Sensory feedback in a bump attractor model of path integration.

PubMed

Poll, Daniel B; Nguyen, Khanh; Kilpatrick, Zachary P

2016-04-01

Mammalian spatial navigation systems utilize several different sensory information channels. This information is converted into a neural code that represents the animal's current position in space by engaging place cell, grid cell, and head direction cell networks. In particular, sensory landmark (allothetic) cues can be utilized in concert with an animal's knowledge of its own velocity (idiothetic) cues to generate a more accurate representation of position than path integration provides on its own (Battaglia et al. The Journal of Neuroscience 24(19):4541-4550 (2004)). We develop a computational model that merges path integration with feedback from external sensory cues that provide a reliable representation of spatial position along an annular track. Starting with a continuous bump attractor model, we explore the impact of synaptic spatial asymmetry and heterogeneity, which disrupt the position code of the path integration process. We use asymptotic analysis to reduce the bump attractor model to a single scalar equation whose potential represents the impact of asymmetry and heterogeneity. Such imperfections cause errors to build up when the network performs path integration, but these errors can be corrected by an external control signal representing the effects of sensory cues. We demonstrate that there is an optimal strength and decay rate of the control signal when cues appear either periodically or randomly. A similar analysis is performed when errors in path integration arise from dynamic noise fluctuations. Again, there is an optimal strength and decay of discrete control that minimizes the path integration error.

Design and implementation of a system for laser assisted milling of advanced materials

NASA Astrophysics Data System (ADS)

Wu, Xuefeng; Feng, Gaocheng; Liu, Xianli

2016-09-01

Laser assisted machining is an effective method to machine advanced materials with the added benefits of longer tool life and increased material removal rates. While extensive studies have investigated the machining properties for laser assisted milling(LAML), few attempts have been made to extend LAML to machining parts with complex geometric features. A methodology for continuous path machining for LAML is developed by integration of a rotary and movable table into an ordinary milling machine with a laser beam system. The machining strategy and processing path are investigated to determine alignment of the machining path with the laser spot. In order to keep the material removal temperatures above the softening temperature of silicon nitride, the transformation is coordinated and the temperature interpolated, establishing a transient thermal model. The temperatures of the laser center and cutting zone are also carefully controlled to achieve optimal machining results and avoid thermal damage. These experiments indicate that the system results in no surface damage as well as good surface roughness, validating the application of this machining strategy and thermal model in the development of a new LAML system for continuous path processing of silicon nitride. The proposed approach can be easily applied in LAML system to achieve continuous processing and improve efficiency in laser assisted machining.

Dissociable cognitive mechanisms underlying human path integration.

PubMed

Wiener, Jan M; Berthoz, Alain; Wolbers, Thomas

2011-01-01

Path integration is a fundamental mechanism of spatial navigation. In non-human species, it is assumed to be an online process in which a homing vector is updated continuously during an outward journey. In contrast, human path integration has been conceptualized as a configural process in which travelers store working memory representations of path segments, with the computation of a homing vector only occurring when required. To resolve this apparent discrepancy, we tested whether humans can employ different path integration strategies in the same task. Using a triangle completion paradigm, participants were instructed either to continuously update the start position during locomotion (continuous strategy) or to remember the shape of the outbound path and to calculate home vectors on basis of this representation (configural strategy). While overall homing accuracy was superior in the configural condition, participants were quicker to respond during continuous updating, strongly suggesting that homing vectors were computed online. Corroborating these findings, we observed reliable differences in head orientation during the outbound path: when participants applied the continuous updating strategy, the head deviated significantly from straight ahead in direction of the start place, which can be interpreted as a continuous motor expression of the homing vector. Head orientation-a novel online measure for path integration-can thus inform about the underlying updating mechanism already during locomotion. In addition to demonstrating that humans can employ different cognitive strategies during path integration, our two-systems view helps to resolve recent controversies regarding the role of the medial temporal lobe in human path integration.

Improved multi-level capability in Si3N4-based resistive switching memory using continuous gradual reset switching

NASA Astrophysics Data System (ADS)

Kim, Sungjun; Park, Byung-Gook

2017-01-01

In this letter, we compare three different types of reset switching behavior in a bipolar resistive random-access memory (RRAM) system that is housed in a Ni/Si3N4/Si structure. The abrupt, step-like gradual and continuous gradual reset transitions are largely determined by the low-resistance state (LRS). For abrupt reset switching, the large conducting path shows ohmic behavior or has a weak nonlinear current-voltage (I-V) characteristics in the LRS. For gradual switching, including both the step-like and continuous reset types, trap-assisted direct tunneling is dominant in the low-voltage regime, while trap-assisted Fowler-Nordheim tunneling is dominant in the high-voltage regime, thus causing nonlinear I-V characteristics. More importantly, we evaluate the multi-level capabilities of the two different gradual switching types, including both step-like and continuous reset behavior, using identical and incremental voltage conditions. Finer control of the conductance level with good uniformity is achieved in continuous gradual reset switching when compared to that in step-like gradual reset switching. For continuous reset switching, a single conducting path, which initially has a tunneling gap, gradually responds to pulses with even and identical amplitudes, while for step-like reset switching, the multiple conducting paths only respond to incremental pulses to obtain effective multi-level states.

Device for testing continuity and/or short circuits in a cable

NASA Technical Reports Server (NTRS)

Hayhurst, Arthur R. (Inventor)

1995-01-01

A device for testing current paths is attachable to a conductor. The device automatically checks the current paths of the conductor for continuity of a center conductor, continuity of a shield and a short circuit between the shield and the center conductor. The device includes a pair of connectors and a circuit to provide for testing of the conductive paths of the cable. The pair of connectors electrically connects the conductive paths of a cable to be tested with the circuit paths of the circuit. The circuit paths in the circuit include indicators to simultaneously indicate the results of the testing.

Paths from socioemotional behavior in middle childhood to personality in middle adulthood.

PubMed

Pulkkinen, Lea; Kokko, Katja; Rantanen, Johanna

2012-09-01

Continuity in individual differences from socioemotional behavior in middle childhood to personality characteristics in middle adulthood was examined on the assumption that they share certain temperament-related elements. Socioemotional characteristics were measured using teacher ratings at ages 8 (N = 369; 53% males) and 14 (95% of the initial sample). Personality was assessed at age 42 (63% of the initial sample; 50% males) using a shortened version of the NEO Personality Inventory (NEO-PI); the Karolinska Scales of Personality (KSP); and the Adult Temperament Questionnaire (ATQ). Three models were tested using structural equation modeling. The results confirmed paths (a) from behavioral activity to adult Extraversion and Openness (NEO-PI), sociability (KSP), and surgency (ATQ); (b) from well-controlled behavior to adult conformity (KSP) and Conscientiousness (NEO-PI); and (c) from negative emotionality to adult aggression (KSP). The paths were significant only for one gender, and more frequently for males than for females. The significant male paths from behavioral activity to all indicators of adult activity and from well-controlled behavior to adult conformity started at age 8, whereas significant female paths from behavioral activity to adult sociability and from well-controlled behavior to adult Conscientiousness started at age 14. PsycINFO Database Record (c) 2012 APA, all rights reserved.

Thermomagnetic recording and magneto-optic playback system having constant intensity laser beam control

NASA Technical Reports Server (NTRS)

Lewicki, G. W.; Guisinger, J. E. (Inventor)

1973-01-01

A system is developed for maintaining the intensity of a laser beam at a constant level in a thermomagnetic recording and magneto-optic playback system in which an isotropic film is heated along a continuous path by the laser beam for recording. As each successive area of the path is heated locally to the vicinity of its Curie point in the presence of a controlled magnetic field, a magneto-optic density is produced proportional to the amplitude of the controlled magnetic field. To play back the recorded signal, the intensity of the laser beam is reduced and a Faraday or Kerr effect analyzer is used, with a photodetector, as a transducer for producing an output signal.

Controlling female cancer in Argentina. Divergent initiatives and the road to fragmentation

PubMed Central

Eraso, Yolanda

2014-01-01

This article analyses the organisation of cancer control in Argentina, with a special focus on the initiatives, institutions, and models that targeted female or gynaecological cancers. It identifies and examines the main factors in the process of elaborating a national policy to control the disease drawing on a series of actors and instruments such as the state, medical professionals, institutions and services, and the use of technology (notably diagnostic tools) for the detection of the disease. It traces the developments in the organisation highlighting its transformations from a centralising to a decentralised model of service provision. Using the concept of «path-dependence» the article examines the continuities and changes observed in the organisation of female cancer critically signalling the particular time at which a path was taken where «fragmentation» became consolidated within the health system. It also argues that it was within the field of cancer diagnosis that Argentinian doctors first sought to create the foundational structures of cancer organisation. The article contends that the path-dependence analytical approach helps us acknowledge the importance of historical analysis in the identification of factors that led to the lack of service coordination, including the persistent strain between national/provincial states that hampered the development of comprehensive programmes, aspects that have continued to mark efforts in the elaboration of cancer policies to the present day. PMID:24944432

Controlling female cancer in Argentina. Divergent initiatives and the road to fragmentation.

