 (t) , … ,um (t) } a.e., consider the general problem consisting in finding bang-bang solutions (i.e. Lp x ˆ (t) ∈ {u0 (t) ,u1 (t) , … ,um (t) } a.e.) under the same boundary-data, x ˆ (k) (a) =x ‾ (k) (a) &x ˆ (k) (b) =x ‾ (k) (b) (k = 0 , 1 , … , p - 1); but restricted, moreover, by a pointwise state constraint of the type < x ˆ (t) , ω > ≤ < x ‾ (t) , ω > ∀ t ∈ [ a , b ] (e.g. ω = (1 , 0 , … , 0) yielding xˆ1 (t) ≤x‾1 (t)). Previous results in the scalar d = 1 case were the pioneering Amar & Cellina paper (dealing with Lp x (ṡ) =x‧ (ṡ)), followed by Cerf & Mariconda results, who solved the general case of linear differential operators Lp of order p ≥ 2 with C0 ([ a , b ]) -coefficients. This paper is dedicated to: focus on the missing case p = 1, i.e. using Lp x (ṡ) =x‧ (ṡ) + A (ṡ) x (ṡ) ; generalize the dimension of x (ṡ) , from the scalar case d = 1 to the vectorial d ∈ N case; weaken the coefficients, from continuous to integrable, so that A (ṡ) now becomes a d × d-integrable matrix; and allow the directional vector ω to become a moving AC function ω (ṡ) . Previous vectorial results had constant ω, no matrix (i.e. A (ṡ) ≡ 0) and considered: constant control-vertices (Amar & Mariconda) and, more recently, integrable control-vertices (ourselves).
Montgomery, P.; Farr, M.R.; Franseen, E.K.; Goldstein, R.H.
2001-01-01
A high-resolution chronostratigraphy has been developed for Miocene shallow-water carbonate strata in the Cabo de Gata region of SE Spain for evaluation of local, regional and global factors that controlled platform architecture prior to and during the Messinian salinity crisis. Paleomagnetic data were collected from strata at three localities. Mean natural remanent magnetization (NRM) ranges between 1.53 ?? 10-8 and 5.2 ?? 10-3 Am2/kg. Incremental thermal and alternating field demagnetization isolated the characteristic remanent magnetization (ChRM). Rock magnetic studies show that the dominant magnetic mineral is magnetite, but mixtures of magnetite and hematite occur. A composite chronostratigraphy was derived from five stratigraphic sections. Regional stratigraphic data, biostratigraphic data, and an 40Ar/39Ar date of 8.5 ?? 0.1 Ma, for an interbedded volcanic flow, place the strata in geomagnetic polarity Chrons C4r to C3r. Sequence-stratigraphic and diagenetic evidence indicate a major unconformity at the base of depositional sequence (DS)3 that contains a prograding reef complex, suggesting that approximately 250 000 yr of record (Subchrons C3Br.2r to 3Br.1r) are missing near the Messinian-Tortonian boundary. Correlation to the GPTS shows that the studied strata represent five third- to fourth-order DSs. Basal units are temperate to subtropical ramps (DS1A, DS1B, DS2); these are overlain by subtropical to tropical reefal platforms (DS3), which are capped by subtropical to tropical cyclic carbonates (Terminal Carbonate Complex, TCC). Correlation of the Cabo de Gata record to the Melilla area of Morocco, and the Sorbas basin of Spain indicate that early - Late Tortonian ramp strata from these areas are partially time-equivalent. Similar strata are extensively developed in the Western Mediterranean and likely were influenced by a cool climate or influx of nutrients during an overall rise in global sea-level. After ramp deposition, a sequence boundary (SB3) in
Robust model predictive control for optimal continuous drug administration.
Sopasakis, Pantelis; Patrinos, Panagiotis; Sarimveis, Haralambos
2014-10-01
In this paper the model predictive control (MPC) technology is used for tackling the optimal drug administration problem. The important advantage of MPC compared to other control technologies is that it explicitly takes into account the constraints of the system. In particular, for drug treatments of living organisms, MPC can guarantee satisfaction of the minimum toxic concentration (MTC) constraints. A whole-body physiologically-based pharmacokinetic (PBPK) model serves as the dynamic prediction model of the system after it is formulated as a discrete-time state-space model. Only plasma measurements are assumed to be measured on-line. The rest of the states (drug concentrations in other organs and tissues) are estimated in real time by designing an artificial observer. The complete system (observer and MPC controller) is able to drive the drug concentration to the desired levels at the organs of interest, while satisfying the imposed constraints, even in the presence of modelling errors, disturbances and noise. A case study on a PBPK model with 7 compartments, constraints on 5 tissues and a variable drug concentration set-point illustrates the efficiency of the methodology in drug dosing control applications. The proposed methodology is also tested in an uncertain setting and proves successful in presence of modelling errors and inaccurate measurements. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.
A model predictive control approach for the Italian LBE XADS
NASA Astrophysics Data System (ADS)
Cammi, Antonio; Casella, Francesco; Luzzi, Lelio; Milano, Alessandro; Ricotti, Marco E.
2008-06-01
In this paper, model predictive control (MPC) is applied to the Italian 80 MW th experimental accelerator driven system (XADS), referring to a simple, non-linear model for the dynamic simulation of the plant, which has been developed and described in a previous work [A. Cammi, L. Luzzi, A.A. Porta, M.E. Ricotti, Prog. Nucl. Energ. 48 (2006) 578], in order to describe the interactions among the different subsystems: i.e., the accelerator-core coupling, the lead bismuth eutectic (LBE) primary system, the secondary system with diathermic oil and air coolers batteries, which reject the thermal power to the environment. Hereinafter, a model predictive controller is proposed, with the objective to minimize the difference between the average temperature of the diathermic oil and its reference value, while also minimizing the variations of the control input, which is the air coolers mass flow rate. The dynamic response of the LBE-XADS has been evaluated with reference to a reduction of 20% in the reactor power from nominal load conditions: this transient is very demanding for the overall plant, nevertheless the obtained results indicate the effectiveness of the proposed controller.
NASA Astrophysics Data System (ADS)
Rubin, Daniel; Arogeti, Shai A.
2015-09-01
In this paper, the problem of vehicle yaw control using an active limited-slip differential (ALSD) applied on the rear axle is addressed. The controller objective is to minimise yaw-rate and body slip-angle errors, with respect to target values. A novel model predictive controller is designed, using a linear parameter-varying (LPV) vehicle model, which takes into account the ALSD dynamics and its constraints. The controller is simulated using a 10DOF Matlab/Simulink simulation model and a CarSim model. These simulations exemplify the controller yaw-rate and slip-angle tracking performances, under challenging manoeuvres and road conditions. The model predictive controller performances surpass those of a reference sliding mode controller, and can narrow the loss of performances due to the ALSD's inability to transfer torque regardless of driving conditions.
Prediction and control of neural responses to pulsatile electrical stimulation
NASA Astrophysics Data System (ADS)
Campbell, Luke J.; Sly, David James; O'Leary, Stephen John
2012-04-01
This paper aims to predict and control the probability of firing of a neuron in response to pulsatile electrical stimulation of the type delivered by neural prostheses such as the cochlear implant, bionic eye or in deep brain stimulation. Using the cochlear implant as a model, we developed an efficient computational model that predicts the responses of auditory nerve fibers to electrical stimulation and evaluated the model's accuracy by comparing the model output with pooled responses from a group of guinea pig auditory nerve fibers. It was found that the model accurately predicted the changes in neural firing probability over time to constant and variable amplitude electrical pulse trains, including speech-derived signals, delivered at rates up to 889 pulses s-1. A simplified version of the model that did not incorporate adaptation was used to adaptively predict, within its limitations, the pulsatile electrical stimulus required to cause a desired response from neurons up to 250 pulses s-1. Future stimulation strategies for cochlear implants and other neural prostheses may be enhanced using similar models that account for the way that neural responses are altered by previous stimulation.
Prediction and control of neural responses to pulsatile electrical stimulation.
Campbell, Luke J; Sly, David James; O'Leary, Stephen John
2012-04-01
This paper aims to predict and control the probability of firing of a neuron in response to pulsatile electrical stimulation of the type delivered by neural prostheses such as the cochlear implant, bionic eye or in deep brain stimulation. Using the cochlear implant as a model, we developed an efficient computational model that predicts the responses of auditory nerve fibers to electrical stimulation and evaluated the model's accuracy by comparing the model output with pooled responses from a group of guinea pig auditory nerve fibers. It was found that the model accurately predicted the changes in neural firing probability over time to constant and variable amplitude electrical pulse trains, including speech-derived signals, delivered at rates up to 889 pulses s(-1). A simplified version of the model that did not incorporate adaptation was used to adaptively predict, within its limitations, the pulsatile electrical stimulus required to cause a desired response from neurons up to 250 pulses s(-1). Future stimulation strategies for cochlear implants and other neural prostheses may be enhanced using similar models that account for the way that neural responses are altered by previous stimulation.
Prakash, J; Srinivasan, K
2009-07-01
In this paper, the authors have represented the nonlinear system as a family of local linear state space models, local PID controllers have been designed on the basis of linear models, and the weighted sum of the output from the local PID controllers (Nonlinear PID controller) has been used to control the nonlinear process. Further, Nonlinear Model Predictive Controller using the family of local linear state space models (F-NMPC) has been developed. The effectiveness of the proposed control schemes has been demonstrated on a CSTR process, which exhibits dynamic nonlinearity.
Limits of Executive Control: Sequential Effects in Predictable Environments.
Verbruggen, Frederick; McAndrew, Amy; Weidemann, Gabrielle; Stevens, Tobias; McLaren, Ian P L
2016-05-01
Cognitive-control theories attribute action control to executive processes that modulate behavior on the basis of expectancy or task rules. In the current study, we examined corticospinal excitability and behavioral performance in a go/no-go task. Go and no-go trials were presented in runs of five, and go and no-go runs alternated predictably. At the beginning of each trial, subjects indicated whether they expected a go trial or a no-go trial. Analyses revealed that subjects immediately adjusted their expectancy ratings when a new run started. However, motor excitability was primarily associated with the properties of the previous trial, rather than the predicted properties of the current trial. We also observed a large latency cost at the beginning of a go run (i.e., reaction times were longer for the first trial in a go run than for the second trial). These findings indicate that actions in predictable environments are substantially influenced by previous events, even if this influence conflicts with conscious expectancies about upcoming events. © The Author(s) 2016.
Model predictive control power management strategies for HEVs: A review
NASA Astrophysics Data System (ADS)
Huang, Yanjun; Wang, Hong; Khajepour, Amir; He, Hongwen; Ji, Jie
2017-02-01
This paper presents a comprehensive review of power management strategy (PMS) utilized in hybrid electric vehicles (HEVs) with an emphasis on model predictive control (MPC) based strategies for the first time. Research on MPC-based power management systems for HEVs has intensified recently due to its many inherent merits. The categories of the existing PMSs are identified from the latest literature, and a brief study of each type is conducted. Then, the MPC approach is introduced and its advantages are discussed. Based on the acquisition method of driver behavior used for state prediction and the dynamic model used, the MPC is classified and elaborated. Factors that affect the performance of the MPC are put forward, including prediction accuracy, design parameters, and solvers. Finally, several important issues in the application of MPC-based power management strategies and latest developing trends are discussed. This paper not only provides a comprehensive analysis of MPC-based power management strategies for HEVs but also puts forward the future and emphasis of future study, which will promote the development of energy management controller with high performance and low cost for HEVs.
Error correction, sensory prediction, and adaptation in motor control.
Shadmehr, Reza; Smith, Maurice A; Krakauer, John W
2010-01-01
Motor control is the study of how organisms make accurate goal-directed movements. Here we consider two problems that the motor system must solve in order to achieve such control. The first problem is that sensory feedback is noisy and delayed, which can make movements inaccurate and unstable. The second problem is that the relationship between a motor command and the movement it produces is variable, as the body and the environment can both change. A solution is to build adaptive internal models of the body and the world. The predictions of these internal models, called forward models because they transform motor commands into sensory consequences, can be used to both produce a lifetime of calibrated movements, and to improve the ability of the sensory system to estimate the state of the body and the world around it. Forward models are only useful if they produce unbiased predictions. Evidence shows that forward models remain calibrated through motor adaptation: learning driven by sensory prediction errors.
Structural Acoustic Prediction and Interior Noise Control Technology
NASA Technical Reports Server (NTRS)
Mathur, G. P.; Chin, C. L.; Simpson, M. A.; Lee, J. T.; Palumbo, Daniel L. (Technical Monitor)
2001-01-01
This report documents the results of Task 14, "Structural Acoustic Prediction and Interior Noise Control Technology". The task was to evaluate the performance of tuned foam elements (termed Smart Foam) both analytically and experimentally. Results taken from a three-dimensional finite element model of an active, tuned foam element are presented. Measurements of sound absorption and sound transmission loss were taken using the model. These results agree well with published data. Experimental performance data were taken in Boeing's Interior Noise Test Facility where 12 smart foam elements were applied to a 757 sidewall. Several configurations were tested. Noise reductions of 5-10 dB were achieved over the 200-800 Hz bandwidth of the controller. Accelerometers mounted on the panel provided a good reference for the controller. Configurations with far-field error microphones outperformed near-field cases.
Self-Tuning of Design Variables for Generalized Predictive Control
NASA Technical Reports Server (NTRS)
Lin, Chaung; Juang, Jer-Nan
2000-01-01
Three techniques are introduced to determine the order and control weighting for the design of a generalized predictive controller. These techniques are based on the application of fuzzy logic, genetic algorithms, and simulated annealing to conduct an optimal search on specific performance indexes or objective functions. Fuzzy logic is found to be feasible for real-time and on-line implementation due to its smooth and quick convergence. On the other hand, genetic algorithms and simulated annealing are applicable for initial estimation of the model order and control weighting, and final fine-tuning within a small region of the solution space, Several numerical simulations for a multiple-input and multiple-output system are given to illustrate the techniques developed in this paper.
Predictive Thermal Control Applied to HabEx
NASA Technical Reports Server (NTRS)
Brooks, Thomas E.
2017-01-01
Exoplanet science can be accomplished with a telescope that has an internal coronagraph or with an external starshade. An internal coronagraph architecture requires extreme wavefront stability (10 pm change/10 minutes for 10(exp -10) contrast), so every source of wavefront error (WFE) must be controlled. Analysis has been done to estimate the thermal stability required to meet the wavefront stability requirement. This paper illustrates the potential of a new thermal control method called predictive thermal control (PTC) to achieve the required thermal stability. A simple development test using PTC indicates that PTC may meet the thermal stability requirements. Further testing of the PTC method in flight-like environments will be conducted in the X-ray and Cryogenic Facility (XRCF) at Marshall Space Flight Center (MSFC).
Stability of Model Predictive Control applied to a Reservoir
NASA Astrophysics Data System (ADS)
van Nooijen, Ronald; Kolechkina, Alla
2017-04-01
Modern water management needs to deal with contraints and needs to use forecasts to anticipate on extreme events. One of the most popular techniques to achieve this is Model Predictive Control. The approach is widely applied and fairly successful. However, the question of stability of the resulting system is often not explicitly demonstrated. To examine ths aspect we consider a reservoir that serves two purposes: shipping and short term storage for flood prevention. For shipping a more or less constant water level is desired, while for flood prevention additional storage space will need to be freed up when the need arises. Under the assumption that we have a reliable short term forecast of storage needs, we will implement a simple MPC controller and show that the resulting controlled system is stable.
Energy-efficient container handling using hybrid model predictive control
NASA Astrophysics Data System (ADS)
Xin, Jianbin; Negenborn, Rudy R.; Lodewijks, Gabriel
2015-11-01
The performance of container terminals needs to be improved to adapt the growth of containers while maintaining sustainability. This paper provides a methodology for determining the trajectory of three key interacting machines for carrying out the so-called bay handling task, involving transporting containers between a vessel and the stacking area in an automated container terminal. The behaviours of the interacting machines are modelled as a collection of interconnected hybrid systems. Hybrid model predictive control (MPC) is proposed to achieve optimal performance, balancing the handling capacity and energy consumption. The underlying control problem is hereby formulated as a mixed-integer linear programming problem. Simulation studies illustrate that a higher penalty on energy consumption indeed leads to improved sustainability using less energy. Moreover, simulations illustrate how the proposed energy-efficient hybrid MPC controller performs under different types of uncertainties.
Developing Control System of Electrical Devices with Operational Expense Prediction
NASA Astrophysics Data System (ADS)
Sendari, Siti; Wahyu Herwanto, Heru; Rahmawati, Yuni; Mukti Putranto, Dendi; Fitri, Shofiana
2017-04-01
The purpose of this research is to develop a system that can monitor and record home electrical device’s electricity usage. This system has an ability to control electrical devices in distance and predict the operational expense. The system was developed using micro-controllers and WiFi modules connected to PC server. The communication between modules is arranged by server via WiFi. Beside of reading home electrical devices electricity usage, the unique point of the proposed-system is the ability of micro-controllers to send electricity data to server for recording the usage of electrical devices. The testing of this research was done by Black-box method to test the functionality of system. Testing system run well with 0% error.
Predictive control and estimation algorithms for the NASA/JPL 70-meter antennas
NASA Technical Reports Server (NTRS)
Gawronski, W.
1991-01-01
A modified output prediction procedure and a new controller design is presented based on the predictive control law. Also, a new predictive estimator is developed to complement the controller and to enhance system performance. The predictive controller is designed and applied to the tracking control of the Deep Space Network 70 m antennas. Simulation results show significant improvement in tracking performance over the linear quadratic controller and estimator presently in use.
Predictive control and estimation algorithms for the NASA/JPL Deep Space Network antennas
NASA Technical Reports Server (NTRS)
Gawronski, W.
1991-01-01
A modified output prediction procedure, and a new controller design based on the predictive control law are presented. Also, the predictive estimator is developed to complement the controller, and to enhance the system performance. The predictive controller was designed and applied to the tracking control of the National Aeronautics and Space Administration (NASA)/Jet Propulsion Laboratory (JPL) 70-m antenna. Simulation results show significant improvement in tracking performance over the linear quadratic controller and estimator presently in use.
NASA Astrophysics Data System (ADS)
Cihan, A.; Birkholzer, J. T.; Bianchi, M.