PubMed

Eraso, Yolanda

2014-01-01

This article analyses the organisation of cancer control in Argentina, with a special focus on the initiatives, institutions, and models that targeted female or gynaecological cancers. It identifies and examines the main factors in the process of elaborating a national policy to control the disease drawing on a series of actors and instruments such as the state, medical professionals, institutions and services, and the use of technology (notably diagnostic tools) for the detection of the disease. It traces the developments in the organisation highlighting its transformations from a centralising to a decentralised model of service provision. Using the concept of "path-dependence" the article examines the continuities and changes observed in the organisation of female cancer critically signalling the particular time at which a path was taken where "fragmentation" became consolidated within the health system. It also argues that it was within the field of cancer diagnosis that Argentinian doctors first sought to create the foundational structures of cancer organisation. The article contends that the path-dependence analytical approach helps us acknowledge the importance of historical analysis in the identification of factors that led to the lack of service coordination, including the persistent strain between national/provincial states that hampered the development of comprehensive programmes, aspects that have continued to mark efforts in the elaboration of cancer policies to the present day.

On the asynchronously continuous control of mobile robot movement by motor cortical spiking activity.

PubMed

Xu, Zhiming; So, Rosa Q; Toe, Kyaw Kyar; Ang, Kai Keng; Guan, Cuntai

2014-01-01

This paper presents an asynchronously intracortical brain-computer interface (BCI) which allows the subject to continuously drive a mobile robot. This system has a great implication for disabled patients to move around. By carefully designing a multiclass support vector machine (SVM), the subject's self-paced instantaneous movement intents are continuously decoded to control the mobile robot. In particular, we studied the stability of the neural representation of the movement directions. Experimental results on the nonhuman primate showed that the overt movement directions were stably represented in ensemble of recorded units, and our SVM classifier could successfully decode such movements continuously along the desired movement path. However, the neural representation of the stop state for the self-paced control was not stably represented and could drift.

Tunable quantum interference in a 3D integrated circuit.

PubMed

Chaboyer, Zachary; Meany, Thomas; Helt, L G; Withford, Michael J; Steel, M J

2015-04-27

Integrated photonics promises solutions to questions of stability, complexity, and size in quantum optics. Advances in tunable and non-planar integrated platforms, such as laser-inscribed photonics, continue to bring the realisation of quantum advantages in computation and metrology ever closer, perhaps most easily seen in multi-path interferometry. Here we demonstrate control of two-photon interference in a chip-scale 3D multi-path interferometer, showing a reduced periodicity and enhanced visibility compared to single photon measurements. Observed non-classical visibilities are widely tunable, and explained well by theoretical predictions based on classical measurements. With these predictions we extract Fisher information approaching a theoretical maximum. Our results open a path to quantum enhanced phase measurements.

A device for testing cables

NASA Technical Reports Server (NTRS)

Hayhurst, Arthur Ray (Inventor)

1993-01-01

A device for testing current paths is attachable to a conductor. The device automatically checks the current paths of the conductor for continuity of a center conductor, continuity of a shield, and a short circuit between the shield and the center conductor. The device includes a pair of connectors and a circuit to provide for testing of the conductive paths of a cable to be tested with the circuit paths of the circuit. The circuit paths in the circuit include indicators to simultaneously indicate the results of the testing.

Solution for Minimizing Surface Heating Effect for Fast Open-Path CO2 Flux Measurements in Cold Environments

NASA Astrophysics Data System (ADS)

Hupp, J. R.; Burba, G. G.; McDermitt, D. K.; Anderson, D. J.; Eckles, R. D.

2010-12-01

Open-path design of the high speed gas analyzers is a well-established configuration widely used for measurements of CO2 fluxes and concentrations. This configuration has advantages and deficiencies. Advantages include excellent frequency response, long-term stability, low sensitivity to window contamination, low-power pump-free operation, and infrequent calibration requirements. Deficiencies include susceptibility to precipitation and icing, and a potential need for instrument surface heating correction in extremely cold environments. In spite of the deficiencies, open-path measurements often provide data coverage that would not have been possible using traditional closed-path approach. Data loss from precipitation and icing may not always be prevented for the open-path instruments, while heating effect does not pose a problem for CO2 flux in warm environments. Even in cold environments, the impact of heating on CO2 flux is much smaller than other well-known effects, such as Webb-Pearman-Leuning terms, or frequency response corrections for closed-path analyzers. Nonetheless, instrument surface heating effect in cold environments could be addressed scientifically, via developing the theoretical corrections, and instrumentally, via measuring fast integrated air temperature in the optical path, or via enclosing the open-path instrument into a low-power short-intake design. Here we provide an alternative way to minimize or eliminate open-path heating effect, achieved by minimizing or eliminating the temperature gradient between the instrument surface and ambient air. Open-path low temperature controlled design is discussed in comparison with two other approaches (e.g., traditional open-path design and closed-path design) in terms of their field performance for Eddy Covariance flux measurements in the cold. This study presents field data from a new open-path CO2/H2O gas analyzer, LI-7500A, based on the LI-7500 model modified to produce substantially less heat during extremely cold conditions. Two regiments of the temperature control for internal electronics were examined across a wide range of temperatures: (i) the traditional control temperature of about 30oC, and (ii) new regiment controlling parts of internal electronics at 5oC. When new 5oC regiment was activated, the following changes were observed: heat dissipation from the surface reduced several folds, surface-to-air temperature gradients reduced 2-50 times; and the number of false uptake hours were reduced by 3.5 times, to the same level as a closed-path standard. Significant advantage of the new regiment was also observed in the magnitude of CO2 fluxes, especially in cold weather below -10oC. At such cold temperatures, CO2 fluxes from a 30oC controlled LI-7500 were 19% below those of the closed-path standard, while fluxes from a 5oC controlled LI-7500A were, on average, within 1% of the standard. These are strong experimental evidence that open-path instrument heating can be substantially reduced or eliminated via such simple hardware based solution. This allows continued and expanded use of this ultimately lowest-power remote solution for fast gas measurements.

A cluster randomized controlled trial of the Promoting Alternative Thinking Strategies (PATHS) curriculum.

PubMed

Humphrey, Neil; Barlow, Alexandra; Wigelsworth, Michael; Lendrum, Ann; Pert, Kirsty; Joyce, Craig; Stephens, Emma; Wo, Lawrence; Squires, Garry; Woods, Kevin; Calam, Rachel; Turner, Alex

2016-10-01

This randomized controlled trial (RCT) evaluated the efficacy of the Promoting Alternative Thinking Strategies curriculum (PATHS; Kusche & Greenberg, 1994) as a means to improve children's social-emotional competence (assessed via the Social Skills Improvement System (SSIS); Gresham & Elliot, 2008) and mental health outcomes (assessed via the Strengths and Difficulties Questionnaire (SDQ); Goodman, 1997). Forty-five schools in Greater Manchester, England, were randomly assigned to treatment and control groups. Allocation was balanced by proportions of children eligible for free school meals and speaking English as an additional language via minimization. Children (N=4516) aged 7-9years at baseline in the participating schools were the target cohort. During the two-year trial period, teachers of this cohort in schools allocated to the intervention group delivered the PATHS curriculum, while their counterparts in the control group continued their usual provision. Teachers in PATHS schools received initial training and on-going support and assistance from trained coaches. Hierarchical linear modeling of outcome data was undertaken to identify both primary (e.g., for all children) and secondary (e.g., for children classified as "at-risk") intervention effects. A primary effect of the PATHS curriculum was found, demonstrating increases in teacher ratings of changes in children's social-emotional competence. Additionally, secondary effects of PATHS were identified, showing reductions in teacher ratings of emotional symptoms and increases in pro-social behavior and child ratings of engagement among children identified as at-risk at baseline. However, our analyses also identified primary effects favoring the usual provision group, showing reductions in teacher ratings of peer problems and emotional symptoms, and secondary effects demonstrating reductions in teacher ratings of conduct problems and child ratings of co-operation among at-risk children. Effect sizes were small in all cases. These mixed findings suggest that social and emotional learning interventions such as PATHS may not be as efficacious when implemented outside their country of origin and evaluated in independent trials. Crown Copyright © 2016. Published by Elsevier Ltd. All rights reserved.

Continuity equation for probability as a requirement of inference over paths

NASA Astrophysics Data System (ADS)

González, Diego; Díaz, Daniela; Davis, Sergio

2016-09-01

Local conservation of probability, expressed as the continuity equation, is a central feature of non-equilibrium Statistical Mechanics. In the existing literature, the continuity equation is always motivated by heuristic arguments with no derivation from first principles. In this work we show that the continuity equation is a logical consequence of the laws of probability and the application of the formalism of inference over paths for dynamical systems. That is, the simple postulate that a system moves continuously through time following paths implies the continuity equation. The translation between the language of dynamical paths to the usual representation in terms of probability densities of states is performed by means of an identity derived from Bayes' theorem. The formalism presented here is valid independently of the nature of the system studied: it is applicable to physical systems and also to more abstract dynamics such as financial indicators, population dynamics in ecology among others.

Design and simulation of a descent controller for strategic four-dimensional aircraft navigation. M.S. Thesis

NASA Technical Reports Server (NTRS)

Lax, F. M.

1975-01-01

A time-controlled navigation system applicable to the descent phase of flight for airline transport aircraft was developed and simulated. The design incorporates the linear discrete-time sampled-data version of the linearized continuous-time system describing the aircraft's aerodynamics. Using optimal linear quadratic control techniques, an optimal deterministic control regulator which is implementable on an airborne computer is designed. The navigation controller assists the pilot in complying with assigned times of arrival along a four-dimensional flight path in the presence of wind disturbances. The strategic air traffic control concept is also described, followed by the design of a strategic control descent path. A strategy for determining possible times of arrival at specified waypoints along the descent path and for generating the corresponding route-time profiles that are within the performance capabilities of the aircraft is presented. Using a mathematical model of the Boeing 707-320B aircraft along with a Boeing 707 cockpit simulator interfaced with an Adage AGT-30 digital computer, a real-time simulation of the complete aircraft aerodynamics was achieved. The strategic four-dimensional navigation controller for longitudinal dynamics was tested on the nonlinear aircraft model in the presence of 15, 30, and 45 knot head-winds. The results indicate that the controller preserved the desired accuracy and precision of a time-controlled aircraft navigation system.

Operational Performance Risk Assessment in Support of A Supervisory Control System

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

Denning, Richard S.; Muhlheim, Michael David; Cetiner, Sacit M.

Supervisory control system (SCS) is developed for multi-unit advanced small modular reactors to minimize human interventions in both normal and abnormal operations. In SCS, control action decisions made based on probabilistic risk assessment approach via Event Trees/Fault Trees. Although traditional PRA tools are implemented, their scope is extended to normal operations and application is reversed; success of non-safety related system instead failure of safety systems this extended PRA approach called as operational performance risk assessment (OPRA). OPRA helps to identify success paths, combination of control actions for transients and to quantify these success paths to provide possible actions without activatingmore » plant protection system. In this paper, a case study of the OPRA in supervisory control system is demonstrated within the context of the ALMR PRISM design, specifically power conversion system. The scenario investigated involved a condition that the feed water control valve is observed to be drifting to the closed position. Alternative plant configurations were identified via OPRA that would allow the plant to continue to operate at full or reduced power. Dynamic analyses were performed with a thermal-hydraulic model of the ALMR PRISM system using Modelica to evaluate remained safety margins. Successful recovery paths for the selected scenario are identified and quantified via SCS.« less

Aircraft symmetric flight optimization. [gradient techniques for supersonic aircraft control

NASA Technical Reports Server (NTRS)

Falco, M.; Kelley, H. J.

1973-01-01

Review of the development of gradient techniques and their application to aircraft optimal performance computations in the vertical plane of flight. Results obtained using the method of gradients are presented for attitude- and throttle-control programs which extremize the fuel, range, and time performance indices subject to various trajectory and control constraints, including boundedness of engine throttle control. A penalty function treatment of state inequality constraints which generally appear in aircraft performance problems is outlined. Numerical results for maximum-range, minimum-fuel, and minimum-time climb paths for a hypothetical supersonic turbojet interceptor are presented and discussed. In addition, minimum-fuel climb paths subject to various levels of ground overpressure intensity constraint are indicated for a representative supersonic transport. A variant of the Gel'fand-Tsetlin 'method of ravines' is reviewed, and two possibilities for further development of continuous gradient processes are cited - namely, a projection version of conjugate gradients and a curvilinear search.

An Integrated Architecture for On-Board Aircraft Engine Performance Trend Monitoring and Gas Path Fault Diagnostics

NASA Technical Reports Server (NTRS)

Simon, Donald L.

2010-01-01

Aircraft engine performance trend monitoring and gas path fault diagnostics are closely related technologies that assist operators in managing the health of their gas turbine engine assets. Trend monitoring is the process of monitoring the gradual performance change that an aircraft engine will naturally incur over time due to turbomachinery deterioration, while gas path diagnostics is the process of detecting and isolating the occurrence of any faults impacting engine flow-path performance. Today, performance trend monitoring and gas path fault diagnostic functions are performed by a combination of on-board and off-board strategies. On-board engine control computers contain logic that monitors for anomalous engine operation in real-time. Off-board ground stations are used to conduct fleet-wide engine trend monitoring and fault diagnostics based on data collected from each engine each flight. Continuing advances in avionics are enabling the migration of portions of the ground-based functionality on-board, giving rise to more sophisticated on-board engine health management capabilities. This paper reviews the conventional engine performance trend monitoring and gas path fault diagnostic architecture commonly applied today, and presents a proposed enhanced on-board architecture for future applications. The enhanced architecture gains real-time access to an expanded quantity of engine parameters, and provides advanced on-board model-based estimation capabilities. The benefits of the enhanced architecture include the real-time continuous monitoring of engine health, the early diagnosis of fault conditions, and the estimation of unmeasured engine performance parameters. A future vision to advance the enhanced architecture is also presented and discussed

Linear kinematic air bearing

NASA Technical Reports Server (NTRS)

Mayall, S. D.

1974-01-01

Bearing provides continuous, smooth movement of the cat's-eye mirror, eliminating wear and deterioration of bearing surface and resulting oscillation effects in servo system. Design features self-aligning configuration; single-point, pivotal pad mounting, having air passage through it; and design of pads that allows for precise control of discharge path of air from pads.

Control Transfer in Operating System Kernels

DTIC Science & Technology

1994-05-13

microkernel system that runs less code in the kernel address space. To realize the performance benefit of allocating stacks in unmapped kseg0 memory, the...review how I modified the Mach 3.0 kernel to use continuations. Because of Mach’s message-passing microkernel structure, interprocess communication was...critical control transfer paths, deeply- nested call chains are undesirable in any case because of the function call overhead. 4.1.3 Microkernel Operating

Simulated flight path control of fighter pilots and novice subjects at +3 Gz in a human centrifuge.

PubMed

Dalecki, Marc; Bock, Otmar; Guardiera, Simon

2010-05-01

We have previously shown that subjects produce exaggerated manual forces in +3 Gz. When subjects execute discrete flight path changes in a flight simulator, their performance is less stable in +3 Gz than in +1 Gz. Here we explore whether Gz-related deficits are found with continuous flight path changes. Novice subjects and fighter pilots sat in a high-fidelity flight simulator equipped with the reproduction of the Eurofighter 2000 cockpit, including the realistic flight stick, and pursued continuous altitude changes of a target airplane in +1 Gz and +3 Gz. Subjects also produced verbal responses in a Stroop task. Pursuit and Stroop tasks were administered alone and concurrently. Flight instability increased in +3 Gz compared to +1 Gz in novices (+46%), but not in pilots (+3%), and even there only during the first minute. Flight performance improved after the first minute in both subject groups. Stroop reaction time was higher in novices (+5.27%) than in pilots (+3.77%) at +3 Gz. Dual-task costs did not differ between groups or Gz levels. Deficits of force production in high Gz are largely compensated for when subjects apply forces to produce a continuously changing flight path. This compensation seems not to require additional cognitive resources and may be achieved by using visual feedback. Force production deficits in high Gz seem to have no appreciable effects on flight performance and cognitive load of experienced pilots using a force-plus-displacement stick in +3 Gz. It remains to be shown whether this conclusion extends to purely isometric sticks and to higher Gz levels.

APPARATUS FOR CONTROLLING THE POSITION OF AN ION BEAM IN A CALUTRON

DOEpatents

Lawrence, E.O.