2014-12-01
Injection of large volume of CO2 into deep geological reservoirs for geologic carbon sequestration (GCS) is expected to cause significant pressure perturbations in subsurface. Large-scale pressure increases in injection reservoirs during GCS operations, if not controlled properly, may limit dynamic storage capacity and increase risk of environmental impacts. The high pressure may impact caprock integrity, induce fault slippage, and cause leakage of brine and/or CO2 into shallow fresh groundwater resources. Thus, monitoring and controlling pressure buildup are critically important for environmentally safe implementation of GCS projects. Extraction of native brine during GCS operations is a pressure management approach to reduce significant pressure buildup. Extracted brine can be transferred to the surface for utilization or re-injected into overlying/underlying saline aquifers. However, pumping, transportation, treatment and disposal of extracted brine can be challenging and costly. Therefore, minimizing volume of extracted brine, while maximizing CO2 storage, is an essential objective of the pressure management with brine extraction schemes. Selection of optimal well locations and extraction rates are critical for maximizing storage and minimizing brine extraction during GCS. However, placing of injection and extraction wells is not intuitive because of heterogeneity in reservoir properties and complex reservoir geometry. Efficient computerized algorithms combining reservoir models and optimization methods are needed to make proper decisions on well locations and control parameters. This study presents a global optimization methodology for pressure management during geologic CO2 sequestration. A constrained differential evolution (CDE) algorithm is introduced for solving optimization problems involving well placement and injection/extraction control. The CDE methodology is tested and applied for realistic CO2 storage scenarios with the presence of uncertainty in
Model Predictive Control for the Operation of Building Cooling Systems
Ma, Yudong; Borrelli, Francesco; Hencey, Brandon; Coffey, Brian; Bengea, Sorin; Haves, Philip
2010-06-29
A model-based predictive control (MPC) is designed for optimal thermal energy storage in building cooling systems. We focus on buildings equipped with a water tank used for actively storing cold water produced by a series of chillers. Typically the chillers are operated at night to recharge the storage tank in order to meet the building demands on the following day. In this paper, we build on our previous work, improve the building load model, and present experimental results. The experiments show that MPC can achieve reduction in the central plant electricity cost and improvement of its efficiency.
Resource Management in Constrained Dynamic Situations
NASA Astrophysics Data System (ADS)
Seok, Jinwoo
Resource management is considered in this dissertation for systems with limited resources, possibly combined with other system constraints, in unpredictably dynamic environments. Resources may represent fuel, power, capabilities, energy, and so on. Resource management is important for many practical systems; usually, resources are limited, and their use must be optimized. Furthermore, systems are often constrained, and constraints must be satisfied for safe operation. Simplistic resource management can result in poor use of resources and failure of the system. Furthermore, many real-world situations involve dynamic environments. Many traditional problems are formulated based on the assumptions of given probabilities or perfect knowledge of future events. However, in many cases, the future is completely unknown, and information on or probabilities about future events are not available. In other words, we operate in unpredictably dynamic situations. Thus, a method is needed to handle dynamic situations without knowledge of the future, but few formal methods have been developed to address them. Thus, the goal is to design resource management methods for constrained systems, with limited resources, in unpredictably dynamic environments. To this end, resource management is organized hierarchically into two levels: 1) planning, and 2) control. In the planning level, the set of tasks to be performed is scheduled based on limited resources to maximize resource usage in unpredictably dynamic environments. In the control level, the system controller is designed to follow the schedule by considering all the system constraints for safe and efficient operation. Consequently, this dissertation is mainly divided into two parts: 1) planning level design, based on finite state machines, and 2) control level methods, based on model predictive control. We define a recomposable restricted finite state machine to handle limited resource situations and unpredictably dynamic environments
Model predictive control of a solar-thermal reactor
NASA Astrophysics Data System (ADS)
Saade Saade, Maria Elizabeth
Solar-thermal reactors represent a promising alternative to fossil fuels because they can harvest solar energy and transform it into storable and transportable fuels. The operation of solar-thermal reactors is restricted by the available sunlight and its inherently transient behavior, which affects the performance of the reactors and limits their efficiency. Before solar-thermal reactors can become commercially viable, they need to be able to maintain a continuous high-performance operation, even in the presence of passing clouds. A well-designed control system can preserve product quality and maintain stable product compositions, resulting in a more efficient and cost-effective operation, which can ultimately lead to scale-up and commercialization of solar thermochemical technologies. In this work, we propose a model predictive control (MPC) system for a solar-thermal reactor for the steam-gasification of biomass. The proposed controller aims at rejecting the disturbances in solar irradiation caused by the presence of clouds. A first-principles dynamic model of the process was developed. The model was used to study the dynamic responses of the process variables and to identify a linear time-invariant model used in the MPC algorithm. To provide an estimation of the disturbances for the control algorithm, a one-minute-ahead direct normal irradiance (DNI) predictor was developed. The proposed predictor utilizes information obtained through the analysis of sky images, in combination with current atmospheric measurements, to produce the DNI forecast. In the end, a robust controller was designed capable of rejecting disturbances within the operating region. Extensive simulation experiments showed that the controller outperforms a finely-tuned multi-loop feedback control strategy. The results obtained suggest that our controller is suitable for practical implementation.
Tuning the Model Predictive Control of a Crude Distillation Unit.
Yamashita, André Shigueo; Zanin, Antonio Carlos; Odloak, Darci
2016-01-01
Tuning the parameters of the Model Predictive Control (MPC) of an industrial Crude Distillation Unit (CDU) is considered here. A realistic scenario is depicted where the inputs of the CDU system have optimizing targets, which are provided by the Real Time Optimization layer of the control structure. It is considered the nominal case, in which both the CDU model and the MPC model are the same. The process outputs are controlled inside zones instead of at fixed set points. Then, the tuning procedure has to define the weights that penalize the output error with respect to the control zone, the weights that penalize the deviation of the inputs from their targets, as well as the weights that penalize the input moves. A tuning approach based on multi-objective optimization is proposed and applied to the MPC of the CDU system. The performance of the controller tuned with the proposed approach is compared through simulation with the results of an existing approach also based on multi-objective optimization. The simulation results are similar, but the proposed approach has a computational load significantly lower than the existing method. The tuning effort is also much lower than in the conventional practical approaches that are usually based on ad-hoc procedures.
Individual differences in white matter microstructure predict semantic control.
Nugiel, Tehila; Alm, Kylie H; Olson, Ingrid R
2016-12-01
In everyday conversation, we make many rapid choices between competing concepts and words in order to convey our intent. This process is termed semantic control, and it is thought to rely on information transmission between a distributed semantic store in the temporal lobes and a more discrete region, optimized for retrieval and selection, in the left inferior frontal gyrus. Here, we used diffusion tensor imaging in a group of neurologically normal young adults to investigate the relationship between semantic control and white matter tracts that have been implicated in semantic memory retrieval. Participants completed a verb generation task that taps semantic control (Snyder & Munakata, 2008; Snyder et al., 2010) and underwent a diffusion imaging scan. Deterministic tractography was performed to compute indices representing the microstructural properties of the inferior fronto-occipital fasciculus (IFOF), the uncinate fasciculus (UF), and the inferior longitudinal fasciculus (ILF). Microstructural measures of the UF failed to predict semantic control performance. However, there was a significant relationship between microstructure of the left IFOF and ILF and individual differences in semantic control. Our findings support the view put forth by Duffau (2013) that the IFOF is a key structural pathway in semantic retrieval.
NASA Astrophysics Data System (ADS)
Li, Kunpeng
2017-01-01
The compatibility problem between rapidity and overshooting in the traditional predictive current control structure is inevitable and difficult to solve by reason of using PI controller. A novel predictive current control (PCC) algorithm for permanent magnet synchronous motor (PMSM) based on linear active disturbance rejection control (LADRC) is presented in this paper. In order to displace PI controller, the LADRC strategy which consisted of linear state error feedback (LSEF) control algorithm and linear extended state observer (LESO), is designed based on the mathematic model of PMSM. The purpose of LSEF is to make sure fast response to load mutation and system uncertainties, and LESO is designed to estimate the uncertain disturbances. The principal structures of the proposed system are speed outer loop based on LADRC and current inner loop based on predictive current control. Especially, the instruction value of qaxis current in inner loop is derived from the control quantity which is designed in speed outer loop. The simulation is carried out in Matlab/Simulink software, and the results illustrate that the dynamic and static performances of proposed system are satisfied. Moreover the robust against model parameters mismatch is enhanced obviously.
Preview Scheduled Model Predictive Control For Horizontal Axis Wind Turbines
NASA Astrophysics Data System (ADS)
Laks, Jason H.
This research investigates the use of model predictive control (MPC) in application to wind turbine operation from start-up to cut-out. The studies conducted are focused on the design of an MPC controller for a 650˜KW, three-bladed horizontal axis turbine that is in operation at the National Renewable Energy Laboratory's National Wind Technology Center outside of Golden, Colorado. This turbine is at the small end of utility scale turbines, but it provides advanced instrumentation and control capabilities, and there is a good probability that the approach developed in simulation for this thesis, will be field tested on the actual turbine. A contribution of this thesis is a method to combine the use of preview measurements with MPC while also providing regulation of turbine speed and cyclic blade loading. A common MPC technique provides integral-like control to achieve offset-free operation. At the same time in wind turbine applications, multiple studies have developed "feed-forward" controls based on applying a gain to an estimate of the wind speed changes obtained from an observer incorporating a disturbance model. These approaches are based on a technique that can be referred to as disturbance accommodating control (DAC). In this thesis, it is shown that offset-free tracking MPC is equivalent to a DAC approach when the disturbance gain is computed to satisfy a regulator equation. Although the MPC literature has recognized that this approach provides "structurally stable" disturbance rejection and tracking, this step is not typically divorced from the MPC computations repeated each sample hit. The DAC formulation is conceptually simpler, and essentially uncouples regulation considerations from MPC related issues. This thesis provides a self contained proof that the DAC formulation (an observer-controller and appropriate disturbance gain) provides structurally stable regulation.
Predictive models of procedural human supervisory control behavior
NASA Astrophysics Data System (ADS)
Boussemart, Yves
Human supervisory control systems are characterized by the computer-mediated nature of the interactions between one or more operators and a given task. Nuclear power plants, air traffic management and unmanned vehicles operations are examples of such systems. In this context, the role of the operators is typically highly proceduralized due to the time and mission-critical nature of the tasks. Therefore, the ability to continuously monitor operator behavior so as to detect and predict anomalous situations is a critical safeguard for proper system operation. In particular, such models can help support the decision J]l8king process of a supervisor of a team of operators by providing alerts when likely anomalous behaviors are detected By exploiting the operator behavioral patterns which are typically reinforced through standard operating procedures, this thesis proposes a methodology that uses statistical learning techniques in order to detect and predict anomalous operator conditions. More specifically, the proposed methodology relies on hidden Markov models (HMMs) and hidden semi-Markov models (HSMMs) to generate predictive models of unmanned vehicle systems operators. Through the exploration of the resulting HMMs in two distinct single operator scenarios, the methodology presented in this thesis is validated and shown to provide models capable of reliably predicting operator behavior. In addition, the use of HSMMs on the same data scenarios provides the temporal component of the predictions missing from the HMMs. The final step of this work is to examine how the proposed methodology scales to more complex scenarios involving teams of operators. Adopting a holistic team modeling approach, both HMMs and HSMMs are learned based on two team-based data sets. The results show that the HSMMs can provide valuable timing information in the single operator case, whereas HMMs tend to be more robust to increased team complexity. In addition, this thesis discusses the
Striatal prediction errors support dynamic control of declarative memory decisions
Scimeca, Jason M.; Katzman, Perri L.; Badre, David
2016-01-01
Adaptive memory requires context-dependent control over how information is retrieved, evaluated and used to guide action, yet the signals that drive adjustments to memory decisions remain unknown. Here we show that prediction errors (PEs) coded by the striatum support control over memory decisions. Human participants completed a recognition memory test that incorporated biased feedback to influence participants' recognition criterion. Using model-based fMRI, we find that PEs—the deviation between the outcome and expected value of a memory decision—correlate with striatal activity and predict individuals' final criterion. Importantly, the striatal PEs are scaled relative to memory strength rather than the expected trial outcome. Follow-up experiments show that the learned recognition criterion transfers to free recall, and targeting biased feedback to experimentally manipulate the magnitude of PEs influences criterion consistent with PEs scaled relative to memory strength. This provides convergent evidence that declarative memory decisions can be regulated via striatally mediated reinforcement learning signals. PMID:27713407
Study on noise prediction model and control schemes for substation.
Chen, Chuanmin; Gao, Yang; Liu, Songtao
2014-01-01
With the government's emphasis on environmental issues of power transmission and transformation project, noise pollution has become a prominent problem now. The noise from the working transformer, reactor, and other electrical equipment in the substation will bring negative effect to the ambient environment. This paper focuses on using acoustic software for the simulation and calculation method to control substation noise. According to the characteristics of the substation noise and the techniques of noise reduction, a substation's acoustic field model was established with the SoundPLAN software to predict the scope of substation noise. On this basis, 4 reasonable noise control schemes were advanced to provide some helpful references for noise control during the new substation's design and construction process. And the feasibility and application effect of these control schemes can be verified by using the method of simulation modeling. The simulation results show that the substation always has the problem of excessive noise at boundary under the conventional measures. The excess noise can be efficiently reduced by taking the corresponding noise reduction methods.
Study on Noise Prediction Model and Control Schemes for Substation
Gao, Yang; Liu, Songtao
2014-01-01
With the government's emphasis on environmental issues of power transmission and transformation project, noise pollution has become a prominent problem now. The noise from the working transformer, reactor, and other electrical equipment in the substation will bring negative effect to the ambient environment. This paper focuses on using acoustic software for the simulation and calculation method to control substation noise. According to the characteristics of the substation noise and the techniques of noise reduction, a substation's acoustic field model was established with the SoundPLAN software to predict the scope of substation noise. On this basis, 4 reasonable noise control schemes were advanced to provide some helpful references for noise control during the new substation's design and construction process. And the feasibility and application effect of these control schemes can be verified by using the method of simulation modeling. The simulation results show that the substation always has the problem of excessive noise at boundary under the conventional measures. The excess noise can be efficiently reduced by taking the corresponding noise reduction methods. PMID:24672356
Design and Performance Analysis of Incremental Networked Predictive Control Systems.
Pang, Zhong-Hua; Liu, Guo-Ping; Zhou, Donghua
2016-06-01
This paper is concerned with the design and performance analysis of networked control systems with network-induced delay, packet disorder, and packet dropout. Based on the incremental form of the plant input-output model and an incremental error feedback control strategy, an incremental networked predictive control (INPC) scheme is proposed to actively compensate for the round-trip time delay resulting from the above communication constraints. The output tracking performance and closed-loop stability of the resulting INPC system are considered for two cases: 1) plant-model match case and 2) plant-model mismatch case. For the former case, the INPC system can achieve the same output tracking performance and closed-loop stability as those of the corresponding local control system. For the latter case, a sufficient condition for the stability of the closed-loop INPC system is derived using the switched system theory. Furthermore, for both cases, the INPC system can achieve a zero steady-state output tracking error for step commands. Finally, both numerical simulations and practical experiments on an Internet-based servo motor system illustrate the effectiveness of the proposed method.
Humans are sensitive to attention control when predicting others’ actions
Pesquita, Ana; Chapman, Craig S.; Enns, James T.
2016-01-01
Studies of social perception report acute human sensitivity to where another’s attention is aimed. Here we ask whether humans are also sensitive to how the other’s attention is deployed. Observers viewed videos of actors reaching to targets without knowing that those actors were sometimes choosing to reach to one of the targets (endogenous control) and sometimes being directed to reach to one of the targets (exogenous control). Experiments 1 and 2 showed that observers could respond more rapidly when actors chose where to reach, yet were at chance when guessing whether the reach was chosen or directed. This implicit sensitivity to attention control held when either actor’s faces or limbs were masked (experiment 3) and when only the earliest actor’s movements were visible (experiment 4). Individual differences in sensitivity to choice correlated with an independent measure of social aptitude. We conclude that humans are sensitive to attention control through an implicit kinematic process linked to empathy. The findings support the hypothesis that social cognition involves the predictive modeling of others’ attentional states. PMID:27436897
Noble, Sarah L; Sherer, Eric; Hannemann, Robert E; Ramkrishna, Doraiswami; Vik, Terry; Rundell, Ann E
2010-06-07
Acute lymphoblastic leukemia (ALL) is a common childhood cancer in which nearly one-quarter of patients experience a disease relapse. However, it has been shown that individualizing therapy for childhood ALL patients by adjusting doses based on the blood concentration of active drug metabolite could significantly improve treatment outcome. An adaptive model predictive control (MPC) strategy is presented in which maintenance therapy for childhood ALL is personalized using routine patient measurements of red blood cell mean corpuscular volume as a surrogate for the active drug metabolite concentration. A clinically relevant mathematical model is developed and used to describe the patient response to the chemotherapeutic drug 6-mercaptopurine, with some model parameters being patient-specific. During the course of treatment, the patient-specific parameters are adaptively identified using recurrent complete blood count measurements, which sufficiently constrain the patient parameter uncertainty to support customized adjustments of the drug dose. While this work represents only a first step toward a quantitative tool for clinical use, the simulated treatment results indicate that the proposed mathematical model and adaptive MPC approach could serve as valuable resources to the oncologist toward creating a personalized treatment strategy that is both safe and effective. Copyright (c) 2010 Elsevier Ltd. All rights reserved.
NASA Astrophysics Data System (ADS)
Fei, H. Z.; Zheng, G. T.; Liu, Z. G.
2006-09-01
We report the results of a recent study for the active vibration isolation with whole-spacecraft vibration isolation as an application background into which three parts are divided: (i) energy source control, (ii) nonlinearity and time delay, (iii) implementation and experiment. This paper is the first in this three-part series report, which presents theoretical and experimental investigations into pressure tracking system for energy source control of the isolator. Considering the special environment of the rocket and expected characteristics of actuators, where the isolator will be arranged between the rocket and the spacecraft, pneumatic actuator is proposed to realize the active isolation control. In order to improve the dynamic characteristics of the pneumatic isolator, a cascade control algorithm with double loop structure and predictive control algorithm for pressure tracking control of the inner loop are proposed. In the current paper, a pressure tracking control system using model predictive control (MPC) is studied first. A pneumatic model around pressure work point is built firstly by simplifying the flow equation of valve's orifices and pressure differential equation of the chambers. With this model, an MPC algorithm in the state space is developed, and problems including control parameter choice and command horizon generator are discussed in detail. In addition, by adding model error correction loop and velocity compensation feedback, effects of model uncertainty and volume variation of chambers are reduced greatly. Thus with this design, the real-time pressure tracking can be guaranteed, and so that the active control system can work at higher frequency range.