1958-01-01

ABS>This patent relates to improvements in electric discharge devices of the calutron type for separation of the isotopes of an element from the freely occurring composition. The improvement constitutes means for the continuous control of the path of an ion beam to obtain maximum reception in a receiver compartment. Withdrawal of the ions from the source is accomplished by an accelerator electrode placed at a positive potential with respect to the receiver. The ions are projected through a magnetic field perpendicular to the direction of motion towards a receiver. In order to obtain a signal representative of the magnitude of ions received from a particular ion-beam in its compartment, an electrode is disposed in the compartment. The signal from the compartment electrode controls the voltage of the acccleratimg electrodc through appropriate circuitry to maintain the path of the particular ion beam optimum for maximum ion current in the compartment.

Path integrals and large deviations in stochastic hybrid systems.

PubMed

Bressloff, Paul C; Newby, Jay M

2014-04-01

We construct a path-integral representation of solutions to a stochastic hybrid system, consisting of one or more continuous variables evolving according to a piecewise-deterministic dynamics. The differential equations for the continuous variables are coupled to a set of discrete variables that satisfy a continuous-time Markov process, which means that the differential equations are only valid between jumps in the discrete variables. Examples of stochastic hybrid systems arise in biophysical models of stochastic ion channels, motor-driven intracellular transport, gene networks, and stochastic neural networks. We use the path-integral representation to derive a large deviation action principle for a stochastic hybrid system. Minimizing the associated action functional with respect to the set of all trajectories emanating from a metastable state (assuming that such a minimization scheme exists) then determines the most probable paths of escape. Moreover, evaluating the action functional along a most probable path generates the so-called quasipotential used in the calculation of mean first passage times. We illustrate the theory by considering the optimal paths of escape from a metastable state in a bistable neural network.

In-line Microwave Warmer for Blood and Intravenous Fluids.

DTIC Science & Technology

1989-12-14

circuit was designed and tested. This circuit uses a digitally controlled optically coupled Triac , a thyristor device, which acts as a switch to allow...three sites of the circuit : Inlet Port of Heating Chamber Interior Path of Heating Chamber Outlet Port of Heating Chamber 4) Feedback Control Mechanism...accomplished through use of a closed loop test circuit depicted in Figure 1-2. This test circuit can be used to heat iv fluids or blood on a continuous

Codification of scan path parameters and development of perimeter scan strategies for 3D bowl-shaped laser forming

NASA Astrophysics Data System (ADS)

Tavakoli, A.; Naeini, H. Moslemi; Roohi, Amir H.; Gollo, M. Hoseinpour; Shahabad, Sh. Imani

2018-01-01

In the 3D laser forming process, developing an appropriate laser scan pattern for producing specimens with high quality and uniformity is critical. This study presents certain principles for developing scan paths. Seven scan path parameters are considered, including: (1) combined linear or curved path; (2) type of combined linear path; (3) order of scan sequences; (4) the position of the start point in each scan; (5) continuous or discontinuous scan path; (6) direction of scan path; and (7) angular arrangement of combined linear scan paths. Regarding these path parameters, ten combined linear scan patterns are presented. Numerical simulations show continuous hexagonal, scan pattern, scanning from outer to inner path, is the optimized. In addition, it is observed the position of the start point and the angular arrangement of scan paths is the most effective path parameters. Also, further experimentations show four sequences due to creat symmetric condition enhance the height of the bowl-shaped products and uniformity. Finally, the optimized hexagonal pattern was compared with the similar circular one. In the hexagonal scan path, distortion value and standard deviation rather to edge height of formed specimen is very low, and the edge height despite of decreasing length of scan path increases significantly compared to the circular scan path. As a result, four-sequence hexagonal scan pattern is proposed as the optimized perimeter scan path to produce bowl-shaped product.

Optical stabilization for time transfer infrastructure

NASA Astrophysics Data System (ADS)

Vojtech, Josef; Altmann, Michal; Skoda, Pavel; Horvath, Tomas; Slapak, Martin; Smotlacha, Vladimir; Havlis, Ondrej; Munster, Petr; Radil, Jan; Kundrat, Jan; Altmannova, Lada; Velc, Radek; Hula, Miloslav; Vohnout, Rudolf

2017-08-01

In this paper, we propose and present verification of all-optical methods for stabilization of the end-to-end delay of an optical fiber link. These methods are verified for deployment within infrastructure for accurate time and stable frequency distribution, based on sharing of fibers with research and educational network carrying live data traffic. Methods range from path length control, through temperature conditioning method to transmit wavelength control. Attention is given to achieve continuous control for relatively broad range of delays. We summarize design rules for delay stabilization based on the character and the total delay jitter.

Path integration on the hyperbolic plane with a magnetic field

NASA Astrophysics Data System (ADS)

Grosche, Christian

1990-08-01

In this paper I discuss the path integrals on three formulations of hyperbolic geometry, where a constant magnetic field B is included. These are: the pseudosphere Λ2, the Poincaré disc D, and the hyperbolic strip S. The corresponding path integrals can be reformulated in terms of the path integral for the modified Pöschl-Teller potential. The wave-functions and the energy spectrum for the discrete and continuous part of the spectrum are explicitly calculated in each case. First the results are compared for the limit B → 0 with previous calculations and second with the path integration on the Poincaré upper half-plane U. This work is a continuation of the path integral calculations for the free motion on the various formulations on the hyperbolic plane and for the case of constant magnetic field on the Poincaré upper half-plane U.

Navigation system for autonomous mapper robots

NASA Astrophysics Data System (ADS)

Halbach, Marc; Baudoin, Yvan

1993-05-01

This paper describes the conception and realization of a fast, robust, and general navigation system for a mobile (wheeled or legged) robot. A database, representing a high level map of the environment is generated and continuously updated. The first part describes the legged target vehicle and the hexapod robot being developed. The second section deals with spatial and temporal sensor fusion for dynamic environment modeling within an obstacle/free space probabilistic classification grid. Ultrasonic sensors are used, others are suspected to be integrated, and a-priori knowledge is treated. US sensors are controlled by the path planning module. The third part concerns path planning and a simulation of a wheeled robot is also presented.

47 CFR 22.515 - Permissible communications paths.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 47 Telecommunication 2 2014-10-01 2014-10-01 false Permissible communications paths. 22.515 Section 22.515 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES PUBLIC MOBILE SERVICES Paging and Radiotelephone Service § 22.515 Permissible communications paths...

47 CFR 22.515 - Permissible communications paths.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 47 Telecommunication 2 2011-10-01 2011-10-01 false Permissible communications paths. 22.515 Section 22.515 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES PUBLIC MOBILE SERVICES Paging and Radiotelephone Service § 22.515 Permissible communications paths...

47 CFR 22.515 - Permissible communications paths.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 47 Telecommunication 2 2013-10-01 2013-10-01 false Permissible communications paths. 22.515 Section 22.515 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES PUBLIC MOBILE SERVICES Paging and Radiotelephone Service § 22.515 Permissible communications paths...

47 CFR 22.515 - Permissible communications paths.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 47 Telecommunication 2 2010-10-01 2010-10-01 false Permissible communications paths. 22.515 Section 22.515 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES PUBLIC MOBILE SERVICES Paging and Radiotelephone Service § 22.515 Permissible communications paths...

Path statistics, memory, and coarse-graining of continuous-time random walks on networks

PubMed Central

Kion-Crosby, Willow; Morozov, Alexandre V.

2015-01-01

Continuous-time random walks (CTRWs) on discrete state spaces, ranging from regular lattices to complex networks, are ubiquitous across physics, chemistry, and biology. Models with coarse-grained states (for example, those employed in studies of molecular kinetics) or spatial disorder can give rise to memory and non-exponential distributions of waiting times and first-passage statistics. However, existing methods for analyzing CTRWs on complex energy landscapes do not address these effects. Here we use statistical mechanics of the nonequilibrium path ensemble to characterize first-passage CTRWs on networks with arbitrary connectivity, energy landscape, and waiting time distributions. Our approach can be applied to calculating higher moments (beyond the mean) of path length, time, and action, as well as statistics of any conservative or non-conservative force along a path. For homogeneous networks, we derive exact relations between length and time moments, quantifying the validity of approximating a continuous-time process with its discrete-time projection. For more general models, we obtain recursion relations, reminiscent of transfer matrix and exact enumeration techniques, to efficiently calculate path statistics numerically. We have implemented our algorithm in PathMAN (Path Matrix Algorithm for Networks), a Python script that users can apply to their model of choice. We demonstrate the algorithm on a few representative examples which underscore the importance of non-exponential distributions, memory, and coarse-graining in CTRWs. PMID:26646868