NASA Astrophysics Data System (ADS)
Ali, Zeeshan; Popov, Atanas A.; Charles, Guy
2013-06-01
A vehicle following control law, based on the model predictive control method, to perform transition manoeuvres (TMs) for a nonlinear adaptive cruise control (ACC) vehicle is presented in this paper. The TM controller ultimately establishes a steady-state following distance behind a preceding vehicle to avoid collision, keeping account of acceleration limits, safe distance, and state constraints. The vehicle dynamics model is for continuous-time domain and captures the real dynamics of the sub-vehicle models for steady-state and transient operations. The ACC vehicle can execute the TM successfully and achieves a steady-state in the presence of complex dynamics within the constraint boundaries.
Two-Step Design Method of Engine Control System Based on Generalized Predictive Control
NASA Astrophysics Data System (ADS)
Hashimoto, Seiji; Okuda, Hiroyuki; Okada, Yasushi; Adachi, Shuichi; Niwa, Shinji; Kajitani, Mitsunobu
Conservation of the environment has become critical to the automotive industry. Recently, requirements for on-board diagnostic and engine control systems have been strictly enforced. In the present paper, in order to meet the requirements for a low-emissions vehicle, a novel construction method of the air-fuel ratio (A/F) control system is proposed. The construction method of the system is divided into two steps. The first step is to design the A/F control system for the engine based on an open loop design. The second step is to design the A/F control system for the catalyst system. The design method is based on the generalized predictive control in order to satisfy the robustness to open loop control as well as model uncertainty. The effectiveness of the proposed A/F control system is verified through experiments using full-scale products.
Intersecting transcription networks constrain gene regulatory evolution
Sorrells, Trevor R; Booth, Lauren N; Tuch, Brian B; Johnson, Alexander D
2015-01-01
Epistasis—the non-additive interactions between different genetic loci—constrains evolutionary pathways, blocking some and permitting others1–8. For biological networks such as transcription circuits, the nature of these constraints and their consequences are largely unknown. Here we describe the evolutionary pathways of a transcription network that controls the response to mating pheromone in yeasts9. A component of this network, the transcription regulator Ste12, has evolved two different modes of binding to a set of its target genes. In one group of species, Ste12 binds to specific DNA binding sites, while in another lineage it occupies DNA indirectly, relying on a second transcription regulator to recognize DNA. We show, through the construction of various possible evolutionary intermediates, that evolution of the direct mode of DNA binding was not directly accessible to the ancestor. Instead, it was contingent on a lineage-specific change to an overlapping transcription network with a different function, the specification of cell type. These results show that analyzing and predicting the evolution of cis-regulatory regions requires an understanding of their positions in overlapping networks, as this placement constrains the available evolutionary pathways. PMID:26153861
Inlet Flow Control and Prediction Technologies for Embedded Propulsion Systems
NASA Technical Reports Server (NTRS)
McMillan, Michelle L.; Gissen, Abe; Vukasinovic, Bojan; Lakebrink, Matthew T.; Glezer, Ari; Mani, Mori; Mace, James
2010-01-01
Fail-safe inlet flow control may enable high-speed cruise efficiency, low noise signature, and reduced fuel-burn goals for hybrid wing-body aircraft. The objectives of this program are to develop flow control and prediction methodologies for boundary-layer ingesting (BLI) inlets used in these aircraft. This report covers the second of a three year program. The approach integrates experiments and numerical simulations. Both passive and active flow-control devices were tested in a small-scale wind tunnel. Hybrid actuation approaches, combining a passive microvane and active synthetic jet, were tested in various geometric arrangements. Detailed flow measurements were taken to provide insight into the flow physics. Results of the numerical simulations were correlated against experimental data. The sensitivity of results to grid resolution and turbulence models was examined. Aerodynamic benefits from microvanes and microramps were assessed when installed in an offset BLI inlet. Benefits were quantified in terms of recovery and distortion changes. Microvanes were more effective than microramps at improving recovery and distortion.
Inlet Flow Control and Prediction Technologies for Embedded Propulsion Systems
NASA Technical Reports Server (NTRS)
McMillan, Michelle L.; Mackie, Scott A.; Gissen, Abe; Vukasinovic, Bojan; Lakebrink, Matthew T.; Glezer, Ari; Mani, Mori; Mace, James L.
2011-01-01
Fail-safe, hybrid, flow control (HFC) is a promising technology for meeting high-speed cruise efficiency, low-noise signature, and reduced fuel-burn goals for future, Hybrid-Wing-Body (HWB) aircraft with embedded engines. This report details the development of HFC technology that enables improved inlet performance in HWB vehicles with highly integrated inlets and embedded engines without adversely affecting vehicle performance. In addition, new test techniques for evaluating Boundary-Layer-Ingesting (BLI)-inlet flow-control technologies developed and demonstrated through this program are documented, including the ability to generate a BLI-like inlet-entrance flow in a direct-connect, wind-tunnel facility, as well as, the use of D-optimal, statistically designed experiments to optimize test efficiency and enable interpretation of results. Validated improvements in numerical analysis tools and methods accomplished through this program are also documented, including Reynolds-Averaged Navier-Stokes CFD simulations of steady-state flow physics for baseline, BLI-inlet diffuser flow, as well as, that created by flow-control devices. Finally, numerical methods were employed in a ground-breaking attempt to directly simulate dynamic distortion. The advances in inlet technologies and prediction tools will help to meet and exceed "N+2" project goals for future HWB aircraft.
Outdoor flocking of quadcopter drones with decentralized model predictive control.
Yuan, Quan; Zhan, Jingyuan; Li, Xiang
2017-07-11
In this paper, we present a multi-drone system featured with a decentralized model predictive control (DMPC) flocking algorithm. The drones gather localized information from neighbors and update their velocities using the DMPC flocking algorithm. In the multi-drone system, data packages are transmitted through XBee(®) wireless modules in broadcast mode, yielding such an anonymous and decentralized system where all the calculations and controls are completed on an onboard minicomputer of each drone. Each drone is a double-layered agent system with the coordination layer running multi-drone flocking algorithms and the flight control layer navigating the drone, and the final formation of the flock relies on both the communication range and the desired inter-drone distance. We give both numerical simulations and field tests with a flock of five drones, showing that the DMPC flocking algorithm performs well on the presented multi-drone system in both the convergence rate and the ability of tracking a desired path. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
NASA Astrophysics Data System (ADS)
Burgess, P. M.; Steel, R. J.
2016-12-01
Decoding a history of Earth's surface dynamics from strata requires robust quantitative understanding of supply and accommodation controls. The concept of stratigraphic solution sets has proven useful in this decoding, but application and development of this approach has so far been surprisingly limited. Stratal control volumes, areas and trajectories are new approaches defined here, building on previous ideas about stratigraphic solution sets, to help analyse and understand the sedimentary record of Earth surface dynamics. They may have particular application reconciling results from outcrop and subsurface analysis with results from analogue and numerical experiments. Stratal control volumes are sets of points in a three-dimensional volume, with axes of subsidence, sediment supply and eustatic rates of change, populated with probabilities derived from analysis of subsidence, supply and eustasy timeseries (Figure 1). These empirical probabilities indicate the likelihood of occurrence of any particular combination of control rates defined by any point in the volume. The stratal control volume can then by analysed to determine which parts of the volume represent relative sea-level fall and rise, where in the volume particular stacking patterns will occur, and how probable those stacking patterns are. For outcrop and subsurface analysis, using a stratal control area with eustasy and subsidence combined on a relative sea-level axis allows similar analysis, and may be preferable. A stratal control trajectory is a history of supply and accommodation creation rates, interpreted from outcrop or subsurface data, or observed in analogue and numerical experiments, and plotted as a series of linked points forming a trajectory through the stratal control volume (Figure 1) or area. Three examples are presented, one from outcrop and two theoretical. Much work remains to be done to build a properly representative database of stratal controls, but careful comparison of stratal
Constraining Galileon inflation
Regan, Donough; Anderson, Gemma J.; Hull, Matthew; Seery, David E-mail: G.Anderson@sussex.ac.uk E-mail: D.Seery@sussex.ac.uk
2015-02-01
In this short paper, we present constraints on the Galileon inflationary model from the CMB bispectrum. We employ a principal-component analysis of the independent degrees of freedom constrained by data and apply this to the WMAP 9-year data to constrain the free parameters of the model. A simple Bayesian comparison establishes that support for the Galileon model from bispectrum data is at best weak.
Massaut, Jacques; Valles, Pola; Ghismonde, Arnold; Jacques, Claudinette Jn; Louis, Liseberth Pierre; Zakir, Abdulmutalib; Van den Bergh, Rafael; Santiague, Lunick; Massenat, Rose Berly; Edema, Nathalie
2017-08-23
The South African Triage Scale (SATS) was developed to facilitate patient triage in emergency departments (EDs) and is used by Médecins Sans Frontières (MSF) in low-resource environments. The aim was to determine if SATS data, reason for admission, and patient age can be used to develop and validate a model predicting the in-hospital risk of death in emergency surgical centers and to compare the model's discriminative power with that of the four SATS categories alone. We used data from a cohort hospitalized at the Nap Kenbe Surgical Hospital in Haiti from January 2013 to June 2015. We based our analysis on a multivariate logistic regression of the probability of death. Age cutoff, reason for admission categorized into nine groups according to MSF classifications, and SATS triage category (red, orange, yellow, and green) were used as candidate parameters for the analysis of factors associated with mortality. Stepwise backward elimination was performed for the selection of risk factors with retention of predictors with P < 0.05, and bootstrapping was used for internal validation. The likelihood ratio test was used to compare the combined and restricted models. These models were also applied to data from a cohort of patients from the Kunduz Trauma Center, Afghanistan, to validate mortality prediction in an external trauma patients population. A total of 7618 consecutive hospitalized patients from the Nap Kenbe Hospital were analyzed. Variables independently associated with in-hospital mortality were age > 45 and < = 65 years (odds ratio, 2.04), age > 65 years (odds ratio, 5.15) and the red (odds ratio, 65.08), orange (odds ratio, 3.5), and non-trauma (odds ratio, 3.15) categories. The combined model had an area under the receiver operating characteristic curve (AUROC) of 0.8723 and an AUROC corrected for optimism of 0.8601. The AUROC of the model run on the external data-set was 0.8340. The likelihood ratio test was highly significant in favor of the
Prediction-based association control scheme in dense femtocell networks
Pham, Ngoc-Thai; Huynh, Thong; Hwang, Won-Joo; You, Ilsun; Choo, Kim-Kwang Raymond
2017-01-01
The deployment of large number of femtocell base stations allows us to extend the coverage and efficiently utilize resources in a low cost manner. However, the small cell size of femtocell networks can result in frequent handovers to the mobile user, and consequently throughput degradation. Thus, in this paper, we propose predictive association control schemes to improve the system’s effective throughput. Our design focuses on reducing handover frequency without impacting on throughput. The proposed schemes determine handover decisions that contribute most to the network throughput and are proper for distributed implementations. The simulation results show significant gains compared with existing methods in terms of handover frequency and network throughput perspective. PMID:28328992
NASA Astrophysics Data System (ADS)
Kim, Byeongil; Washington, Gregory N.; Yoon, Hwan-Sik
2012-05-01
Currently, piezoelectric actuators are being used in many applications from precision positioning control to active vibration control of large space structures. They can take the form of a solid-state device and are conveniently controlled by a voltage input. In spite of their relative ease of control, positioning accuracy and actuator longevity can be compromised by the hysteresis. Thus, the primary objective of this research is to minimize the hysteretic effect of a piezoelectric actuator in order to obtain a near linear relationship between the input voltage and the output displacement. The reduction of the hysteresis is accomplished by a newly developed control methodology named model predictive sliding mode control. A nonlinear energy-based hysteresis model is developed for a piezoelectric stack actuator and model predictive sliding mode control is applied to force the system state to reach a sliding surface in an optimal manner and track the reference signal accurately thereafter. To validate this new approach, simulations and experiments are conducted and the results highlight significantly improved hysteresis reduction in the displacement control of the piezoelectric stack actuator.
Redesigned Predictive Event-Triggered Controller for Networked Control System With Delays.
Wu, Di; Sun, Xi-Ming; Wen, Changyun; Wang, Wei
2016-10-01
Event-triggered control (ETC) is a control strategy which can effectively reduce communication traffic in control networks. In the case where communication resources are scarce, ETC plays an important role in updating and communicating data. When network-induced delays are involved, two unsynchronized phenomena will appear if the existing ETC strategy, designed for networked control systems (NCSs) free of delays, is adopted. This paper deals with the ETC problem for NCS with delays existing in both sensor-to-controller and controller-to-actuator channels. A new predictive ETC strategy is proposed to solve both unsynchronized problems. It is shown that the stability of the resulting closed-loop system can be guaranteed under such an ETC strategy. Finally, both simulation studies and experimental tests are carried out to illustrate the proposed technique and verify its effectiveness.
Predictive wavefront control for Adaptive Optics with arbitrary control loop delays
Poyneer, L A; Veran, J
2007-10-30
We present a modification of the closed-loop state space model for AO control which allows delays that are a non-integer multiple of the system frame rate. We derive the new forms of the Predictive Fourier Control Kalman filters for arbitrary delays and show that they are linear combinations of the whole-frame delay terms. This structure of the controller is independent of the delay. System stability margins and residual error variance both transition gracefully between integer-frame delays.
NASA Astrophysics Data System (ADS)
Zhang, Hui; Shi, Yang; Wang, Junmin
2013-10-01
This paper is concerned with a tracking controller design problem for discrete-time networked predictive control systems. The control law used here is a combined state-feedback control and integral control. Since not all the states are available in practice, a local Luenberger observer is utilised to estimate the state vector. The measured output and estimated state vector are packed together and transmitted to the tracking controller via a communication channel with a limited capacity. Meanwhile, the control signal is also transmitted through a communication network.Network-induced delays on both links are considered for the signal transmission and modelled by Markov chains. Moreover, it is assumed that the elements in Markov transition matrices are subject to uncertainties. In order to fully compensate for network-induced delays, the controller generates a sequence of control signals which are dependent on each possible delay in the feedforward channel. By taking the augmentation twice, we obtain delay-free stochastic closed-loop systems and the controlled output is chosen as the tracking error. Sufficient conditions are provided for the energy-to-peak performance of the closed-loop systems. The feedback gains of the controller can be derived by solving a minimisation problem. Two examples are illustrated to demonstrate the effectiveness of the proposed design method.
Optimal Reservoir Operation using Stochastic Model Predictive Control
NASA Astrophysics Data System (ADS)
Sahu, R.; McLaughlin, D.
2016-12-01
Hydropower operations are typically designed to fulfill contracts negotiated with consumers who need reliable energy supplies, despite uncertainties in reservoir inflows. In addition to providing reliable power the reservoir operator needs to take into account environmental factors such as downstream flooding or compliance with minimum flow requirements. From a dynamical systems perspective, the reservoir operating strategy must cope with conflicting objectives in the presence of random disturbances. In order to achieve optimal performance, the reservoir system needs to continually adapt to disturbances in real time. Model Predictive Control (MPC) is a real-time control technique that adapts by deriving the reservoir release at each decision time from the current state of the system. Here an ensemble-based version of MPC (SMPC) is applied to a generic reservoir to determine both the optimal power contract, considering future inflow uncertainty, and a real-time operating strategy that attempts to satisfy the contract. Contract selection and real-time operation are coupled in an optimization framework that also defines a Pareto trade off between the revenue generated from energy production and the environmental damage resulting from uncontrolled reservoir spills. Further insight is provided by a sensitivity analysis of key parameters specified in the SMPC technique. The results demonstrate that SMPC is suitable for multi-objective planning and associated real-time operation of a wide range of hydropower reservoir systems.
Predictive active disturbance rejection control for processes with time delay.
Zheng, Qinling; Gao, Zhiqiang
2014-07-01
Active disturbance rejection control (ADRC) has been shown to be an effective tool in dealing with real world problems of dynamic uncertainties, disturbances, nonlinearities, etc. This paper addresses its existing limitations with plants that have a large transport delay. In particular, to overcome the delay, the extended state observer (ESO) in ADRC is modified to form a predictive ADRC, leading to significant improvements in the transient response and stability characteristics, as shown in extensive simulation studies and hardware-in-the-loop tests, as well as in the frequency response analysis. In this research, it is assumed that the amount of delay is approximately known, as is the approximated model of the plant. Even with such uncharacteristic assumptions for ADRC, the proposed method still exhibits significant improvements in both performance and robustness over the existing methods such as the dead-time compensator based on disturbance observer and the Filtered Smith Predictor, in the context of some well-known problems of chemical reactor and boiler control problems.
Ringa, N; Bauch, C T
2014-12-01
Many countries have eliminated foot and mouth disease (FMD), but outbreaks remain common in other countries. Rapid development of international trade in animals and animal products has increased the risk of disease introduction to FMD-free countries. Most mathematical models of FMD are tailored to settings that are normally disease-free, and few models have explored the impact of constrained control measures in a 'near-endemic' spatially distributed host population subject to frequent FMD re-introductions from nearby endemic wild populations, as characterizes many low-income, resource-limited countries. Here we construct a pair approximation model of FMD and investigate the impact of constraints on total vaccine supply for prophylactic and ring vaccination, and constraints on culling rates and cumulative culls. We incorporate natural immunity waning and vaccine waning, which are important factors for near-endemic populations. We find that, when vaccine supply is sufficiently limited, the optimal approach for minimizing cumulative infections combines rapid deployment of ring vaccination during outbreaks with a contrasting approach of careful rationing of prophylactic vaccination over the year, such that supplies last as long as possible (and with the bulk of vaccines dedicated toward prophylactic vaccination). Thus, for optimal long-term control of the disease by vaccination in near-endemic settings when vaccine supply is limited, it is best to spread out prophylactic vaccination as much as possible. Regardless of culling constraints, the optimal culling strategy is rapid identification of infected premises and their immediate contacts at the initial stages of an outbreak, and rapid culling of infected premises and farms deemed to be at high risk of infection (as opposed to culling only the infected farms). Optimal culling strategies are similar when social impact is the outcome of interest. We conclude that more FMD transmission models should be developed that are
Yan, Zheng; Wang, Jun
2014-03-01
This paper presents a neural network approach to robust model predictive control (MPC) for constrained discrete-time nonlinear systems with unmodeled dynamics affected by bounded uncertainties. The exact nonlinear model of underlying process is not precisely known, but a partially known nominal model is available. This partially known nonlinear model is first decomposed to an affine term plus an unknown high-order term via Jacobian linearization. The linearization residue combined with unmodeled dynamics is then modeled using an extreme learning machine via supervised learning. The minimax methodology is exploited to deal with bounded uncertainties. The minimax optimization problem is reformulated as a convex minimization problem and is iteratively solved by a two-layer recurrent neural network. The proposed neurodynamic approach to nonlinear MPC improves the computational efficiency and sheds a light for real-time implementability of MPC technology. Simulation results are provided to substantiate the effectiveness and characteristics of the proposed approach.
Factors Predicting Atypical Development of Nighttime Bladder Control
Sullivan, Sarah; Heron, Jon
2015-01-01
ABSTRACT: Objective: To derive latent classes (longitudinal “phenotypes”) of frequency of bedwetting from 4 to 9 years and to examine their association with developmental delay, parental history of bedwetting, length of gestation and birth weight. Method: The authors used data from 8,769 children from the UK Avon Longitudinal Study of Parents and Children cohort. Mothers provided repeated reports on their child's frequency of bedwetting from 4 to 9 years. The authors used longitudinal latent class analysis to derive latent classes of bedwetting and examined their association with sex, developmental level at 18 months, parental history of wetting, birth weight, and gestational length. Results: The authors identified 5 latent classes: (1) “normative”—low probability of bedwetting; (2) “infrequent delayed”—delayed attainment of nighttime bladder control with bedwetting
Quality by control: Towards model predictive control of mammalian cell culture bioprocesses.
Sommeregger, Wolfgang; Sissolak, Bernhard; Kandra, Kulwant; von Stosch, Moritz; Mayer, Martin; Striedner, Gerald
2017-07-01
The industrial production of complex biopharmaceuticals using recombinant mammalian cell lines is still mainly built on a quality by testing approach, which is represented by fixed process conditions and extensive testing of the end-product. In 2004 the FDA launched the process analytical technology initiative, aiming to guide the industry towards advanced process monitoring and better understanding of how critical process parameters affect the critical quality attributes. Implementation of process analytical technology into the bio-production process enables moving from the quality by testing to a more flexible quality by design approach. The application of advanced sensor systems in combination with mathematical modelling techniques offers enhanced process understanding, allows on-line prediction of critical quality attributes and subsequently real-time product quality control. In this review opportunities and unsolved issues on the road to a successful quality by design and dynamic control implementation are discussed. A major focus is directed on the preconditions for the application of model predictive control for mammalian cell culture bioprocesses. Design of experiments providing information about the process dynamics upon parameter change, dynamic process models, on-line process state predictions and powerful software environments seem to be a prerequisite for quality by control realization. © 2017 The Authors. Biotechnology Journal published by WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
Neural network-based nonlinear model predictive control vs. linear quadratic gaussian control
Cho, C.; Vance, R.; Mardi, N.; Qian, Z.; Prisbrey, K.
1997-01-01
One problem with the application of neural networks to the multivariable control of mineral and extractive processes is determining whether and how to use them. The objective of this investigation was to compare neural network control to more conventional strategies and to determine if there are any advantages in using neural network control in terms of set-point tracking, rise time, settling time, disturbance rejection and other criteria. The procedure involved developing neural network controllers using both historical plant data and simulation models. Various control patterns were tried, including both inverse and direct neural network plant models. These were compared to state space controllers that are, by nature, linear. For grinding and leaching circuits, a nonlinear neural network-based model predictive control strategy was superior to a state space-based linear quadratic gaussian controller. The investigation pointed out the importance of incorporating state space into neural networks by making them recurrent, i.e., feeding certain output state variables into input nodes in the neural network. It was concluded that neural network controllers can have better disturbance rejection, set-point tracking, rise time, settling time and lower set-point overshoot, and it was also concluded that neural network controllers can be more reliable and easy to implement in complex, multivariable plants.
A Disturbance Rejection for Model Predictive Control Using a Multivariable Disturbance Observer
NASA Astrophysics Data System (ADS)
Tange, Yoshio; Matsui, Tetsuro; Matsumoto, Koji; Nishida, Hideyuki
Model predictive control has been widely used in industrial applications. And more efficient and more precise control is being required to meet growing demands such as energy savings and fewer emissions in industrial plants. In this paper, we focus on step response model based predictive control, which is one of most applied predictive control methods, and propose a new disturbance rejection method to overcome control performance degradation caused by unmeasured ramp-like disturbances.
Predictive powertrain control using powertrain history and GPS data
Weslati, Feisel; Krupadanam, Ashish A
2015-03-03
A method and powertrain apparatus that predicts a route of travel for a vehicle and uses historical powertrain loads and speeds for the predicted route of travel to optimize at least one powertrain operation for the vehicle.
Shared developmental programme strongly constrains beak shape diversity in songbirds.
Fritz, Joerg A; Brancale, Joseph; Tokita, Masayoshi; Burns, Kevin J; Hawkins, M Brent; Abzhanov, Arhat; Brenner, Michael P
2014-04-16
The striking diversity of bird beak shapes is an outcome of natural selection, yet the relative importance of the limitations imposed by the process of beak development on generating such variation is unclear. Untangling these factors requires mapping developmental mechanisms over a phylogeny far exceeding model systems studied thus far. We address this issue with a comparative morphometric analysis of beak shape in a diverse group of songbirds. Here we show that the dynamics of the proliferative growth zone must follow restrictive rules to explain the observed variation, with beak diversity constrained to a three parameter family of shapes, parameterized by length, depth and the degree of shear. We experimentally verify these predictions by analysing cell proliferation in the developing embryonic beaks of the zebra finch. Our findings indicate that beak shape variability in many songbirds is strongly constrained by shared properties of the developmental programme controlling the growth zone.
NASA Astrophysics Data System (ADS)
Delbridge, B. G.; Burgmann, R.; Fielding, E. J.; Hensley, S.; Schulz, W. H.
2013-12-01
This project focuses on improving our understanding of the physical mechanisms controlling landslide motion by studying the landslide-wide kinematics of the Slumgullion landslide in southwestern Colorado using interferometric synthetic aperture radar (InSAR) and GPS. The NASA/JPL UAVSAR airborne repeat-pass SAR interferometry system imaged the Slumgullion landslide from 4 look directions on eight flights in 2011 and 2012. Combining the four look directions allows us to extract the full 3-D velocity field of the surface. Observing the full 3-dimensional flow field allows us to extract the full strain tensor (assuming free surface boundary conditions and incompressible flow) since we have both the spatial resolution to take spatial derivates and full deformation information. COSMO-SkyMed(CSK) high-resolution Spotlight data was also acquired during time intervals overlapping with the UAVSAR one-week pairs, with intervals as short as one day. These observations allow for the quantitative testing of the deformation magnitude and estimated formal errors in the UAVSAR derived deformation field. We also test the agreement of the deformation at 20 GPS monitoring sites concurrently acquired by the USGS. We also utilize the temporal resolution of real-time GPS acquired by the UC Berkeley Active Tectonics Group during a temporary deployment from July 22nd - August 2nd. By combining this data with the kinematic data we hope to elucidate the response of the landslide to environmental changes such as rainfall, snowmelt, and atmospheric pressure, and consequently the mechanisms controlling the dynamics of the landslide system. To constrain the longer temporal dynamics, interferograms made from pairs of CSK images acquired in 2010, 2011, 2012 and 2013 reveal the slide deformation on a longer timescale by allowing us to measure meters of motion and see the average rates over year long intervals using pixel offset tracking of the high-resolution SAR amplitude images. The results of
EPR oxygen images predict tumor control by a 50 percent tumor control radiation dose
Elas, Martyna; Magwood, Jessica M.; Butler, Brandi; Li, Chanel; Wardak, Rona; Barth, Eugene D.; Epel, Boris; Rubinstein, Samuel; Pelizzari, Charles A.; Weichselbaum, Ralph R.; Halpern, Howard J.
2013-01-01
Clinical trials to ameliorate hypoxia as a strategy to relieve the radiation resistance it causes have prompted a need to assay the precise extent and location of hypoxia in tumors. Electron Paramagnetic Resonance oxygen imaging (EPR O2 imaging) provides a non-invasive means to address this need. To obtain a preclinical proof of principle that EPR O2 images could predict radiation control, we treated mouse tumors at or near doses required to achieve 50 percent control (TCD50). Mice with FSa fibrosarcoma or MCa4 carcinoma were subjected to EPR O2 imaging and immediately radiated to a TCD50 or TCD50 ±10 Gy.. Statistical analysis was permitted by collection of ~ 1300 tumor pO2 image voxels, including the fraction of tumor voxels with pO2 less than 10 mm Hg (HF10). Tumors were followed for 90 days (FSa) or 120 days (MCa4) to determine local control or failure. HF10 obtained from EPR images showed statistically significant differences between tumors that were controlled by the TCD50 and those that were not controlled for both FSa and MCa4. Kaplan-Meier analysis of both types of tumors showed ~90% of mildly hypoxic tumors were controlled (HF10<10%), and only 37% (FSA) and 23% (MCa4) tumors controlled if hypoxic. EPR pO2 image voxel distributions in these ~0.5 ml tumors provide a prediction of radiation curability independent of radiation dose. These data confirm the significance of EPR pO2 hypoxic fractions. The ~90% control of low HF10 tumors argue that ½ ml subvolumes of tumors may be more sensitive to radiation and may need less radiation for high tumor control rates. PMID:23861469
Choosing health, constrained choices.
Chee Khoon Chan
2009-12-01
In parallel with the neo-liberal retrenchment of the welfarist state, an increasing emphasis on the responsibility of individuals in managing their own affairs and their well-being has been evident. In the health arena for instance, this was a major theme permeating the UK government's White Paper Choosing Health: Making Healthy Choices Easier (2004), which appealed to an ethos of autonomy and self-actualization through activity and consumption which merited esteem. As a counterpoint to this growing trend of informed responsibilization, constrained choices (constrained agency) provides a useful framework for a judicious balance and sense of proportion between an individual behavioural focus and a focus on societal, systemic, and structural determinants of health and well-being. Constrained choices is also a conceptual bridge between responsibilization and population health which could be further developed within an integrative biosocial perspective one might refer to as the social ecology of health and disease.
Kunz, Martin; Liddle, Andrew R.; Parkinson, David; Gao Changjun
2009-10-15
Cosmological observations are normally fit under the assumption that the dark sector can be decomposed into dark matter and dark energy components. However, as long as the probes remain purely gravitational, there is no unique decomposition and observations can only constrain a single dark fluid; this is known as the dark degeneracy. We use observations to directly constrain this dark fluid in a model-independent way, demonstrating, in particular, that the data cannot be fit by a dark fluid with a single constant equation of state. Parametrizing the dark fluid equation of state by a variety of polynomials in the scale factor a, we use current kinematical data to constrain the parameters. While the simplest interpretation of the dark fluid remains that it is comprised of separate dark matter and cosmological constant contributions, our results cover other model types including unified dark energy/matter scenarios.
NASA Astrophysics Data System (ADS)
Ortega, A. M.; Palm, B. B.; Hayes, P. L.; Day, D. A.; Cubison, M.; Brune, W. H.; Hu, W.; Graus, M.; Warneke, C.; Gilman, J.; De Gouw, J. A.; Jimenez, J. L.
2014-12-01
To investigate atmospheric processing of urban emissions, we deployed an oxidation flow reactor with measurements of size-resolved chemical composition of submicron aerosol during CalNex-LA, a field study investigating air quality and climate change at a receptor site in the Los Angeles Basin. The reactor produces OH concentrations up to 4 orders of magnitude higher than in ambient air, achieving equivalent atmospheric aging of hours to ~2 weeks in 5 minutes of processing. The OH exposure (OHexp) was stepped every 20 min to survey the effects of a range of oxidation exposures on gases and aerosols. This approach is a valuable tool for in-situ evaluation of changes in organic aerosol (OA) concentration and composition due to photochemical processing over a range of ambient atmospheric conditions and composition. Combined with collocated gas-phase measurements of volatile organic compounds, this novel approach enables the comparison of measured SOA to predicted SOA formation from a prescribed set of precursors. Results from CalNex-LA show enhancements of OA and inorganic aerosol from gas-phase precursors. The OA mass enhancement from aging was highest at night and correlated with trimethylbenzene, indicating the importance of relatively short-lived VOC (OH lifetime of ~12 hrs or less) as SOA precursors in the LA Basin. Maximum net SOA production is observed between 3-6 days of aging and decreases at higher exposures. Aging in the reactor shows similar behavior to atmospheric processing; the elemental composition of ambient and reactor measurements follow similar slopes when plotted in a Van Krevelen diagram. Additionally, for air processed in the reactor, oxygen-to-carbon ratios (O/C) of aerosol extended over a larger range compared to ambient aerosol observed in the LA Basin. While reactor aging always increases O/C, often beyond maximum observed ambient levels, a transition from net OA production to destruction occurs at intermediate OHexp, suggesting a transition
NASA Technical Reports Server (NTRS)
Kvaternik, Raymond G.; Juang, Jer-Nan; Bennett, Richard L.
2000-01-01
The Aeroelasticity Branch at NASA Langley Research Center has a long and substantive history of tiltrotor aeroelastic research. That research has included a broad range of experimental investigations in the Langley Transonic Dynamics Tunnel (TDT) using a variety of scale models and the development of essential analyses. Since 1994, the tiltrotor research program has been using a 1/5-scale, semispan aeroelastic model of the V-22 designed and built by Bell Helicopter Textron Inc. (BHTI) in 1981. That model has been refurbished to form a tiltrotor research testbed called the Wing and Rotor Aeroelastic Test System (WRATS) for use in the TDT. In collaboration with BHTI, studies under the current tiltrotor research program are focused on aeroelastic technology areas having the potential for enhancing the commercial and military viability of tiltrotor aircraft. Among the areas being addressed, considerable emphasis is being directed to the evaluation of modern adaptive multi-input multi- output (MIMO) control techniques for active stability augmentation and vibration control of tiltrotor aircraft. As part of this investigation, a predictive control technique known as Generalized Predictive Control (GPC) is being studied to assess its potential for actively controlling the swashplate of tiltrotor aircraft to enhance aeroelastic stability in both helicopter and airplane modes of flight. This paper summarizes the exploratory numerical and experimental studies that were conducted as part of that investigation.
Predictable SCR co-benefits for mercury control
Pritchard, S.
2009-01-15
A test program, performed in cooperation with Dominion Power and the Babcock and Wilcox Co., was executed at Dominion Power's Mount Storm power plant in Grant County, W. Va. The program was focused on both the selective catalytic reduction (SCR) catalyst capability to oxide mercury as well as the scrubber's capability to capture and retain the oxidized mercury. This article focuses on the SCR catalyst performance aspects. The Mount Storm site consists of three units totaling approximately 1,660 MW. All units are equipped with SCR systems for NOx control. A full-scale test to evaluate the effect of the SCR was performed on Unit 2, a 550 MWT-fired boiler firing a medium sulfur bituminous coal. This test program demonstrated that the presence of an SCR catalyst can significantly affect the mercury speciation profile. Observation showed that in the absence of an SCR catalyst, the extent of oxidation of element a mercury at the inlet of the flue gas desulfurization system was about 64%. The presence of a Cornertech SCR catalyst improved this oxidation to levels greater than 95% almost all of which was captured by the downstream wet FGD system. Cornertech's proprietary SCR Hg oxidation model was used to accurately predict the field results. 1 ref., 2 figs., 1 tab.
NASA Technical Reports Server (NTRS)
Conway, Sheila R.
2006-01-01
Simple agent-based models may be useful for investigating air traffic control strategies as a precursory screening for more costly, higher fidelity simulation. Of concern is the ability of the models to capture the essence of the system and provide insight into system behavior in a timely manner and without breaking the bank. The method is put to the test with the development of a model to address situations where capacity is overburdened and potential for propagation of the resultant delay though later flights is possible via flight dependencies. The resultant model includes primitive representations of principal air traffic system attributes, namely system capacity, demand, airline schedules and strategy, and aircraft capability. It affords a venue to explore their interdependence in a time-dependent, dynamic system simulation. The scope of the research question and the carefully-chosen modeling fidelity did allow for the development of an agent-based model in short order. The model predicted non-linear behavior given certain initial conditions and system control strategies. Additionally, a combination of the model and dimensionless techniques borrowed from fluid systems was demonstrated that can predict the system s dynamic behavior across a wide range of parametric settings.
Autonomous Reactor Control Using Model Based Predictive Control for Space Propulsion Applications
Bragg-Sitton, Shannon M.; Holloway, James Paul
2005-02-06
Reliable reactor control is important to reactor safety, both in terrestrial and space systems. For a space system, where the time for communication to Earth is significant, autonomous control is imperative. Based on feedback from reactor diagnostics, a controller must be able to automatically adjust to changes in reactor temperature and power level to maintain nominal operation without user intervention. Model-based predictive control (MBPC) (Clarke 1994; Morari 1994) is investigated as a potential control methodology for reactor start-up and transient operation in the presence of an external source. Bragg-Sitton and Holloway (2004) assessed the applicability of MBPC to reactor start-up from a cold, zero-power condition in the presence of a time-varying external radiation source, where large fluctuations in the external radiation source can significantly impact a reactor during start-up operations. The MBPC algorithm applied the point kinetics model to describe the reactor dynamics, using a single group of delayed neutrons; initial application considered a fast neutron lifetime (10-3 sec) to simplify calculations during initial controller analysis. The present study will more accurately specify the dynamics of a fast reactor, using a more appropriate fast neutron lifetime (10-7 sec) than in the previous work. Controller stability will also be assessed by carefully considering the dependencies of each component in the defined cost (objective) function and its subsequent effect on the selected 'optimal' control maneuvers.