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

Chen, Hang, E-mail: hangchen@mit.edu; Thill, Peter; Cao, Jianshu

In biochemical systems, intrinsic noise may drive the system switch from one stable state to another. We investigate how kinetic switching between stable states in a bistable network is influenced by dynamic disorder, i.e., fluctuations in the rate coefficients. Using the geometric minimum action method, we first investigate the optimal transition paths and the corresponding minimum actions based on a genetic toggle switch model in which reaction coefficients draw from a discrete probability distribution. For the continuous probability distribution of the rate coefficient, we then consider two models of dynamic disorder in which reaction coefficients undergo different stochastic processes withmore » the same stationary distribution. In one, the kinetic parameters follow a discrete Markov process and in the other they follow continuous Langevin dynamics. We find that regulation of the parameters modulating the dynamic disorder, as has been demonstrated to occur through allosteric control in bistable networks in the immune system, can be crucial in shaping the statistics of optimal transition paths, transition probabilities, and the stationary probability distribution of the network.« less

Statistical Analysis of the First Passage Path Ensemble of Jump Processes

NASA Astrophysics Data System (ADS)

von Kleist, Max; Schütte, Christof; Zhang, Wei

2018-02-01

The transition mechanism of jump processes between two different subsets in state space reveals important dynamical information of the processes and therefore has attracted considerable attention in the past years. In this paper, we study the first passage path ensemble of both discrete-time and continuous-time jump processes on a finite state space. The main approach is to divide each first passage path into nonreactive and reactive segments and to study them separately. The analysis can be applied to jump processes which are non-ergodic, as well as continuous-time jump processes where the waiting time distributions are non-exponential. In the particular case that the jump processes are both Markovian and ergodic, our analysis elucidates the relations between the study of the first passage paths and the study of the transition paths in transition path theory. We provide algorithms to numerically compute statistics of the first passage path ensemble. The computational complexity of these algorithms scales with the complexity of solving a linear system, for which efficient methods are available. Several examples demonstrate the wide applicability of the derived results across research areas.

Does the walking task matter? Influence of different walking conditions on dual-task performances in young and older persons.

PubMed

Beurskens, Rainer; Bock, Otmar

2013-12-01

Previous literature suggests that age-related deficits of dual-task walking are particularly pronounced with second tasks that require continuous visual processing. Here we evaluate whether the difficulty of the walking task matters as well. To this end, participants were asked to walk along a straight pathway of 20m length in four different walking conditions: (a) wide path and preferred pace; (b) narrow path and preferred pace, (c) wide path and fast pace, (d) obstacled wide path and preferred pace. Each condition was performed concurrently with a task requiring visual processing or fine motor control, and all tasks were also performed alone which allowed us to calculate the dual-task costs (DTC). Results showed that the age-related increase of DTC is substantially larger with the visually demanding than with the motor-demanding task, more so when walking on a narrow or obstacled path. We attribute these observations to the fact that visual scanning of the environment becomes more crucial when walking in difficult terrains: the higher visual demand of those conditions accentuates the age-related deficits in coordinating them with a visual non-walking task. Copyright © 2013 The Authors. Published by Elsevier B.V. All rights reserved.

Optimal Path Determination for Flying Vehicle to Search an Object

NASA Astrophysics Data System (ADS)

Heru Tjahjana, R.; Heri Soelistyo U, R.; Ratnasari, L.; Irawanto, B.

2018-01-01

In this paper, a method to determine optimal path for flying vehicle to search an object is proposed. Background of the paper is controlling air vehicle to search an object. Optimal path determination is one of the most popular problem in optimization. This paper describe model of control design for a flying vehicle to search an object, and focus on the optimal path that used to search an object. In this paper, optimal control model is used to control flying vehicle to make the vehicle move in optimal path. If the vehicle move in optimal path, then the path to reach the searched object also optimal. The cost Functional is one of the most important things in optimal control design, in this paper the cost functional make the air vehicle can move as soon as possible to reach the object. The axis reference of flying vehicle uses N-E-D (North-East-Down) coordinate system. The result of this paper are the theorems which say that the cost functional make the control optimal and make the vehicle move in optimal path are proved analytically. The other result of this paper also shows the cost functional which used is convex. The convexity of the cost functional is use for guarantee the existence of optimal control. This paper also expose some simulations to show an optimal path for flying vehicle to search an object. The optimization method which used to find the optimal control and optimal path vehicle in this paper is Pontryagin Minimum Principle.

Combining control input with flight path data to evaluate pilot performance in transport aircraft.

PubMed

Ebbatson, Matt; Harris, Don; Huddlestone, John; Sears, Rodney

2008-11-01

When deriving an objective assessment of piloting performance from flight data records, it is common to employ metrics which purely evaluate errors in flight path parameters. The adequacy of pilot performance is evaluated from the flight path of the aircraft. However, in large jet transport aircraft these measures may be insensitive and require supplementing with frequency-based measures of control input parameters. Flight path and control input data were collected from pilots undertaking a jet transport aircraft conversion course during a series of symmetric and asymmetric approaches in a flight simulator. The flight path data were analyzed for deviations around the optimum flight path while flying an instrument landing approach. Manipulation of the flight controls was subject to analysis using a series of power spectral density measures. The flight path metrics showed no significant differences in performance between the symmetric and asymmetric approaches. However, control input frequency domain measures revealed that the pilots employed highly different control strategies in the pitch and yaw axes. The results demonstrate that to evaluate pilot performance fully in large aircraft, it is necessary to employ performance metrics targeted at both the outer control loop (flight path) and the inner control loop (flight control) parameters in parallel, evaluating both the product and process of a pilot's performance.

Path probability of stochastic motion: A functional approach

NASA Astrophysics Data System (ADS)

Hattori, Masayuki; Abe, Sumiyoshi

2016-06-01

The path probability of a particle undergoing stochastic motion is studied by the use of functional technique, and the general formula is derived for the path probability distribution functional. The probability of finding paths inside a tube/band, the center of which is stipulated by a given path, is analytically evaluated in a way analogous to continuous measurements in quantum mechanics. Then, the formalism developed here is applied to the stochastic dynamics of stock price in finance.

Apparatus for controlling nuclear core debris

DOEpatents

Jones, Robert D.

1978-01-01

Nuclear reactor apparatus for containing, cooling, and dispersing reactor debris assumed to flow from the core area in the unlikely event of an accident causing core meltdown. The apparatus includes a plurality of horizontally disposed vertically spaced plates, having depressions to contain debris in controlled amounts, and a plurality of holes therein which provide natural circulation cooling and a path for debris to continue flowing downward to the plate beneath. The uppermost plates may also include generally vertical sections which form annular-like flow areas which assist the natural circulation cooling.

Self-organizing path integration using a linked continuous attractor and competitive network: path integration of head direction.

PubMed

Stringer, Simon M; Rolls, Edmund T

2006-12-01

A key issue is how networks in the brain learn to perform path integration, that is update a represented position using a velocity signal. Using head direction cells as an example, we show that a competitive network could self-organize to learn to respond to combinations of head direction and angular head rotation velocity. These combination cells can then be used to drive a continuous attractor network to the next head direction based on the incoming rotation signal. An associative synaptic modification rule with a short term memory trace enables preceding combination cell activity during training to be associated with the next position in the continuous attractor network. The network accounts for the presence of neurons found in the brain that respond to combinations of head direction and angular head rotation velocity. Analogous networks in the hippocampal system could self-organize to perform path integration of place and spatial view representations.

Belt conveyor apparatus

DOEpatents

Oakley, David J.; Bogart, Rex L.

1987-01-01

A belt conveyor apparatus according to this invention defines a conveyance path including a first pulley and at least a second pulley. An endless belt member is adapted for continuous travel about the pulleys and comprises a lower portion which engages the pulleys and an integral upper portion adapted to receive objects therein at a first location on said conveyance path and transport the objects to a second location for discharge. The upper belt portion includes an opposed pair of longitudinally disposed crest-like members, biased towards each other in a substantially abutting relationship. The crest-like members define therebetween a continuous, normally biased closed, channel along the upper belt portion. Means are disposed at the first and second locations and operatively associated with the belt member for urging the normally biased together crest-like members apart in order to provide access to the continuous channel whereby objects can be received into, or discharged from the channel. Motors are in communication with the conveyance path for effecting the travel of the endless belt member about the conveyance path. The conveyance path can be configured to include travel through two or more elevations and one or more directional changes in order to convey objects above, below and/or around existing structures.

Language Education and ELT Materials in Turkey from the Path Dependence Perspective

ERIC Educational Resources Information Center

Isik, Ali

2011-01-01

This paper examines the role of traditional language teaching methodology on the current language teaching methodology in Turkey from the Path Dependence Theory perspective. Path Dependence claims that the past continues shaping the present. Similarly, traditional approaches still shape foreign/second language education. Turkey has inherited a…

Tornado Intensity Estimated from Damage Path Dimensions

PubMed Central

Elsner, James B.; Jagger, Thomas H.; Elsner, Ian J.