NASA Astrophysics Data System (ADS)
Wang, Liuping; Gan, Lu
2013-08-01
Linear controllers with gain scheduling have been successfully used in the control of nonlinear systems for the past several decades. This paper proposes the design of gain scheduled continuous-time model predictive controller with constraints. Using induction machine as an illustrative example, the paper will show the four steps involved in the design of a gain scheduled predictive controller: (i) linearisation of a nonlinear plant according to operating conditions; (ii) the design of linear predictive controllers for the family of linear models; (iii) gain scheduled predictive control law that will optimise a multiple model objective function with constraints, which will also ensure smooth transitions (i.e. bumpless transfer) between the predictive controllers; (iv) experimental validation of the gain scheduled predictive control system with constraints.
NASA Astrophysics Data System (ADS)
Johnson, Erik A.; Elhaddad, Wael M.; Wojtkiewicz, Steven F.
2016-04-01
A variety of strategies have been developed over the past few decades to determine controllable damping device forces to mitigate the response of structures and mechanical systems to natural hazards and other excitations. These "smart" damping devices produce forces through passive means but have properties that can be controlled in real time, based on sensor measurements of response across the structure, to dramatically reduce structural motion by exploiting more than the local "information" that is available to purely passive devices. A common strategy is to design optimal damping forces using active control approaches and then try to reproduce those forces with the smart damper. However, these design forces, for some structures and performance objectives, may achieve high performance by selectively adding energy, which cannot be replicated by a controllable damping device, causing the smart damper performance to fall far short of what an active system would provide. The authors have recently demonstrated that a model predictive control strategy using hybrid system models, which utilize both continuous and binary states (the latter to capture the switching behavior between dissipative and non-dissipative forces), can provide reductions in structural response on the order of 50% relative to the conventional clipped-optimal design strategy. This paper explores the robustness of this newly proposed control strategy through evaluating controllable damper performance when the structure model differs from the nominal one used to design the damping strategy. Results from the application to a two-degree-of-freedom structure model confirms the robustness of the proposed strategy.
Haves, Phillip; Hencey, Brandon; Borrell, Francesco; Elliot, John; Ma, Yudong; Coffey, Brian; Bengea, Sorin; Wetter, Michael
2010-06-29
constrained and often determined by the chilled water return temperature (CHWR). The CHWR temperature is primarily comprised of warm water from the top of the TES tank. The CHWR temperature falls substantially as the thermocline approaches the top of the tank, which reduces the chiller loading. As a result, it has been determined that overcharging the TES tank can be detrimental to the chilled water plant efficiency. The resulting MPC policy differs from the current practice of fully charging the TES tank. A heuristic rule could possible avoid this problem without using predictive control. Similarly, the COP improvements from the change in CWS set-point were largely captured by a static set-point change by the operators. Further research is required to determine how much of the MPC savings could be garnered through simplified rules (based on the MPC study), with and without prediction.
Active Constrained Layer Damping of Thin Cylindrical Shells
NASA Astrophysics Data System (ADS)
RAY, M. C.; OH, J.; BAZ, A.
2001-03-01
The effectiveness of the active constrained layer damping (ACLD) treatments in enhancing the damping characteristics of thin cylindrical shells is presented. A finite element model (FEM) is developed to describe the dynamic interaction between the shells and the ACLD treatments. Experiments are performed to verify the numerical predictions. The obtained results suggest the potential of the ACLD treatments in controlling the vibration of cylindrical shells which constitute the major building block of many critical structures such as cabins of aircrafts, hulls of submarines and bodies of rockets and missiles.
Predictive Poincaré control: A control theory for chaotic systems
NASA Astrophysics Data System (ADS)
Schweizer, Jörg; Kennedy, Michael Peter
1995-11-01
One of the most interesting features of chaotic systems is the large number of unstable orbits embedded in a chaotic attractor. In this work, we propose a global chaos-control technique called predictive Poincaré control (PPC) that permits stabilization of a predefined solution, using only small control pulses. We prove this result for a large class of n-dimensional chaotic systems. The predefined solution can be a periodic or nonperiodic oscillation, expressed by a periodic or nonperiodic symbolic sequence [S. Hayes, C. Grebogi, and E. Ott, Phys. Rev. Lett. 70, 3031 (1993)]. We apply the general PPC scheme to the well known Lorenz model and study its robustness with respect to parasitic effects.
The role of prediction and outcomes in adaptive cognitive control.
Schiffer, Anne-Marike; Waszak, Florian; Yeung, Nick
2015-01-01
Humans adaptively perform actions to achieve their goals. This flexible behaviour requires two core abilities: the ability to anticipate the outcomes of candidate actions and the ability to select and implement actions in a goal-directed manner. The ability to predict outcomes has been extensively researched in reinforcement learning paradigms, but this work has often focused on simple actions that are not embedded in hierarchical and sequential structures that are characteristic of goal-directed human behaviour. On the other hand, the ability to select actions in accordance with high-level task goals, particularly in the presence of alternative responses and salient distractors, has been widely researched in cognitive control paradigms. Cognitive control research, however, has often paid less attention to the role of action outcomes. The present review attempts to bridge these accounts by proposing an outcome-guided mechanism for selection of extended actions. Our proposal builds on constructs from the hierarchical reinforcement learning literature, which emphasises the concept of reaching and evaluating informative states, i.e., states that constitute subgoals in complex actions. We develop an account of the neural mechanisms that allow outcome-guided action selection to be achieved in a network that relies on projections from cortical areas to the basal ganglia and back-projections from the basal ganglia to the cortex. These cortico-basal ganglia-thalamo-cortical 'loops' allow convergence - and thus integration - of information from non-adjacent cortical areas (for example between sensory and motor representations). This integration is essential in action sequences, for which achieving an anticipated sensory state signals the successful completion of an action. We further describe how projection pathways within the basal ganglia allow selection between representations, which may pertain to movements, actions, or extended action plans. The model lastly envisages
Analysis, prediction and control of radio frequency interference with respect to DSN
NASA Technical Reports Server (NTRS)
Degroot, N. F.
1982-01-01
Susceptibility modeling, prediction of radio frequency interference from satellites, operational radio frequency interference control, and international regulations are considered. The existing satellite interference prediction program DSIP2 is emphasized. A summary status evaluation and recommendations for future work are given.
Laguna Sanz, Alejandro J; Doyle, Francis J; Dassau, Eyal
2017-05-01
Model predictive control (MPC) performance depends on the accuracy of the prediction model implemented by the controller. Complex physiology and modeling limitations often prevent the ability to provide long and accurate glucose predictions, which results in the need to account for prediction errors. Optimal insulin dosage by Zone-MPC is calculated by solving an optimization problem in which a scalar index is minimized by penalizing relative input deviations and glucose predictions out of the reference zone. The controller's tuning parameters are the penalties on the input variable (insulin). Positive and negative relative inputs are penalized differently. A dynamic adaptation of the tuning parameters based on the accuracy of the model in recent history is implemented in this article and compared in silico to aggressive and conservative tunings of the same controller structure. Similar average glucose and time in the safe glucose range (70-180 mg/dL) are achieved for the adaptive design and traditional controller configurations. However, percentage time under 70 mg/dL is significantly reduced, both for announced meals using bolus compensation and unannounced meals with a meal detection algorithm triggered bolus. No differences in the average insulin delivered were observed between the adaptive design and the conservative or aggressive tuning for the bolus strategy, and the adaptive controller delivered less insulin in the other scenario considered. The adaptive strategy provides safe and effective glucose management as well as significant reduction of hypoglycemia events. No abnormal insulin delivery profiles were observed upon the application of the adaptive strategy.
Constrained density functional for noncollinear magnetism
NASA Astrophysics Data System (ADS)
Ma, Pui-Wai; Dudarev, S. L.
2015-02-01
Energies of arbitrary small- and large-angle noncollinear excited magnetic configurations are computed using a highly accurate constrained density functional theory approach. Numerical convergence and accuracy are controlled by the choice of Lagrange multipliers λI entering the constraining conditions. The penalty part Ep of the constrained energy functional at its minimum is shown to be inversely proportional to λI, enabling a simple, robust, and accurate iterative procedure to be followed to find a convergent solution. The method is implemented as a part of ab initio vasp package, and applied to the investigation of noncollinear B2-like and <001 > double-layer antiferromagnetic configurations of bcc iron, Fe2 dimer, and amorphous iron. Forces acting on atoms depend on the orientations of magnetic moments, and the proposed approach enables constrained self-consistent noncollinear magnetic and structural relaxation of large atomic systems to be carried out.
Gillis, Rachel; Palerm, Cesar C.; Zisser, Howard; Jovanovič, Lois; Seborg, Dale E.; Doyle, Francis J.
2007-01-01
Background A primary challenge for closed-loop glucose control in type 1 diabetes mellitus (T1DM) is the development of a control strategy that will be applicable during all daily activities, including meals, stress, and exercise. A model-based control algorithm requires a mathematical model that has the simplicity for online glucose prediction, yet retains the complexity necessary to cope with variations in insulin sensitivities and carbohydrate ingestion. Methods A modified Bergman minimal model was linearized for Kalman filter (KF) state estimation on data from T1DM subjects, and multiple methods of parameter augmentation were developed for online adaptation. In addition, model deterioration for glucose prediction was assessed to determine an appropriate prediction horizon for model predictive control (MPC). Furthermore, MPC strategies were validated using advisory mode simulations. Results Twenty days of continuous glucose data, which included 97 meals, were evaluated for three subjects. A constant parameter minimal model was used to predict glucose levels for normal days with meal announcement and with a maximum prediction horizon of approximately 45 minutes. In order to attain this prediction horizon in the absence of meal announcement, parameter adaptation was necessary to capture the glucose disturbance. Evaluation of advisory mode MPC permitted effective tuning for a moderately aggressive controller that responded well to meal disturbances. Conclusions Estimation and prediction of glucose were accomplished using a KF based on a modified Bergman model. For a model with no meal announcement, parameter adaptation provided the means for closed-loop implementation. This state estimation and model validation scheme established the necessary framework for advisory mode MPC. PMID:19885154
Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle
2010-07-01
55 Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle Unmanned Underwater Vehicles (UUVs) can be utilized...the vehicle can feasibly traverse. As a result, Sampling- Based Model Predictive Control (SBMPC) is proposed to simultaneously generate control...inputs and system trajectories for an autonomous underwater vehicle (AUV). The algorithm combines the benefits of sampling- based motion planning with
BICEP2 constrains composite inflation
NASA Astrophysics Data System (ADS)
Channuie, Phongpichit
2014-07-01
In light of BICEP2, we re-examine single field inflationary models in which the inflation is a composite state stemming from various four-dimensional strongly coupled theories. We study in the Einstein frame a set of cosmological parameters, the primordial spectral index ns and tensor-to-scalar ratio r, predicted by such models. We confront the predicted results with the joint Planck data, and with the recent BICEP2 data. We constrain the number of e-foldings for composite models of inflation in order to obtain a successful inflation. We find that the minimal composite inflationary model is fully consistent with the Planck data. However it is in tension with the recent BICEP2 data. The observables predicted by the glueball inflationary model can be consistent with both Planck and BICEP2 contours if a suitable number of e-foldings are chosen. Surprisingly, the super Yang-Mills inflationary prediction is significantly consistent with the Planck and BICEP2 observations.
Predictive Techniques for Spacecraft Cabin Air Quality Control
NASA Technical Reports Server (NTRS)
Perry, J. L.; Cromes, Scott D. (Technical Monitor)
2001-01-01
As assembly of the International Space Station (ISS) proceeds, predictive techniques are used to determine the best approach for handling a variety of cabin air quality challenges. These techniques use equipment offgassing data collected from each ISS module before flight to characterize the trace chemical contaminant load. Combined with crew metabolic loads, these data serve as input to a predictive model for assessing the capability of the onboard atmosphere revitalization systems to handle the overall trace contaminant load as station assembly progresses. The techniques for predicting in-flight air quality are summarized along with results from early ISS mission analyses. Results from groundbased analyses of in-flight air quality samples are compared to the predictions to demonstrate the technique's relative conservatism.
Predictive Techniques for Spacecraft Cabin Air Quality Control
NASA Technical Reports Server (NTRS)
Perry, J. L.; Cromes, Scott D. (Technical Monitor)
2001-01-01
As assembly of the International Space Station (ISS) proceeds, predictive techniques are used to determine the best approach for handling a variety of cabin air quality challenges. These techniques use equipment offgassing data collected from each ISS module before flight to characterize the trace chemical contaminant load. Combined with crew metabolic loads, these data serve as input to a predictive model for assessing the capability of the onboard atmosphere revitalization systems to handle the overall trace contaminant load as station assembly progresses. The techniques for predicting in-flight air quality are summarized along with results from early ISS mission analyses. Results from groundbased analyses of in-flight air quality samples are compared to the predictions to demonstrate the technique's relative conservatism.
Predictive motor control of sensory dynamics in auditory active sensing.
Morillon, Benjamin; Hackett, Troy A; Kajikawa, Yoshinao; Schroeder, Charles E
2015-04-01
Neuronal oscillations present potential physiological substrates for brain operations that require temporal prediction. We review this idea in the context of auditory perception. Using speech as an exemplar, we illustrate how hierarchically organized oscillations can be used to parse and encode complex input streams. We then consider the motor system as a major source of rhythms (temporal priors) in auditory processing, that act in concert with attention to sharpen sensory representations and link them across areas. We discuss the circuits that could mediate this audio-motor interaction, notably the potential role of the somatosensory system. Finally, we reposition temporal predictions in the context of internal models, discussing how they interact with feature-based or spatial predictions. We argue that complementary predictions interact synergistically according to the organizational principles of each sensory system, forming multidimensional filters crucial to perception.
Enhanced Model Predictive Control (eMPC) Strategy for Automated Glucose Control.
Lee, Joon Bok; Dassau, Eyal; Gondhalekar, Ravi; Seborg, Dale E; Pinsker, Jordan E; Doyle, Francis J
2016-11-23
Development of an effective artificial pancreas (AP) controller to deliver insulin autonomously to people with type 1 diabetes mellitus is a difficult task. In this paper, three enhancements to a clinically validated AP model predictive controller (MPC) are proposed that address major challenges facing automated blood glucose control, and are then evaluated by both in silico tests and clinical trials. First, the core model of insulin-blood glucose dynamics utilized in the MPC is expanded with a medically inspired personalization scheme to improve controller responses in the face of inter- and intra-individual variations in insulin sensitivity. Next, the asymmetric nature of the short-term consequences of hypoglycemia versus hyperglycemia is incorporated in an asymmetric weighting of the MPC cost function. Finally, an enhanced dynamic insulin-on-board algorithm is proposed to minimize the likelihood of controller-induced hypoglycemia following a rapid rise of blood glucose due to rescue carbohydrate load with accompanying insulin suspension. Each advancement is evaluated separately and in unison through in silico trials based on a new clinical protocol, which incorporates induced hyper- and hypoglycemia to test robustness. The advancements are also evaluated in an advisory mode (simulated) testing of clinical data. The combination of the three proposed advancements show statistically significantly improved performance over the nonpersonalized controller without any enhancements across all metrics, displaying increased time in the 70-180 mg/dL safe glycemic range (76.9 versus 68.8%) and the 80-140 mg/dL euglycemic range (48.1 versus 44.5%), without a statistically significant increase in instances of hypoglycemia. The proposed advancements provide safe control action for AP applications, personalizing and improving controller performance without the need for extensive model identification processes.
Constrained noninformative priors
Atwood, C.L.
1994-10-01
The Jeffreys noninformative prior distribution for a single unknown parameter is the distribution corresponding to a uniform distribution in the transformed model where the unknown parameter is approximately a location parameter. To obtain a prior distribution with a specified mean but with diffusion reflecting great uncertainty, a natural generalization of the noninformative prior is the distribution corresponding to the constrained maximum entropy distribution in the transformed model. Examples are given.
Pupil Control Ideology in Predicting Teacher Discipline Referrals.
ERIC Educational Resources Information Center
Foley, Walter J.; Brooks, Robert
1978-01-01
Concludes that humanism in teachers is related to reporting fewer unresolvable conflicts with pupils and that pupil control ideology and subsequent teacher control behavior (the referring of pupils to the administration for disciplinary action) are related. (Author/IRT)
Prediction Models are Basis for Rational Air Quality Control
ERIC Educational Resources Information Center
Daniels, Anders; Bach, Wilfrid
1973-01-01
An air quality control scheme employing meteorological diffusion, time averaging and frequency, and cost-benefit models is discussed. The methods outlined provide a constant feedback system for air quality control. Flow charts and maps are included. (BL)
Prediction Models are Basis for Rational Air Quality Control
ERIC Educational Resources Information Center
Daniels, Anders; Bach, Wilfrid
1973-01-01
An air quality control scheme employing meteorological diffusion, time averaging and frequency, and cost-benefit models is discussed. The methods outlined provide a constant feedback system for air quality control. Flow charts and maps are included. (BL)
NASA Technical Reports Server (NTRS)
Maughmer, Mark D.; Ozoroski, L.; Ozoroski, T.; Straussfogel, D.
1990-01-01
Many types of hypersonic aircraft configurations are currently being studied for feasibility of future development. Since the control of the hypersonic configurations throughout the speed range has a major impact on acceptable designs, it must be considered in the conceptual design stage. The ability of the aerodynamic analysis methods contained in an industry standard conceptual design system, APAS II, to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds is considered. Predicted control forces and moments generated by various control effectors are compared with previously published wind tunnel and flight test data for three configurations: the North American X-15, the Space Shuttle Orbiter, and a hypersonic research airplane concept. Qualitative summaries of the results are given for each longitudinal force and moment and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage. Results for most lateral/directional control derivatives are acceptable for conceptual design purposes; however, predictions at supersonic Mach numbers for the change in yawing moment due to aileron deflection and the change in rolling moment due to rudder deflection are found to be unacceptable. Including shielding effects in the analysis is shown to have little effect on lift and pitching moment predictions while improving drag predictions.
Hurricane prediction and control: impact of large computers.
Hammond, A L
1973-08-17
This is the third is a continuing series of articles on natural disasters, their prediction and mnodification, and progress in understanding the physical bases of these phenomena. Two earlier articles (Science, 25 May, p. 851, and 1 June, p. 940) reported advances in earthquake prediction. Hurricanes are the subject here. Generally less devastating than major earthquakes-although a single hurricane in 1970 killed an estimated 200,000 persons in Bangladesh-these storms are still the most destructive of all atmospheric phenomena. A recent report of the National Academy of Sciences (see box) recommends that efforts to modify hurricanes and other severe storms become a national goal.
Adaptive Data-based Predictive Control for Short Take-off and Landing (STOL) Aircraft
NASA Technical Reports Server (NTRS)
Barlow, Jonathan Spencer; Acosta, Diana Michelle; Phan, Minh Q.
2010-01-01
Data-based Predictive Control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. The characteristics of adaptive data-based predictive control are particularly appropriate for the control of nonlinear and time-varying systems, such as Short Take-off and Landing (STOL) aircraft. STOL is a capability of interest to NASA because conceptual Cruise Efficient Short Take-off and Landing (CESTOL) transport aircraft offer the ability to reduce congestion in the terminal area by utilizing existing shorter runways at airports, as well as to lower community noise by flying steep approach and climb-out patterns that reduce the noise footprint of the aircraft. In this study, adaptive data-based predictive control is implemented as an integrated flight-propulsion controller for the outer-loop control of a CESTOL-type aircraft. Results show that the controller successfully tracks velocity while attempting to maintain a constant flight path angle, using longitudinal command, thrust and flap setting as the control inputs.
ERIC Educational Resources Information Center
Hughes, Gethin; Desantis, Andrea; Waszak, Florian
2013-01-01
Sensory processing of action effects has been shown to differ from that of externally triggered stimuli, with respect both to the perceived timing of their occurrence (intentional binding) and to their intensity (sensory attenuation). These phenomena are normally attributed to forward action models, such that when action prediction is consistent…
Constraining weak annihilation using semileptonic D decays
Ligeti, Zoltan; Luke, Michael; Manohar, Aneesh V.
2010-08-01
The recently measured semileptonic D{sub s} decay rate can be used to constrain weak annihilation (WA) effects in semileptonic D and B decays. We revisit the theoretical predictions for inclusive semileptonic D{sub (s)} decays using a variety of quark mass schemes. The most reliable results are obtained if the fits to B decay distributions are used to eliminate the charm quark mass dependence, without using any specific charm mass scheme. Our fit to the available data shows that WA is smaller than commonly assumed. There is no indication that the WA octet contribution (which is better constrained than the singlet contribution) dominates. The results constrain an important source of uncertainty in the extraction of |V{sub ub}| from inclusive semileptonic B decays.
Zhang, Jianming
2017-03-01
An improved proportional-integral-derivative (PID) controller based on predictive functional control (PFC) is proposed and tested on the chamber pressure in an industrial coke furnace. The proposed design is motivated by the fact that PID controllers for industrial processes with time delay may not achieve the desired control performance because of the unavoidable model/plant mismatches, while model predictive control (MPC) is suitable for such situations. In this paper, PID control and PFC algorithm are combined to form a new PID controller that has the basic characteristic of PFC algorithm and at the same time, the simple structure of traditional PID controller. The proposed controller was tested in terms of set-point tracking and disturbance rejection, where the obtained results showed that the proposed controller had the better ensemble performance compared with traditional PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
An application of generalized predictive control to rotorcraft terrain-following flight
NASA Technical Reports Server (NTRS)
Hess, Ronald A.; Jung, Yoon C.
1989-01-01
Generalized predictive control (GPC) describes an algorithm for the control of dynamic systems in which a control input is generated which minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. The GPC algorithm is first applied to a simplified rotorcraft terrain-following problem, and GPC performance is compared to that of a conventional compensatory automatic system in terms of flight-path following, control activity, and control law implementation. Next, more realistic vehicle dynamics are utilized, and the GPC algorithm is applied to simultaneous terrain following and velocity control in the presence of atmospheric disturbances and errors in the internal model of the vehicle. The online computational and sensing requirements for implementing the GPC algorithm are minimal. Its use for manual control models appears promising.
Order-constrained linear optimization.
Tidwell, Joe W; Dougherty, Michael R; Chrabaszcz, Jeffrey S; Thomas, Rick P
2017-02-27
Despite the fact that data and theories in the social, behavioural, and health sciences are often represented on an ordinal scale, there has been relatively little emphasis on modelling ordinal properties. The most common analytic framework used in psychological science is the general linear model, whose variants include ANOVA, MANOVA, and ordinary linear regression. While these methods are designed to provide the best fit to the metric properties of the data, they are not designed to maximally model ordinal properties. In this paper, we develop an order-constrained linear least-squares (OCLO) optimization algorithm that maximizes the linear least-squares fit to the data conditional on maximizing the ordinal fit based on Kendall's τ. The algorithm builds on the maximum rank correlation estimator (Han, 1987, Journal of Econometrics, 35, 303) and the general monotone model (Dougherty & Thomas, 2012, Psychological Review, 119, 321). Analyses of simulated data indicate that when modelling data that adhere to the assumptions of ordinary least squares, OCLO shows minimal bias, little increase in variance, and almost no loss in out-of-sample predictive accuracy. In contrast, under conditions in which data include a small number of extreme scores (fat-tailed distributions), OCLO shows less bias and variance, and substantially better out-of-sample predictive accuracy, even when the outliers are removed. We show that the advantages of OCLO over ordinary least squares in predicting new observations hold across a variety of scenarios in which researchers must decide to retain or eliminate extreme scores when fitting data.
Self-tuning Generalized Predictive Control applied to terrain following flight
NASA Technical Reports Server (NTRS)
Hess, R. A.; Jung, Y. C.
1989-01-01
Generalized Predictive Control (GPC) describes an algorithm for the control of dynamic systems in which a control input is generated which minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. Self-tuning GPC refers to an implementation of the GPC algorithm in which the parameters of the internal model(s) are estimated on-line and the predictive control law tuned to the parameters so identified. The self-tuning GPC algorithm is applied to a problem of rotorcraft longitudinal/vertical terrain-following flight. The ability of the algorithm to tune to the initial vehicle parameters and to successfully adapt to a stability augmentation failure is demonstrated. Flight path performance is compared to a conventional, classically designed flight path control system.
Predictive Display Design for a Two-Axis Control Task.
1982-08-01
elementary processes (Sheridan and Rouse 1971, Rouse 1973, Van Heusden 1977). The problem is particularly acute in flight systems and missile guidance...26. VAN HEUSDEN , A R (1977) Models for human prediction of process variables. In Proceedings of Symposium on Human Operators and Simulation
A Novel Method to Predict Circulation Control Noise
2016-03-17
curren~y valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE (00-MM-YYYY) 1 2. REPORT TYPE 3. DATES...Circulation Control Noise 5b. GRANT NUMBER N00014-12-1-0544 Sc. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Sd. PROJECT NUMBER Robert Reger, Adam Nickels...Underwater vehicles suffer from reduced maneuverability with conventional lifting appendages. Circulation control (CC) offers a method to increase
Intermittent redesign of continuous controllers
NASA Astrophysics Data System (ADS)
Gawthrop, Peter J.; Wang, Liuping
2010-08-01
The reverse-engineering idea developed by Maciejowski in the context of model-based predictive control is applied to the redesign of continuous-time compensators as intermittent controllers. Not only does this give a way of designing constrained input and state versions of continuous-time compensators but also provides a method for turning continuous-time compensators into event-driven versions. The procedure is illustrated by three examples: an event-driven PID controller relevant to the human balance control problem, a constrained version of the classical mechanical vibration absorber of den Hartog and an event driven and constrained vibration absorber.
Inhibitory Control Predicts Language Switching Performance in Trilingual Speech Production
ERIC Educational Resources Information Center
Linck, Jared A.; Schwieter, John W.; Sunderman, Gretchen
2012-01-01
This study investigated the role of domain-general inhibitory control in trilingual speech production. Taking an individual differences approach, we examined the relationship between performance on a non-linguistic measure of inhibitory control (the Simon task) and a multilingual language switching task for a group of fifty-six native English (L1)…
Predicting Changes in Older Adults' Interpersonal Control Strivings
ERIC Educational Resources Information Center
Sorkin, Dara H.; Rook, Karen S.; Heckhausen, Jutta; Billimek, John
2009-01-01
People vary in the importance they ascribe to, and efforts they invest in, maintaining positive relationships with others. Research has linked such variation in interpersonal control strivings to the quality of social exchanges experienced, but little work has examined the predictors of interpersonal control strivings. Given the importance of…
Locus of control as predictive of goal-directed behavior.
Collins, H A; Taylor, G A; Burger, G K
1976-04-01
EEO Upward Mobility Program participants were compared with three different control groups along I-E locus of control dimensions. With this instrument and these Ss, no significant differences were found when participation in the program was used as an indicator of goal-directed behavior.
Control, Prediction, Order, and the Joys of Research
ERIC Educational Resources Information Center
Nevin, John A.
2008-01-01
"JEAB"'s first decade featured control of individual behavior by operant contingencies, where the experimenter could interact with a subject in real time and obtain fairly immediate evidence of control, with the possibility of direct extension to applied settings. In subsequent decades, emphasis shifted toward long-term parametric studies with…
Nonlinear model predictive control for chemical looping process
Joshi, Abhinaya; Lei, Hao; Lou, Xinsheng
2017-08-22
A control system for optimizing a chemical looping ("CL") plant includes a reduced order mathematical model ("ROM") that is designed by eliminating mathematical terms that have minimal effect on the outcome. A non-linear optimizer provides various inputs to the ROM and monitors the outputs to determine the optimum inputs that are then provided to the CL plant. An estimator estimates the values of various internal state variables of the CL plant. The system has one structure adapted to control a CL plant that only provides pressure measurements in the CL loops A and B, a second structure adapted to a CL plant that provides pressure measurements and solid levels in both loops A, and B, and a third structure adapted to control a CL plant that provides full information on internal state variables. A final structure provides a neural network NMPC controller to control operation of loops A and B.
Remote control of North Atlantic Oscillation predictability via the stratosphere
NASA Astrophysics Data System (ADS)
Hansen, Felicitas; Greatbatch, Richard J.; Gollan, Gereon; Jung, Thomas; Weisheimer, Antje
2017-04-01
The phase and amplitude of the North Atlantic Oscillation (NAO) are influenced by numerous factors, including sea-surface temperature (SST) anomalies in both the Tropics and extratropics and stratospheric extreme events like stratospheric sudden warmings (SSWs). Analyzing seasonal forecast experiments, which cover the winters from 1979/1980-2013/2014, with the European Centre for Medium-Range Weather Forecast model, we investigate how these factors affect NAO variability and predictability. Building on the idea that tropical influence might happen via the stratosphere, special emphasis is placed on the role of major SSWs. Relaxation experiments are performed, where different regions of the atmosphere are relaxed towards ERA-Interim to obtain perfect forecasts in those regions. By comparing experiments with relaxation in the tropical atmosphere, performed with an atmosphere-only model on the one hand and a coupled atmosphere-ocean model version on the other, the importance of extratropical atmosphere-ocean interaction is addressed. Our results suggest that a perfect forecast of the tropical atmosphere and allowing two-way atmosphere-ocean coupling in the extratropics seem to be key ingredients for successful SSW predictions. In combination with SSW occurrence, a clear shift of the predicted NAO towards lower values occurs.
ERIC Educational Resources Information Center
Kopystynska, Olena; Spinrad, Tracy L.; Seay, Danielle M.; Eisenberg, Nancy
2016-01-01
The goal of this work was to examine the complex interrelation of mothers' early gentle control and sensitivity in predicting children's effortful control (EC) and academic functioning. Maternal gentle control, maternal sensitivity, and children's EC were measured when children were 18, 30, and 42 months of age (T1, T2, and T3, respectively), and…
ERIC Educational Resources Information Center
Kopystynska, Olena; Spinrad, Tracy L.; Seay, Danielle M.; Eisenberg, Nancy
2016-01-01
The goal of this work was to examine the complex interrelation of mothers' early gentle control and sensitivity in predicting children's effortful control (EC) and academic functioning. Maternal gentle control, maternal sensitivity, and children's EC were measured when children were 18, 30, and 42 months of age (T1, T2, and T3, respectively), and…
Huyett, Lauren M; Ly, Trang T; Forlenza, Gregory P; Reuschel-DiVirgilio, Suzette; Messer, Laurel H; Wadwa, R Paul; Gondhalekar, Ravi; Doyle, Francis J; Pinsker, Jordan E; Maahs, David M; Buckingham, Bruce A; Dassau, Eyal
2017-06-01
The artificial pancreas (AP) has the potential to improve glycemic control in adolescents. This article presents the first evaluation in adolescents of the Zone Model Predictive Control and Health Monitoring System (ZMPC+HMS) AP algorithms, and their first evaluation in a supervised outpatient setting with frequent exercise. Adolescents with type 1 diabetes underwent 3 days of closed-loop control (CLC) in a hotel setting with the ZMPC+HMS algorithms on the Diabetes Assistant platform. Subjects engaged in twice-daily exercise, including soccer, tennis, and bicycling. Meal size (unrestricted) was estimated and entered into the system by subjects to trigger a bolus, but exercise was not announced. Ten adolescents (11.9-17.7 years) completed 72 h of CLC, with data on 95 ± 14 h of sensor-augmented pump (SAP) therapy before CLC as a comparison to usual therapy. The percentage of time with continuous glucose monitor (CGM) 70-180 mg/dL was 71% ± 10% during CLC, compared to 57% ± 16% during SAP (P = 0.012). Nocturnal control during CLC was safe, with 0% (0%, 0.6%) of time with CGM <70 mg/dL compared to 1.1% (0.0%, 14%) during SAP. Despite large meals (estimated up to 120 g carbohydrate), only 8.0% ± 6.9% of time during CLC was spent with CGM >250 mg/dL (16% ± 14% during SAP). The system remained connected in CLC for 97% ± 2% of the total study time. No adverse events or severe hypoglycemia occurred. The use of the ZMPC+HMS algorithms is feasible in the adolescent outpatient environment and achieved significantly more time in the desired glycemic range than SAP in the face of unannounced exercise and large announced meal challenges.
Noise prediction and control of Pudong International Airport expansion project.
Lei, Bin; Yang, Xin; Yang, Jianguo
2009-04-01
The Environmental Impact Assessment (EIA) process of the third runway building project of Pudong International Airport is briefly introduced in the paper. The basic principle, the features, and the operation steps of newly imported FAA's Integrated Noise Model (INM) are discussed for evaluating the aircraft noise impacts. The prediction of the aircraft noise and the countermeasures for the noise mitigation are developed, which includes the reasonable runway location, the optimized land use, the selection of low noise aircrafts, the Fly Quit Program, the relocation of sensitive receptors and the noise insulation of sensitive buildings. Finally, the expansion project is justified and its feasibility is confirmed.
NASA Technical Reports Server (NTRS)
Cull, R. C.; Eltimsahy, A. H.
1983-01-01
The present investigation is concerned with the formulation of energy management strategies for stand-alone photovoltaic (PV) systems, taking into account a basic control algorithm for a possible predictive, (and adaptive) controller. The control system controls the flow of energy in the system according to the amount of energy available, and predicts the appropriate control set-points based on the energy (insolation) available by using an appropriate system model. Aspects of adaptation to the conditions of the system are also considered. Attention is given to a statistical analysis technique, the analysis inputs, the analysis procedure, and details regarding the basic control algorithm.
NASA Technical Reports Server (NTRS)
Cull, R. C.; Eltimsahy, A. H.
1983-01-01
The present investigation is concerned with the formulation of energy management strategies for stand-alone photovoltaic (PV) systems, taking into account a basic control algorithm for a possible predictive, (and adaptive) controller. The control system controls the flow of energy in the system according to the amount of energy available, and predicts the appropriate control set-points based on the energy (insolation) available by using an appropriate system model. Aspects of adaptation to the conditions of the system are also considered. Attention is given to a statistical analysis technique, the analysis inputs, the analysis procedure, and details regarding the basic control algorithm.
Predictive control of SOFC based on a GA-RBF neural network model
NASA Astrophysics Data System (ADS)
Wu, Xiao-Juan; Zhu, Xin-Jian; Cao, Guang-Yi; Tu, Heng-Yong
Transients in a load have a significant impact on the performance and durability of a solid oxide fuel cell (SOFC) system. One of the main reasons is that the fuel utilization changes drastically due to the load change. Therefore, in order to guarantee the fuel utilization to operate within a safe range, a nonlinear model predictive control (MPC) method is proposed to control the stack terminal voltage as a proper constant in this paper. The nonlinear predictive controller is based on an improved radial basis function (RBF) neural network identification model. During the process of modeling, the genetic algorithm (GA) is used to optimize the parameters of RBF neural networks. And then a nonlinear predictive control algorithm is applied to track the voltage of the SOFC. Compared with the constant fuel utilization control method, the simulation results show that the nonlinear predictive control algorithm based on the GA-RBF model performs much better.
Learning to Predict and Control the Physics of Our Movements.
Shadmehr, Reza
2017-02-15
When we hold an object in our hand, the mass of the object alters the physics of our arm, changing the relationship between motor commands that our brain sends to our arm muscles and the resulting motion of our hand. If the object is unfamiliar to us, our first movement will exhibit an error, producing a trajectory that is different from the one we had intended. This experience of error initiates learning in our brain, making it so that on the very next attempt our motor commands partially compensate for the unfamiliar physics, resulting in smaller errors. With further practice, the compensation becomes more complete, and our brain forms a model that predicts the physics of the object. This model is a motor memory that frees us from having to relearn the physics the next time that we encounter the object. The mechanism by which the brain transforms sensory prediction errors into corrective motor commands is the basis for how we learn the physics of objects with which we interact. The cerebellum and the motor cortex appear to be critical for our ability to learn physics, allowing us to use tools that extend our capabilities, making us masters of our environment. Copyright © 2017 the authors 0270-6474/17/371663-09$15.00/0.