2014-01-01

The Newcastle/Moore and El Reno tornadoes of May 2013 are recent reminders of the destructive power of tornadoes. A direct estimate of a tornado's power is difficult and dangerous to get. An indirect estimate on a categorical scale is available from a post-storm survery of the damage. Wind speed bounds are attached to the scale, but the scale is not adequate for analyzing trends in tornado intensity separate from trends in tornado frequency. Here tornado intensity on a continuum is estimated from damage path length and width, which are measured on continuous scales and correlated to the EF rating. The wind speeds on the EF scale are treated as interval censored data and regressed onto the path dimensions and fatalities. The regression model indicates a 25% increase in expected intensity over a threshold intensity of 29 m s−1 for a 100 km increase in path length and a 17% increase in expected intensity for a one km increase in path width. The model shows a 43% increase in the expected intensity when fatalities are observed controlling for path dimensions. The estimated wind speeds correlate at a level of .77 (.34, .93) [95% confidence interval] with a small sample of wind speeds estimated independently from a doppler radar calibration. The estimated wind speeds allow analyses to be done on the tornado database that are not possible with the categorical scale. The modeled intensities can be used in climatology and in environmental and engineering applications. Research is needed to understand the upward trends in path length and width. PMID:25229242

Tornado intensity estimated from damage path dimensions.

PubMed

Elsner, James B; Jagger, Thomas H; Elsner, Ian J

2014-01-01

The Newcastle/Moore and El Reno tornadoes of May 2013 are recent reminders of the destructive power of tornadoes. A direct estimate of a tornado's power is difficult and dangerous to get. An indirect estimate on a categorical scale is available from a post-storm survery of the damage. Wind speed bounds are attached to the scale, but the scale is not adequate for analyzing trends in tornado intensity separate from trends in tornado frequency. Here tornado intensity on a continuum is estimated from damage path length and width, which are measured on continuous scales and correlated to the EF rating. The wind speeds on the EF scale are treated as interval censored data and regressed onto the path dimensions and fatalities. The regression model indicates a 25% increase in expected intensity over a threshold intensity of 29 m s(-1) for a 100 km increase in path length and a 17% increase in expected intensity for a one km increase in path width. The model shows a 43% increase in the expected intensity when fatalities are observed controlling for path dimensions. The estimated wind speeds correlate at a level of .77 (.34, .93) [95% confidence interval] with a small sample of wind speeds estimated independently from a doppler radar calibration. The estimated wind speeds allow analyses to be done on the tornado database that are not possible with the categorical scale. The modeled intensities can be used in climatology and in environmental and engineering applications. Research is needed to understand the upward trends in path length and width.

Detecting false positives in multielement designs: implications for brief assessments.

PubMed

Bartlett, Sara M; Rapp, John T; Henrickson, Marissa L

2011-11-01

The authors assessed the extent to which multielement designs produced false positives using continuous duration recording (CDR) and interval recording with 10-s and 1-min interval sizes. Specifically, they created 6,000 graphs with multielement designs that varied in the number of data paths, and the number of data points per data path, using a random number generator. In Experiment 1, the authors visually analyzed the graphs for the occurrence of false positives. Results indicated that graphs depicting only two sessions for each condition (e.g., a control condition plotted with multiple test conditions) produced the highest percentage of false positives for CDR and interval recording with 10-s and 1-min intervals. Conversely, graphs with four or five sessions for each condition produced the lowest percentage of false positives for each method. In Experiment 2, they applied two new rules, which were intended to decrease false positives, to each graph that depicted a false positive in Experiment 1. Results showed that application of new rules decreased false positives to less than 5% for all of the graphs except for those with two data paths and two data points per data path. Implications for brief assessments are discussed.

Pseudo-random tool paths for CNC sub-aperture polishing and other applications.

PubMed

Dunn, Christina R; Walker, David D

2008-11-10

In this paper we first contrast classical and CNC polishing techniques in regard to the repetitiveness of the machine motions. We then present a pseudo-random tool path for use with CNC sub-aperture polishing techniques and report polishing results from equivalent random and raster tool-paths. The random tool-path used - the unicursal random tool-path - employs a random seed to generate a pattern which never crosses itself. Because of this property, this tool-path is directly compatible with dwell time maps for corrective polishing. The tool-path can be used to polish any continuous area of any boundary shape, including surfaces with interior perforations.

Display Provides Pilots with Real-Time Sonic-Boom Information

NASA Technical Reports Server (NTRS)

Haering, Ed; Plotkin, Ken

2013-01-01

Supersonic aircraft generate shock waves that move outward and extend to the ground. As a cone of pressurized air spreads across the landscape along the flight path, it creates a continuous sonic boom along the flight track. Several factors can influence sonic booms: weight, size, and shape of the aircraft; its altitude and flight path; and weather and atmospheric conditions. This technology allows pilots to control the impact of sonic booms. A software system displays the location and intensity of shock waves caused by supersonic aircraft. This technology can be integrated into cockpits or flight control rooms to help pilots minimize sonic boom impact in populated areas. The system processes vehicle and flight parameters as well as data regarding current atmospheric conditions. The display provides real-time information regarding sonic boom location and intensity, enabling pilots to make the necessary flight adjustments to control the timing and location of sonic booms. This technology can be used on current-generation supersonic aircraft, which generate loud sonic booms, as well as future- generation, low-boom aircraft, anticipated to be quiet enough for populated areas.

UCAV path planning in the presence of radar-guided surface-to-air missile threats

NASA Astrophysics Data System (ADS)

Zeitz, Frederick H., III

This dissertation addresses the problem of path planning for unmanned combat aerial vehicles (UCAVs) in the presence of radar-guided surface-to-air missiles (SAMs). The radars, collocated with SAM launch sites, operate within the structure of an Integrated Air Defense System (IADS) that permits communication and cooperation between individual radars. The problem is formulated in the framework of the interaction between three sub-systems: the aircraft, the IADS, and the missile. The main features of this integrated model are: The aircraft radar cross section (RCS) depends explicitly on both the aspect and bank angles; hence, the RCS and aircraft dynamics are coupled. The probabilistic nature of IADS tracking is accounted for; namely, the probability that the aircraft has been continuously tracked by the IADS depends on the aircraft RCS and range from the perspective of each radar within the IADS. Finally, the requirement to maintain tracking prior to missile launch and during missile flyout are also modeled. Based on this model, the problem of UCAV path planning is formulated as a minimax optimal control problem, with the aircraft bank angle serving as control. Necessary conditions of optimality for this minimax problem are derived. Based on these necessary conditions, properties of the optimal paths are derived. These properties are used to discretize the dynamic optimization problem into a finite-dimensional, nonlinear programming problem that can be solved numerically. Properties of the optimal paths are also used to initialize the numerical procedure. A homotopy method is proposed to solve the finite-dimensional, nonlinear programming problem, and a heuristic method is proposed to improve the discretization during the homotopy process. Based upon the properties of numerical solutions, a method is proposed for parameterizing and storing information for later recall in flight to permit rapid replanning in response to changing threats. Illustrative examples are presented that confirm the standard flying tactics of "denying range, aspect, and aim," by yielding flight paths that "weave" to avoid long exposures of aspects with large RCS.

Electric controlled air incinerator for radioactive wastes

DOEpatents

Warren, Jeffery H.; Hootman, Harry E.

1981-01-01

A two-stage incinerator is provided which includes a primary combustion chamber and an afterburner chamber for off-gases. The latter is formed by a plurality of vertical tubes in combination with associated manifolds which connect the tubes together to form a continuous tortuous path. Electrically-controlled heaters surround the tubes while electrically-controlled plate heaters heat the manifolds. A gravity-type ash removal system is located at the bottom of the first afterburner tube while an air mixer is disposed in that same tube just above the outlet from the primary chamber. A ram injector in combination with rotary magazine feeds waste to a horizontal tube forming the primary combustion chamber.

Spatial and temporal analysis center of pressure displacement during adolescence: Clinical implications of developmental changes.

PubMed

Quatman-Yates, Catherine; Bonnette, Scott; Gupta, Resmi; Hugentobler, Jason A; Wade, Shari L; Glauser, Tracy A; Ittenbach, Richard F; Paterno, Mark V; Riley, Michael A

2018-04-01

This study aimed to provide insight into the development of postural control abilities in youth. A total of 276 typically developing adolescents (155 males, 121 females) with a mean age of 13.23 years (range of 7.11-18.80) were recruited for participation. Subjects performed two-minute quiet standing trials in bipedal stance on a force plate. Center of pressure (COP) trajectories were quantified using Sample Entropy (SampEn) in the anterior-posterior direction (SampEn-AP), SampEn in the medial-lateral direction (SampEn-ML), and Path Length (PL) measures. Three separate linear regression analyses were conducted to predict the relationship between age and each of the response variables after adjusting for individuals' physical characteristics. Linear regression models showed an inverse relationship between age and entropy measures after adjusting for body mass index. Results indicated that chronological age was predictive of entropy and path length patterns. Specifically, older adolescents exhibited center of pressure displacement (smaller path length) and less complex, more regular center of pressure displacement patterns (lower SampEn-AP and SampEn-ML values) compared to the younger children. These findings support prior studies suggesting that developmental changes in postural control abilities may continue throughout adolescence and into adulthood. Copyright © 2018 Elsevier B.V. All rights reserved.

Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

NASA Astrophysics Data System (ADS)

Nugraha, A. T.; Agustinah, T.

2018-01-01

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis

NASA Astrophysics Data System (ADS)

Aizzat Zakaria, Muhammad; Zamzuri, Hairi; Amri Mazlan, Saiful

2016-02-01

This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.

Continuous-scanning laser Doppler vibrometry: Extensions to arbitrary areas, multi-frequency and 3D capture

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

Weekes, B.; Ewins, D.; Acciavatti, F.

2014-05-27

To date, differing implementations of continuous scan laser Doppler vibrometry have been demonstrated by various academic institutions, but since the scan paths were defined using step or sine functions from function generators, the paths were typically limited to 1D line scans or 2D areas such as raster paths or Lissajous trajectories. The excitation was previously often limited to a single frequency due to the specific signal processing performed to convert the scan data into an ODS. In this paper, a configuration of continuous-scan laser Doppler vibrometry is demonstrated which permits scanning of arbitrary areas, with the benefit of allowing multi-frequency/broadbandmore » excitation. Various means of generating scan paths to inspect arbitrary areas are discussed and demonstrated. Further, full 3D vibration capture is demonstrated by the addition of a range-finding facility to the described configuration, and iteratively relocating a single scanning laser head. Here, the range-finding facility was provided by a Microsoft Kinect, an inexpensive piece of consumer electronics.« less

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

Simulation of the Load-Unload Paths Experienced by Rock in the Vicinity of Buried Explosions.

DTIC Science & Technology

1977-12-01

Y99QAXSB04903 H2590D. 19. KEY WORDS (Continue on revere. aide if necessary end Identify by block number) Kayenta Sandstone Strain and Stress Paths Buried...These calculations are used to define loading and unloading paths in static laboratory tests on Kayenta sandstone. The data presented hsreithus...spherical explosions in an infinite medium. The material tested in the experimental program is Kayenta sandstone. 5 STRESS PATH DETERMINATION FROM FINITE

Functional integration of vertical flight path and speed control using energy principles

NASA Technical Reports Server (NTRS)

Lambregts, A. A.

1984-01-01

A generalized automatic flight control system was developed which integrates all longitudinal flight path and speed control functions previously provided by a pitch autopilot and autothrottle. In this design, a net thrust command is computed based on total energy demand arising from both flight path and speed targets. The elevator command is computed based on the energy distribution error between flight path and speed. The engine control is configured to produce the commanded net thrust. The design incorporates control strategies and hierarchy to deal systematically and effectively with all aircraft operational requirements, control nonlinearities, and performance limits. Consistent decoupled maneuver control is achieved for all modes and flight conditions without outer loop gain schedules, control law submodes, or control function duplication.

An Experiment of GMPLS-Based Dispersion Compensation Control over In-Field Fibers

NASA Astrophysics Data System (ADS)

Seno, Shoichiro; Horiuchi, Eiichi; Yoshida, Sota; Sugihara, Takashi; Onohara, Kiyoshi; Kamei, Misato; Baba, Yoshimasa; Kubo, Kazuo; Mizuochi, Takashi

As ROADMs (Reconfigurable Optical Add/Drop Multiplexers) are becoming widely used in metro/core networks, distributed control of wavelength paths by extended GMPLS (Generalized MultiProtocol Label Switching) protocols has attracted much attention. For the automatic establishment of an arbitrary wavelength path satisfying dynamic traffic demands over a ROADM or WXC (Wavelength Cross Connect)-based network, precise determination of chromatic dispersion over the path and optimized assignment of dispersion compensation capabilities at related nodes are essential. This paper reports an experiment over in-field fibers where GMPLS-based control was applied for the automatic discovery of chromatic dispersion, path computation, and wavelength path establishment with dynamic adjustment of variable dispersion compensation. The GMPLS-based control scheme, which the authors called GMPLS-Plus, extended GMPLS's distributed control architecture with attributes for automatic discovery, advertisement, and signaling of chromatic dispersion. In this experiment, wavelength paths with distances of 24km and 360km were successfully established and error-free data transmission was verified. The experiment also confirmed path restoration with dynamic compensation adjustment upon fiber failure.

Achievement of controlled resistive response of nanogapped palladium film to hydrogen

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

Zhao, M.; Wong, M. H.; Ong, C. W., E-mail: c.w.ong@polyu.edu.hk

2015-07-20

Palladium (Pd) film containing nanogaps of well controlled dimension was fabricated on a Si wafer having a high-aspect-ratio micropillar. The Pd film was arranged to experience hydrogen (H{sub 2})-induced volume expansion. (i) If the nanogap is kept open, its width is narrowed down. A discharge current was generated to give a strong, fast, and repeatable on-off type resistive switching response. (ii) If the nanogap is closed, the cross section of the conduction path varies to give continuous H{sub 2}-concentration dependent resistive response. The influence of stresses and related physical mechanisms are discussed.

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Pivtoraiko, Mihail N.; Kelly, Alonzo; Fleder, Michael

2012-01-01

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Cooperative path following control of multiple nonholonomic mobile robots.

PubMed

Cao, Ke-Cai; Jiang, Bin; Yue, Dong

2017-11-01

Cooperative path following control problem of multiple nonholonomic mobile robots has been considered in this paper. Based on the framework of decomposition, the cooperative path following problem has been transformed into path following problem and cooperative control problem; Then cascaded theory of non-autonomous system has been employed in the design of controllers without resorting to feedback linearization. One time-varying coordinate transformation based on dilation has been introduced to solve the uncontrollable problem of nonholonomic robots when the whole group's reference converges to stationary point. Cooperative path following controllers for nonholonomic robots have been proposed under persistent reference or reference target that converges to stationary point respectively. Simulation results using Matlab have illustrated the effectiveness of the obtained theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Pitch attitude, flight path, and airspeed control during approach and landing of a powered lift STOL aircraft

NASA Technical Reports Server (NTRS)

Franklin, J. A.; Innis, R. C.

1972-01-01

Analytical investigations and piloted moving base simulator evaluations were conducted for manual control of pitch attitude, flight path, and airspeed for the approach and landing of a powered lift jet STOL aircraft. Flight path and speed response characteristics were described analytically and were evaluated for the simulation experiments which were carried out on a large motion simulator. The response characteristics were selected and evaluated for a specified path and speed control technique. These charcteristics were: (1) the initial pitch response and steady pitch rate sensitivity for control of attitude with a pitch rate command/ attitude hold system, (2) the initial flight path response, flight path overshoot, and flight path-airspeed coupling in response to a change in thrust, and (3) the sensitivity of airspeed to pitch attitude changes. Results are presented in the form of pilot opinion ratings and commentary, substantiated where appropriate by response time histories and aircraft states at the point of touchdown.

Universal photonic quantum gates assisted by ancilla diamond nitrogen-vacancy centers coupled to resonators

NASA Astrophysics Data System (ADS)

Wei, Hai-Rui; Long, Gui Lu

2015-03-01

We propose two compact, economic, and scalable schemes for implementing optical controlled-phase-flip and controlled-controlled-phase-flip gates by using the input-output process of a single-sided cavity strongly coupled to a single nitrogen-vacancy-center defect in diamond. Additional photonic qubits, necessary for procedures based on the parity-check measurement or controlled-path and merging gates, are not employed in our schemes. In the controlled-path gate, the paths of the target photon are conditionally controlled by the control photon, and these two paths can be merged back into one by using a merging gate. Only one half-wave plate is employed in our scheme for the controlled-phase-flip gate. Compared with the conventional synthesis procedures for constructing a controlled-controlled-phase-flip gate, the cost of which is two controlled-path gates and two merging gates, or six controlled-not gates, our scheme is more compact and simpler. Our schemes could be performed with a high fidelity and high efficiency with current achievable experimental techniques.