Learning to Predict and Control the Physics of Our Movements
2017-01-01
When we hold an object in our hand, the mass of the object alters the physics of our arm, changing the relationship between motor commands that our brain sends to our arm muscles and the resulting motion of our hand. If the object is unfamiliar to us, our first movement will exhibit an error, producing a trajectory that is different from the one we had intended. This experience of error initiates learning in our brain, making it so that on the very next attempt our motor commands partially compensate for the unfamiliar physics, resulting in smaller errors. With further practice, the compensation becomes more complete, and our brain forms a model that predicts the physics of the object. This model is a motor memory that frees us from having to relearn the physics the next time that we encounter the object. The mechanism by which the brain transforms sensory prediction errors into corrective motor commands is the basis for how we learn the physics of objects with which we interact. The cerebellum and the motor cortex appear to be critical for our ability to learn physics, allowing us to use tools that extend our capabilities, making us masters of our environment. PMID:28202784
Metabolic syndrome and atypical antipsychotics: Possibility of prediction and control.
Franch Pato, Clara M; Molina Rodríguez, Vicente; Franch Valverde, Juan I
Schizophrenia and other psychotic disorders are associated with high morbidity and mortality, due to inherent health factors, genetic factors, and factors related to psychopharmacological treatment. Antipsychotics, like other drugs, have side-effects that can substantially affect the physical health of patients, with substantive differences in the side-effect profile and in the patients in which these side-effects occur. To understand and identify these risk groups could help to prevent the occurrence of the undesired effects. A prospective study, with 24 months follow-up, was conducted in order to analyse the physical health of severe mental patients under maintenance treatment with atypical antipsychotics, as well as to determine any predictive parameters at anthropometric and/or analytical level for good/bad outcome of metabolic syndrome in these patients. There were no significant changes in the physical and biochemical parameters individually analysed throughout the different visits. The baseline abdominal circumference (lambda Wilks P=.013) and baseline HDL-cholesterol levels (lambda Wilks P=.000) were the parameters that seem to be more relevant above the rest of the metabolic syndrome constituents diagnosis criteria as predictors in the long-term. In the search for predictive factors of metabolic syndrome, HDL-cholesterol and abdominal circumference at the time of inclusion were selected, as such that the worst the baseline results were, the higher probability of long-term improvement. Copyright © 2016 SEP y SEPB. Publicado por Elsevier España, S.L.U. All rights reserved.
Haase, Claudia M; Poulin, Michael J; Heckhausen, Jutta
2012-08-01
What motivates individuals to invest time and effort and overcome obstacles (i.e., strive for primary control) when pursuing important goals? We propose that positive affect predicts primary control striving for career and educational goals, and we explore the mediating role of control beliefs. In Study 1, positive affect predicted primary control striving for career goals in a two-wave longitudinal study of a U.S. sample. In Study 2, positive affect predicted primary control striving for career and educational goals and objective career outcomes in a six-wave longitudinal study of a German sample. Control beliefs partially mediated the longitudinal associations with primary control striving. Thus, when individuals experience positive affect, they become more motivated to invest time and effort, and overcome obstacles when pursuing their goals, in part because they believe they have more control over attaining their goals.
Meditation-induced states predict attentional control over time.
Colzato, Lorenza S; Sellaro, Roberta; Samara, Iliana; Baas, Matthijs; Hommel, Bernhard
2015-12-01
Meditation is becoming an increasingly popular topic for scientific research and various effects of extensive meditation practice (ranging from weeks to several years) on cognitive processes have been demonstrated. Here we show that extensive practice may not be necessary to achieve those effects. Healthy adult non-meditators underwent a brief single session of either focused attention meditation (FAM), which is assumed to increase top-down control, or open monitoring meditation (OMM), which is assumed to weaken top-down control, before performing an Attentional Blink (AB) task - which assesses the efficiency of allocating attention over time. The size of the AB was considerably smaller after OMM than after FAM, which suggests that engaging in meditation immediately creates a cognitive-control state that has a specific impact on how people allocate their attention over time. Copyright © 2015 Elsevier Inc. All rights reserved.
Adaptive and predictive control of a simulated robot arm.
Tolu, Silvia; Vanegas, Mauricio; Garrido, Jesús A; Luque, Niceto R; Ros, Eduardo
2013-06-01
In this work, a basic cerebellar neural layer and a machine learning engine are embedded in a recurrent loop which avoids dealing with the motor error or distal error problem. The presented approach learns the motor control based on available sensor error estimates (position, velocity, and acceleration) without explicitly knowing the motor errors. The paper focuses on how to decompose the input into different components in order to facilitate the learning process using an automatic incremental learning model (locally weighted projection regression (LWPR) algorithm). LWPR incrementally learns the forward model of the robot arm and provides the cerebellar module with optimal pre-processed signals. We present a recurrent adaptive control architecture in which an adaptive feedback (AF) controller guarantees a precise, compliant, and stable control during the manipulation of objects. Therefore, this approach efficiently integrates a bio-inspired module (cerebellar circuitry) with a machine learning component (LWPR). The cerebellar-LWPR synergy makes the robot adaptable to changing conditions. We evaluate how this scheme scales for robot-arms of a high number of degrees of freedom (DOFs) using a simulated model of a robot arm of the new generation of light weight robots (LWRs).
Cognitive Control Predicts Academic Achievement in Kindergarten Children
ERIC Educational Resources Information Center
Coldren, Jeffrey T.
2013-01-01
Children's ability to shift behavior in response to changing environmental demands is critical for successful intellectual functioning. While the processes underlying the development of cognitive control have been thoroughly investigated, its functioning in an ecologically relevant setting such as school is less well understood. Given the alarming…
Cognitive Control Predicts Academic Achievement in Kindergarten Children
ERIC Educational Resources Information Center
Coldren, Jeffrey T.
2013-01-01
Children's ability to shift behavior in response to changing environmental demands is critical for successful intellectual functioning. While the processes underlying the development of cognitive control have been thoroughly investigated, its functioning in an ecologically relevant setting such as school is less well understood. Given the alarming…
Integration of Predictive Routing Information with Dynamic Traffic Signal Control
1994-05-01
vehicles without the on-board guidance aid (Harris, S., Rabone , A., et.al., 1992). The simulation developed was called ROute GUidance Simulation (ROGUS...Florida. Harris, S., Rabone , A., et.al. 1992. ROGUS: A Simulation of Dynamic Route Guidance Systems. Traffic Engineering and Control(33)327-329
Predicting Preschool Effortful Control from Toddler Temperament and Parenting Behavior
ERIC Educational Resources Information Center
Cipriano, Elizabeth A.; Stifter, Cynthia A.
2010-01-01
This longitudinal study assessed whether maternal behavior and emotional tone moderated the relationship between toddler temperament and preschooler's effortful control. Maternal behavior and emotional tone were observed during a parent-child competing demands task when children were 2 years of age. Child temperament was also assessed at 2 years…
Constrained space camera assembly
Heckendorn, Frank M.; Anderson, Erin K.; Robinson, Casandra W.; Haynes, Harriet B.
1999-01-01
A constrained space camera assembly which is intended to be lowered through a hole into a tank, a borehole or another cavity. The assembly includes a generally cylindrical chamber comprising a head and a body and a wiring-carrying conduit extending from the chamber. Means are included in the chamber for rotating the body about the head without breaking an airtight seal formed therebetween. The assembly may be pressurized and accompanied with a pressure sensing means for sensing if a breach has occurred in the assembly. In one embodiment, two cameras, separated from their respective lenses, are installed on a mounting apparatus disposed in the chamber. The mounting apparatus includes means allowing both longitudinal and lateral movement of the cameras. Moving the cameras longitudinally focuses the cameras, and moving the cameras laterally away from one another effectively converges the cameras so that close objects can be viewed. The assembly further includes means for moving lenses of different magnification forward of the cameras.
New technologies in predicting, preventing and controlling emerging infectious diseases
Christaki, Eirini
2015-01-01
Surveillance of emerging infectious diseases is vital for the early identification of public health threats. Emergence of novel infections is linked to human factors such as population density, travel and trade and ecological factors like climate change and agricultural practices. A wealth of new technologies is becoming increasingly available for the rapid molecular identification of pathogens but also for the more accurate monitoring of infectious disease activity. Web-based surveillance tools and epidemic intelligence methods, used by all major public health institutions, are intended to facilitate risk assessment and timely outbreak detection. In this review, we present new methods for regional and global infectious disease surveillance and advances in epidemic modeling aimed to predict and prevent future infectious diseases threats. PMID:26068569
New technologies in predicting, preventing and controlling emerging infectious diseases.
Christaki, Eirini
2015-01-01
Surveillance of emerging infectious diseases is vital for the early identification of public health threats. Emergence of novel infections is linked to human factors such as population density, travel and trade and ecological factors like climate change and agricultural practices. A wealth of new technologies is becoming increasingly available for the rapid molecular identification of pathogens but also for the more accurate monitoring of infectious disease activity. Web-based surveillance tools and epidemic intelligence methods, used by all major public health institutions, are intended to facilitate risk assessment and timely outbreak detection. In this review, we present new methods for regional and global infectious disease surveillance and advances in epidemic modeling aimed to predict and prevent future infectious diseases threats.
Adaptive extended state space predictive control for a kind of nonlinear systems.
Zhang, Ri-Dong; Wang, Shu-Qing; Xue, An-Ke; Ren, Zheng-Yun; Li, Ping
2009-10-01
This paper presents an adaptive nonlinear predictive control design strategy for a kind of nonlinear systems with output feedback coupling and results in the improvement of regulatory capacity for reference tracking, robustness and disturbance rejection. The nonlinear system is first transformed into an equal time-variant system by analyzing the nonlinear part. Then an extended state space predictive controller with a similar structure of a PI optimal regulator and with P-step setpoint feedforward control is designed. Because changes of the system state variables are considered in the objective function, the control performance is superior to conventional state space predictive control designs which only consider the predicted output errors. The proposed method is tested and compared with latest methods in literature. Tracking performance, robustness and disturbance rejection are improved.
Motor prediction in Brain-Computer Interfaces for controlling mobile robots.
Geng, Tao; Gan, John Q
2008-01-01
EEG-based Brain-Computer Interface (BCI) can be regarded as a new channel for motor control except that it does not involve muscles. Normal neuromuscular motor control has two fundamental components: (1) to control the body, and (2) to predict the consequences of the control command, which is called motor prediction. In this study, after training with a specially designed BCI paradigm based on motor imagery, two subjects learnt to predict the time course of some features of the EEG signals. It is shown that, with this newly-obtained motor prediction skill, subjects can use motor imagery of feet to directly control a mobile robot to avoid obstacles and reach a small target in a time-critical scenario.
Prediction and control of slender-wing rock
NASA Technical Reports Server (NTRS)
Kandil, Osama A.; Salman, Ahmed A.
1992-01-01
The unsteady Euler equations and the Euler equations of rigid-body dynamics, both written in the moving frame of reference, are sequentially solved to simulate the limit-cycle rock motion of slender delta wings. The governing equations of the fluid flow and the dynamics of the present multidisciplinary problem are solved using an implicit, approximately-factored, central-difference-like, finite-volume scheme and a four-stage Runge-Kutta scheme, respectively. For the control of wing-rock motion, leading-edge flaps are forced to oscillate anti-symmetrically at prescribed frequency and amplitude, which are tuned in order to suppress the rock motion. Since the computational grid deforms due to the leading-edge flaps motion, the grid is dynamically deformed using the Navier-displacement equations. Computational applications cover locally-conical and three-dimensional solutions for the wing-rock simulation and its control.
Model Predictive Load Frequency Control of two-area Interconnected Time Delay Power System with TCSC
NASA Astrophysics Data System (ADS)
Deng, Yan; Liu, Wenze
2017-05-01
In order to reduce the influence of non-linear constraint and time delay on load frequency control of interconnected power system, this paper, based on Model Predictive Control (MPC), designed a load frequency control scheme for two-area interconnected power system with TCSC device. First, considering the Generation Rate Constraint (GRC) and time delay, this paper builds the dynamics model of two-area interconnected power system with Thyristor Controlled Series Compensation device (TCSC). Then the whole system is decomposed into two subsystems. And each subsystem has its own local area MPC controller. Second, collaborative control is implemented by integrating the control information (measurement value, predictive value, etc.) of subsystems’ MPC controllers into the local control goal. In the end, under consideration of physical constraints, the Matlab simulation is conducted. The calculation results showed that the MPC strategy has better dynamic performance and robustness compared to the traditional PI control.
Dynamical Epidemic Suppression Using Stochastic Prediction and Control
2004-10-28
probability density using a Fokker - Planck approach in Eq. (5); the deterministic and stochastic parts interact in a [24]. However, since the approach is one of...an order of magnitude over the period 3 are fixed throughout the paper. Here, the parameter h(t) is a pleb time-dependent vaccine control whose value ...stochastic X2=-0.4853. These values , together with the evidence of model for the purposes of this paper [21]. Using a discrete nearly intersecting
Predictive Multiple Model Switching Control with the Self-Organizing Map
NASA Technical Reports Server (NTRS)
Motter, Mark A.
2000-01-01
A predictive, multiple model control strategy is developed by extension of self-organizing map (SOM) local dynamic modeling of nonlinear autonomous systems to a control framework. Multiple SOMs collectively model the global response of a nonautonomous system to a finite set of representative prototype controls. Each SOM provides a codebook representation of the dynamics corresponding to a prototype control. Different dynamic regimes are organized into topological neighborhoods where the adjacent entries in the codebook represent the global minimization of a similarity metric. The SOM is additionally employed to identify the local dynamical regime, and consequently implements a switching scheme that selects the best available model for the applied control. SOM based linear models are used to predict the response to a larger family of control sequences which are clustered on the representative prototypes. The control sequence which corresponds to the prediction that best satisfies the requirements on the system output is applied as the external driving signal.
Duan, Yingyao; Zuo, Xin; Liu, Jianwei
2016-01-01
Networked predictive control system (NPCS) has been proposed to address random delays and data dropouts in networked control systems (NCSs). A remaining challenge of this approach is that the controller has uncertain information about the actual control inputs, which leads to the predicted control input errors. The main contribution of this paper is to develop an explicit mechanism running in the distributed network nodes asynchronously, which enables the controller node to keep informed of the states of the actuator node without a priori knowledge about the network. Based on this mechanism, a novel proactive compensation strategy is proposed to develop asynchronous update based networked predictive control system (AUBNPCS). The stability criterion of AUBNPCS is derived analytically. A simulation experiment based on Truetime demonstrates the effectiveness of the scheme.
A Computerized Test of Self-Control Predicts Classroom Behavior
Hoerger, Marguerite L; Mace, F. Charles
2006-01-01
We assessed choices on a computerized test of self-control (CTSC) for a group of children with features of attention deficit hyperactivity disorder (ADHD) and a group of controls. Thirty boys participated in the study. Fifteen of the children had been rated by their parents as hyperactive and inattentive, and 15 were age- and gender-matched controls in the same classroom. The children were observed in the classroom for three consecutive mornings, and data were collected on their activity levels and attention. The CTSC consisted of two tasks. In the delay condition, children chose to receive three rewards after a delay of 60 s or one reward immediately. In the task-difficulty condition, the children chose to complete a difficult math problem and receive three rewards or complete an easier problem for one reward. The children with ADHD features made more impulsive choices than their peers during both conditions, and these choices correlated with measures of their activity and attention in the classroom. PMID:16813037
A computerized test of self-control predicts classroom behavior.
Hoerger, Marguerite L; Mace, F Charles
2006-01-01
We assessed choices on a computerized test of self-control (CTSC) for a group of children with features of attention deficit hyperactivity disorder (ADHD) and a group of controls. Thirty boys participated in the study. Fifteen of the children had been rated by their parents as hyperactive and inattentive, and 15 were age- and gender-matched controls in the same classroom. The children were observed in the classroom for three consecutive mornings, and data were collected on their activity levels and attention. The CTSC consisted of two tasks. In the delay condition, children chose to receive three rewards after a delay of 60 s or one reward immediately. In the task-difficulty condition, the children chose to complete a difficult math problem and receive three rewards or complete an easier problem for one reward. The children with ADHD features made more impulsive choices than their peers during both conditions, and these choices correlated with measures of their activity and attention in the classroom.
Power maximization of a point absorber wave energy converter using improved model predictive control
NASA Astrophysics Data System (ADS)
Milani, Farideh; Moghaddam, Reihaneh Kardehi
2017-08-01
This paper considers controlling and maximizing the absorbed power of wave energy converters for irregular waves. With respect to physical constraints of the system, a model predictive control is applied. Irregular waves' behavior is predicted by Kalman filter method. Owing to the great influence of controller parameters on the absorbed power, these parameters are optimized by imperialist competitive algorithm. The results illustrate the method's efficiency in maximizing the extracted power in the presence of unknown excitation force which should be predicted by Kalman filter.
Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control
NASA Astrophysics Data System (ADS)
Fuad, A. F. M.; Mahmood, I. A.; Ahmad, S.; Norsahperi, N. M. H.; Toha, S. F.; Akmeliawati, R.; Darsivan, F. J.
2017-03-01
This paper presents a study on a control system for a heavy-duty four Mecanum wheel platform. A mathematical model for the system is synthesized for the purpose of examining system behavior, including Mecanum wheel kinematics, AC servo motor, gearbox, and heavy duty load. The system is tested for velocity control, using model predictive control (MPC), and compared with a traditional PID setup. The parameters for the controllers are determined by manual tuning. Model predictive control was found to be more effective with reference to a linear velocity.
Nonlinear model identification and adaptive model predictive control using neural networks.
Akpan, Vincent A; Hassapis, George D
2011-04-01
This paper presents two new adaptive model predictive control algorithms, both consisting of an on-line process identification part and a predictive control part. Both parts are executed at each sampling instant. The predictive control part of the first algorithm is the Nonlinear Model Predictive Control strategy and the control part of the second algorithm is the Generalized Predictive Control strategy. In the identification parts of both algorithms the process model is approximated by a series-parallel neural network structure which is trained by a recursive least squares (ARLS) method. The two control algorithms have been applied to: 1) the temperature control of a fluidized bed furnace reactor (FBFR) of a pilot plant and 2) the auto-pilot control of an F-16 aircraft. The training and validation data of the neural network are obtained from the open-loop simulation of the FBFR and the nonlinear F-16 aircraft models. The identification and control simulation results show that the first algorithm outperforms the second one at the expense of extra computation time.
The Minimal Control Principle Predicts Strategy Shifts in the Abstract Decision Making Task
ERIC Educational Resources Information Center
Taatgen, Niels A.
2011-01-01
The minimal control principle (Taatgen, 2007) predicts that people strive for problem-solving strategies that require as few internal control states as possible. In an experiment with the Abstract Decision Making task (ADM task; Joslyn & Hunt, 1998) the reward structure was manipulated to make either a low-control strategy or a high-strategy…
The Minimal Control Principle Predicts Strategy Shifts in the Abstract Decision Making Task
ERIC Educational Resources Information Center
Taatgen, Niels A.
2011-01-01
The minimal control principle (Taatgen, 2007) predicts that people strive for problem-solving strategies that require as few internal control states as possible. In an experiment with the Abstract Decision Making task (ADM task; Joslyn & Hunt, 1998) the reward structure was manipulated to make either a low-control strategy or a high-strategy…
Puig, V; Cembrano, G; Romera, J; Quevedo, J; Aznar, B; Ramón, G; Cabot, J
2009-01-01
This paper deals with the global control of the Riera Blanca catchment in the Barcelona sewer network using a predictive optimal control approach. This catchment has been modelled using a conceptual modelling approach based on decomposing the catchments in subcatchments and representing them as virtual tanks. This conceptual modelling approach allows real-time model calibration and control of the sewer network. The global control problem of the Riera Blanca catchment is solved using a optimal/predictive control algorithm. To implement the predictive optimal control of the Riera Blanca catchment, a software tool named CORAL is used. The on-line control is simulated by interfacing CORAL with a high fidelity simulator of sewer networks (MOUSE). CORAL interchanges readings from the limnimeters and gate commands with MOUSE as if it was connected with the real SCADA system. Finally, the global control results obtained using the predictive optimal control are presented and compared against the results obtained using current local control system. The results obtained using the global control are very satisfactory compared to those obtained using the local control.
Controlled multi-arm platform design using predictive probability.
Hobbs, Brian P; Chen, Nan; Lee, J Jack
2016-01-12
The process of screening agents one-at-a-time under the current clinical trials system suffers from several deficiencies that could be addressed in order to extend financial and patient resources. In this article, we introduce a statistical framework for designing and conducting randomized multi-arm screening platforms with binary endpoints using Bayesian modeling. In essence, the proposed platform design consolidates inter-study control arms, enables investigators to assign more new patients to novel therapies, and accommodates mid-trial modifications to the study arms that allow both dropping poorly performing agents as well as incorporating new candidate agents. When compared to sequentially conducted randomized two-arm trials, screening platform designs have the potential to yield considerable reductions in cost, alleviate the bottleneck between phase I and II, eliminate bias stemming from inter-trial heterogeneity, and control for multiplicity over a sequence of a priori planned studies. When screening five experimental agents, our results suggest that platform designs have the potential to reduce the mean total sample size by as much as 40% and boost the mean overall response rate by as much as 15%. We explain how to design and conduct platform designs to achieve the aforementioned aims and preserve desirable frequentist properties for the treatment comparisons. In addition, we demonstrate how to conduct a platform design using look-up tables that can be generated in advance of the study. The gains in efficiency facilitated by platform design could prove to be consequential in oncologic settings, wherein trials often lack a proper control, and drug development suffers from low enrollment, long inter-trial latency periods, and an unacceptably high rate of failure in phase III. © The Author(s) 2016.
Controlled multi-arm platform design using predictive probability
Hobbs, Brian P.; Chen, Nan; Lee, J. Jack
2016-01-01
The process of screening agents one-at-a-time under the current clinical trials system suffers from several deficiencies that could be addressed in order to extend financial and patient resources. In this article, we introduce a statistical framework for designing and conducting randomized multi-arm screening platforms with binary endpoints using Bayesian modeling. In essence, the proposed platform design consolidates inter-study control arms, enables investigators to assign more new patients to novel therapies, and accommodates mid-trial modifications to the study arms that allow both dropping poorly performing agents as well as incorporating new candidate agents. When compared to sequentially conducted randomized two-arm trials, screening platform designs have the potential to yield considerable reductions in cost, alleviate the bottleneck between phase I and II, eliminate bias stemming from inter-trial heterogeneity, and control for multiplicity over a sequence of a priori planned studies. When screening five experimental agents, our results suggest that platform designs have the potential to reduce the mean total sample size by as much as 40% and boost the mean overall response rate by as much as 15%. We explain how to design and conduct platform designs to achieve the aforementioned aims and preserve desirable frequentist properties for the treatment comparisons. In addition, we demonstrate how to conduct a platform design using look-up tables that can be generated in advance of the study. The gains in efficiency facilitated by platform design could prove to be consequential in oncologic settings, wherein trials often lack a proper control, and drug development suffers from low enrollment, long inter-trial latency periods, and an unacceptably high rate of failure in phase III. PMID:26763586
Non linear predictive control of a LEGO mobile robot
NASA Astrophysics Data System (ADS)
Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.
2014-10-01
Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.
A predictive controller based on transient simulations for controlling a power plant
NASA Astrophysics Data System (ADS)
Svingen, B.
2016-11-01
A predictive governor based on an embedded, online transient simulation was commissioned at Tonstad power plant in Norway in December 2014. This governor controls each individual turbine governor by feeding them modified setpoints. Tonstad power plant consists of 4 × 160 MW + 1 × 320 MW high head Francis turbines. With a yearly production of 3888 GWh, it is the largest in Norway. The plant is a typical high head Norwegian plant with very long tunnels and correspondingly active dynamic behaviour. This new governor system continuously simulates the entire plant, and appropriate actions are taken automatically by special algorithms. The simulations are based on the method of characteristics (MOC). The governing system has been in full operational mode since December 19 2014. The testing period also included special acceptance tests to be able to deliver FRR, both on the Nordic grid and on DC cable to Denmark. Although in full operational mode, this system is still a prototype under constant development. It shows a new way of using transient analysis that may become increasingly important in the future with added power from un-regulated sources such as wind, solar and bio.
Model predictive control for a class of systems with isolated nonlinearity.
Tao, Jili; Zhu, Yong; Fan, Qinru
2014-07-01
The paper is concerned with an overall convergent nonlinear model predictive control design for a kind of nonlinear mechatronic drive systems. The proposed nonlinear model predictive control results in the improvement of regulatory capacity for reference tracking and load disturbance rejection. The design of the nonlinear model predictive controller consists of two steps: the first step is to design a linear model predictive controller based on the linear part of the system at each sample instant, then an overall convergent nonlinear part is added to the linear model predictive controller to combine a nonlinear controller using error driven. The structure of the proposed controller is similar to that of classical PI optimal regulator but it also bears a set-point feed forward control loop, thus tracking ability and disturbance rejection are improved. The proposed method is compared with the results from recent literature, where control performance under both model match and mismatch cases are enlightened. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Model analysis of remotely controlled rendezvous and docking with display prediction
NASA Technical Reports Server (NTRS)
Milgram, P.; Wewerinke, P. H.
1986-01-01
Manual control of rendezvous and docking (RVD) of two spacecraft in low earth orbit by a remote human operator is discussed. Experimental evidence has shown that control performance degradation for large transmission delays (between spacecraft and operations control center) can be substantially improved by the introduction of predictor displays. An intial Optimal Control Model (OCM) analysis of RVD translational and rotational perturbation control was performed, with emphasis placed on the predictive capabilities of the combined Kalman estimator/optimal predictor with respect to control performance, for a range of time delays, motor noise levels and tracking axes. OCM predictions are then used as a reference for comparing tracking performance with a simple predictor display, as well as with no display prediction at all. Use is made here of an imperfect internal model formulation, whereby it is assumed that the human operator has no knowledge of the system transmission delay.
Jet Engine Noise Generation, Prediction and Control. Chapter 86
NASA Technical Reports Server (NTRS)
Huff, Dennis L.; Envia, Edmane
2004-01-01
. An example of this type of engine is shown in Figure IC, which is a schematic of the Honeywell T55 engine that powers the CH-47 Chinook helicopter. Since the noise from the propellers or helicopter rotors is usually dominant for turbo-shaft engines, less attention has been paid to these engines in so far as community noise considerations are concerned. This chapter will concentrate mostly on turbofan engine noise and will highlight common methods for their noise prediction and reduction.
Prediction and Control of Vortex Dominated and Vortex-wake Flows
NASA Technical Reports Server (NTRS)
Kandil, Osama
1996-01-01
This report describes the activities and accomplishments under this research grant, including a list of publications and dissertations, produced in the field of prediction and control of vortex dominated and vortex wake flows.
Well-being and control in older persons: the prediction of well-being from control measures.
Smits, C H; Deeg, D J; Bosscher, R J
1995-01-01
The interrelation of six facets of control and their ability to predict well-being in older persons were studied in an age and gender stratified community sample aged fifty-five to eighty-nine. An extended conceptual framework of control facets is introduced including "established" facets, such as mastery, self-efficacy and internal health locus of control and "new" control facets such as neuroticism, social inadequacy, and sense of coherence. An interview and a postal questionnaire included measures of the control facets and the Affect Balance Scale. Correlations between control measures were mostly modest. Negative affect was predicted by neuroticism and sense of coherence. Tendencies of independent association of mastery with global well-being and of social inadequacy with positive affect were established.
NASA Astrophysics Data System (ADS)
Verde, Licia; Bellini, Emilio; Pigozzo, Cassio; Heavens, Alan F.; Jimenez, Raul
2017-04-01
We investigate our knowledge of early universe cosmology by exploring how much additional energy density can be placed in different components beyond those in the ΛCDM model. To do this we use a method to separate early- and late-universe information enclosed in observational data, thus markedly reducing the model-dependency of the conclusions. We find that the 95% credibility regions for extra energy components of the early universe at recombination are: non-accelerating additional fluid density parameter ΩMR < 0.006 and extra radiation parameterised as extra effective neutrino species 2.3 < Neff < 3.2 when imposing flatness. Our constraints thus show that even when analyzing the data in this largely model-independent way, the possibility of hiding extra energy components beyond ΛCDM in the early universe is seriously constrained by current observations. We also find that the standard ruler, the sound horizon at radiation drag, can be well determined in a way that does not depend on late-time Universe assumptions, but depends strongly on early-time physics and in particular on additional components that behave like radiation. We find that the standard ruler length determined in this way is rs = 147.4 ± 0.7 Mpc if the radiation and neutrino components are standard, but the uncertainty increases by an order of magnitude when non-standard dark radiation components are allowed, to rs = 150 ± 5 Mpc.
Constrained space camera assembly
Heckendorn, F.M.; Anderson, E.K.; Robinson, C.W.; Haynes, H.B.
1999-05-11
A constrained space camera assembly which is intended to be lowered through a hole into a tank, a borehole or another cavity is disclosed. The assembly includes a generally cylindrical chamber comprising a head and a body and a wiring-carrying conduit extending from the chamber. Means are included in the chamber for rotating the body about the head without breaking an airtight seal formed therebetween. The assembly may be pressurized and accompanied with a pressure sensing means for sensing if a breach has occurred in the assembly. In one embodiment, two cameras, separated from their respective lenses, are installed on a mounting apparatus disposed in the chamber. The mounting apparatus includes means allowing both longitudinal and lateral movement of the cameras. Moving the cameras longitudinally focuses the cameras, and moving the cameras laterally away from one another effectively converges the cameras so that close objects can be viewed. The assembly further includes means for moving lenses of different magnification forward of the cameras. 17 figs.
Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking
2015-07-01
Learning -based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking Chris J. Ostafew Institute for Aerospace Studies...paper presents a Learning -based Nonlinear Model Predictive Control (LB-NMPC) algorithm to achieve high-performance path tracking in challenging off-road...terrain through learning . The LB-NMPC algorithm uses a simple a priori vehicle model and a learned disturbance model. Disturbances are modelled as a
Neural Network Assisted Inverse Dynamic Guidance for Terminally Constrained Entry Flight
Chen, Wanchun
2014-01-01
This paper presents a neural network assisted entry guidance law that is designed by applying Bézier approximation. It is shown that a fully constrained approximation of a reference trajectory can be made by using the Bézier curve. Applying this approximation, an inverse dynamic system for an entry flight is solved to generate guidance command. The guidance solution thus gotten ensures terminal constraints for position, flight path, and azimuth angle. In order to ensure terminal velocity constraint, a prediction of the terminal velocity is required, based on which, the approximated Bézier curve is adjusted. An artificial neural network is used for this prediction of the terminal velocity. The method enables faster implementation in achieving fully constrained entry flight. Results from simulations indicate improved performance of the neural network assisted method. The scheme is expected to have prospect for further research on automated onboard control of terminal velocity for both reentry and terminal guidance laws. PMID:24723821
Monadi, Mahmoud; Firouzjahi, Alireza; Hosseini, Amin; Javadian, Yahya; Sharbatdaran, Majid; Heidari, Behzad
2016-01-01
Background: Increased serum high sensitive C-reactive protein (hs-CRP) in asthma and its association with disease severity has been investigated in many studies. This study aimed to determine serum hs-CRP status in asthma versus healthy controls and to examine its ability in predicting asthma control. Methods: Serum CRP was measured by ELISA method using a high sensitive CRP kit. Severity of asthma was determined using Asthma Control Test. Spearman and chi square tests were used for association and correlation respectively. The predictive ability was determined by receiver operating characteristics (ROC) analysis. Accuracy was determined by determination of area under the ROC curve (AUC). Results: A total of 120 patients and 115 controls were studied. Median serum hs-CRP in asthma was higher than control (P=0.001. In well controlled asthma the hs-CRP decreased significantly compared with poorly controlled (P=0.024) but still was higher than control (P=0.017). Serum hs-CRP at cutoff level of 1.45 mg/L differentiated the patients and controls with accuracy of 63.5 % (AUC= 0.635±0.037, P=0.001). Serum hs-CRP ≤ 2.15 mg/L predicted well controlled asthma with accuracy of 62.5% (AUC= 0.625±0.056, p=0.025). After adjusting for age, sex, weight and smoking, there was an independent association between serum hs-CRP >1.45 mg/L and asthma by adjusted OR=2.49, p=0.018). Conclusion: These findings indicate that serum hs-CRP in asthma is higher than healthy control and increases with severity of asthma and decreases with. Thus, serum hs-CRP measurement can be helpful in predicting asthma control and treatment response. PMID:26958331
The role of action prediction and inhibitory control for joint action coordination in toddlers.
Meyer, M; Bekkering, H; Haartsen, R; Stapel, J C; Hunnius, S
2015-11-01
From early in life, young children eagerly engage in social interactions. Yet, they still have difficulties in performing well-coordinated joint actions with others. Adult literature suggests that two processes are important for smooth joint action coordination: action prediction and inhibitory control. The aim of the current study was to disentangle the potential role of these processes in the early development of joint action coordination. Using a simple turn-taking game, we assessed 2½-year-old toddlers' joint action coordination, focusing on timing variability and turn-taking accuracy. In two additional tasks, we examined their action prediction capabilities with an eye-tracking paradigm and examined their inhibitory control capabilities with a classic executive functioning task (gift delay task). We found that individual differences in action prediction and inhibitory action control were distinctly related to the two aspects of joint action coordination. Toddlers who showed more precision in their action predictions were less variable in their action timing during the joint play. Furthermore, toddlers who showed more inhibitory control in an individual context were more accurate in their turn-taking performance during the joint action. On the other hand, no relation between timing variability and inhibitory control or between turn-taking accuracy and action prediction was found. The current results highlight the distinct role of action prediction and inhibitory action control for the quality of joint action coordination in toddlers. Underlying neurocognitive mechanisms and implications for processes involved in joint action coordination in general are discussed.
Auxiliary particle filter-model predictive control of the vacuum arc remelting process
NASA Astrophysics Data System (ADS)
Lopez, F.; Beaman, J.; Williamson, R.
2016-07-01
Solidification control is required for the suppression of segregation defects in vacuum arc remelting of superalloys. In recent years, process controllers for the VAR process have been proposed based on linear models, which are known to be inaccurate in highly-dynamic conditions, e.g. start-up, hot-top and melt rate perturbations. A novel controller is proposed using auxiliary particle filter-model predictive control based on a nonlinear stochastic model. The auxiliary particle filter approximates the probability of the state, which is fed to a model predictive controller that returns an optimal control signal. For simplicity, the estimation and control problems are solved using Sequential Monte Carlo (SMC) methods. The validity of this approach is verified for a 430 mm (17 in) diameter Alloy 718 electrode melted into a 510 mm (20 in) diameter ingot. Simulation shows a more accurate and smoother performance than the one obtained with an earlier version of the controller.
Constrained Allocation Flux Balance Analysis
Mori, Matteo; Hwa, Terence; Martin, Olivier C.
2016-01-01
New experimental results on bacterial growth inspire a novel top-down approach to study cell metabolism, combining mass balance and proteomic constraints to extend and complement Flux Balance Analysis. We introduce here Constrained Allocation Flux Balance Analysis, CAFBA, in which the biosynthetic costs associated to growth are accounted for in an effective way through a single additional genome-wide constraint. Its roots lie in the experimentally observed pattern of proteome allocation for metabolic functions, allowing to bridge regulation and metabolism in a transparent way under the principle of growth-rate maximization. We provide a simple method to solve CAFBA efficiently and propose an “ensemble averaging” procedure to account for unknown protein costs. Applying this approach to modeling E. coli metabolism, we find that, as the growth rate increases, CAFBA solutions cross over from respiratory, growth-yield maximizing states (preferred at slow growth) to fermentative states with carbon overflow (preferred at fast growth). In addition, CAFBA allows for quantitatively accurate predictions on the rate of acetate excretion and growth yield based on only 3 parameters determined by empirical growth laws. PMID:27355325
Application of model predictive heuristic control to automatic rendezvous of spacecraft
NASA Astrophysics Data System (ADS)
Zhu, Ziqian; Jiang, Yunxiang
1990-07-01
The Principle of Model Predictive Heuristic Control (PMHC) technique is applied here to automatic spacecraft rendezvous using a new, real-time algorithm for the linear least squares solution of MIMO systems. In contrast to the approach of Emara-Shabaik (1981), the predictive feature is obviously present. The design of the closed-loop system is advantageous compared to that of Emara-Shabaik in that it decreases the amplitude of the maximum engine thrust and increases the flexibility in designing the prediction horizon, smoothing points, control switching time, and weighting matrix. Numerical simulation results show improved system performance, decreased total fuel consumption, and satisfactory robustness to external disturbances.