Practical Methylation Procedure for (1H)-1,2,4-Triazole (Postprint)

DTIC Science & Technology

2007-09-01

Francis Group, LLC. 14. ABSTRACT Conversion of (1H)-1,2,4-triazole to its sodium salt with methanolic sodium methoxide is followed by reaction ...From - To) 04-06-2007 Journal Article 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Practical Methylation Procedure for (1H)-1,2,4-Triazole (Postprint...continuous extraction (chloroform/water) with a final short-path distillation under a controlled vacuum to obtain spectroscopically pure 1- methyl -1,2,4

Programmable Differential Delay Circuit With Fine Delay Adjustment

DOEpatents

DeRyckere, John F.; Jenkins, Philip Nord; Cornett, Frank Nolan

2002-07-09

Circuitry that provides additional delay to early arriving signals such that all data signals arrive at a receiving latch with same path delay. The delay of a forwarded clock reference is also controlled such that the capturing clock edge will be optimally positioned near quadrature (depending on latch setup/hold requirements). The circuitry continuously adapts to data and clock path delay changes and digital filtering of phase measurements reduce errors brought on by jittering data edges. The circuitry utilizes only the minimum amount of delay necessary to achieve objective thereby limiting any unintended jitter. Particularly, this programmable differential delay circuit with fine delay adjustment is designed to allow the skew between ASICS to be minimized. This includes skew between data bits, between data bits and clocks as well as minimizing the overall skew in a channel between ASICS.

Light absorption cell combining variable path and length pump

DOEpatents

Prather, William S.

1993-01-01

A device for use in making spectrophotometric measurements of fluid samples. In particular, the device is a measurement cell containing a movable and a fixed lens with a sample of the fluid therebetween and through which light shines. The cell is connected to a source of light and a spectrophotometer via optic fibers. Movement of the lens varies the path length and also pumps the fluid into and out of the cell. Unidirectional inlet and exit valves cooperate with the movable lens to assure a one-way flow of fluid through the cell. A linear stepper motor controls the movement of the lens and cycles it from a first position closer to the fixed lens and a second position farther from the fixed lens, preferably at least 10 times per minute for a nearly continuous stream of absorption spectrum data.

Photonic-powered cable assembly

DOEpatents

Sanderson, Stephen N.; Appel, Titus James; Wrye, IV, Walter C.

2013-01-22

A photonic-cable assembly includes a power source cable connector ("PSCC") coupled to a power receive cable connector ("PRCC") via a fiber cable. The PSCC electrically connects to a first electronic device and houses a photonic power source and an optical data transmitter. The fiber cable includes an optical transmit data path coupled to the optical data transmitter, an optical power path coupled to the photonic power source, and an optical feedback path coupled to provide feedback control to the photonic power source. The PRCC electrically connects to a second electronic device and houses an optical data receiver coupled to the optical transmit data path, a feedback controller coupled to the optical feedback path to control the photonic power source, and a photonic power converter coupled to the optical power path to convert photonic energy received over the optical power path to electrical energy to power components of the PRCC.

Photonic-powered cable assembly

DOEpatents

Sanderson, Stephen N; Appel, Titus James; Wrye, IV, Walter C

2014-06-24

A photonic-cable assembly includes a power source cable connector ("PSCC") coupled to a power receive cable connector ("PRCC") via a fiber cable. The PSCC electrically connects to a first electronic device and houses a photonic power source and an optical data transmitter. The fiber cable includes an optical transmit data path coupled to the optical data transmitter, an optical power path coupled to the photonic power source, and an optical feedback path coupled to provide feedback control to the photonic power source. The PRCC electrically connects to a second electronic device and houses an optical data receiver coupled to the optical transmit data path, a feedback controller coupled to the optical feedback path to control the photonic power source, and a photonic power converter coupled to the optical power path to convert photonic energy received over the optical power path to electrical energy to power components of the PRCC.

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

NASA Astrophysics Data System (ADS)

Kapania, Nitin R.; Gerdes, J. Christian

2015-12-01

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.

Dynamical characterization of inactivation path in voltage-gated Na+ ion channel by non-equilibrium response spectroscopy

PubMed Central

Pal, Krishnendu; Gangopadhyay, Gautam

2016-01-01

ABSTRACT Inactivation path of voltage gated sodium channel has been studied here under various voltage protocols as it is the main governing factor for the periodic occurrence and shape of the action potential. These voltage protocols actually serve as non-equilibrium response spectroscopic tools to study the ion channel in non-equilibrium environment. In contrast to a lot of effort in finding the crystal structure based molecular mechanism of closed-state(CSI) and open-state inactivation(OSI); here our approach is to understand the dynamical characterization of inactivation. The kinetic flux as well as energetic contribution of the closed and open- state inactivation path is compared here for voltage protocols, namely constant, pulsed and oscillating. The non-equilibrium thermodynamic quantities used in response to these voltage protocols serve as improved characterization tools for theoretical understanding which not only agrees with the previously known kinetic measurements but also predict the energetically optimum processes to sustain the auto-regulatory mechanism of action potential and the consequent inactivation steps needed. The time dependent voltage pattern governs the population of the conformational states which when couple with characteristic rate parameters, the CSI and OSI selectivity arise dynamically to control the inactivation path. Using constant, pulsed and continuous oscillating voltage protocols we have shown that during depolarization the OSI path is more favored path of inactivation however, in the hyper-polarized situation the CSI is favored. It is also shown that the re-factorisation of inactivated sodium channel to resting state occurs via CSI path. Here we have shown how the subtle energetic and entropic cost due to the change in the depolarization magnitude determines the optimum path of inactivation. It is shown that an efficient CSI and OSI dynamical profile in principle can characterize the open-state drug blocking phenomena. PMID:27367642

Spin coherent-state path integrals and the instanton calculus

NASA Astrophysics Data System (ADS)

Garg, Anupam; Kochetov, Evgueny; Park, Kee-Su; Stone, Michael

2003-01-01

We use an instanton approximation to the continuous-time spin coherent-state path integral to obtain the tunnel splitting of classically degenerate ground states. We show that provided the fluctuation determinant is carefully evaluated, the path integral expression is accurate to order O(1/j). We apply the method to the LMG model and to the molecular magnet Fe8 in a transverse field.

Path integration of head direction: updating a packet of neural activity at the correct speed using neuronal time constants.

PubMed

Walters, D M; Stringer, S M

2010-07-01

A key question in understanding the neural basis of path integration is how individual, spatially responsive, neurons may self-organize into networks that can, through learning, integrate velocity signals to update a continuous representation of location within an environment. It is of vital importance that this internal representation of position is updated at the correct speed, and in real time, to accurately reflect the motion of the animal. In this article, we present a biologically plausible model of velocity path integration of head direction that can solve this problem using neuronal time constants to effect natural time delays, over which associations can be learned through associative Hebbian learning rules. The model comprises a linked continuous attractor network and competitive network. In simulation, we show that the same model is able to learn two different speeds of rotation when implemented with two different values for the time constant, and without the need to alter any other model parameters. The proposed model could be extended to path integration of place in the environment, and path integration of spatial view.

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

UAV path planning using artificial potential field method updated by optimal control theory

NASA Astrophysics Data System (ADS)

Chen, Yong-bo; Luo, Guan-chen; Mei, Yue-song; Yu, Jian-qiao; Su, Xiao-long

2016-04-01

The unmanned aerial vehicle (UAV) path planning problem is an important assignment in the UAV mission planning. Based on the artificial potential field (APF) UAV path planning method, it is reconstructed into the constrained optimisation problem by introducing an additional control force. The constrained optimisation problem is translated into the unconstrained optimisation problem with the help of slack variables in this paper. The functional optimisation method is applied to reform this problem into an optimal control problem. The whole transformation process is deduced in detail, based on a discrete UAV dynamic model. Then, the path planning problem is solved with the help of the optimal control method. The path following process based on the six degrees of freedom simulation model of the quadrotor helicopters is introduced to verify the practicability of this method. Finally, the simulation results show that the improved method is more effective in planning path. In the planning space, the length of the calculated path is shorter and smoother than that using traditional APF method. In addition, the improved method can solve the dead point problem effectively.

Process optimization of helium cryo plant operation for SST-1 superconducting magnet system

NASA Astrophysics Data System (ADS)

Panchal, P.; Panchal, R.; Patel, R.; Mahesuriya, G.; Sonara, D.; Srikanth G, L. N.; Garg, A.; Christian, D.; Bairagi, N.; Sharma, R.; Patel, K.; Shah, P.; Nimavat, H.; Purwar, G.; Patel, J.; Tanna, V.; Pradhan, S.

2017-02-01

Several plasma discharge campaigns have been carried out in steady state superconducting tokamak (SST-1). SST-1 has toroidal field (TF) and poloidal field (PF) superconducting magnet system (SCMS). The TF coils system is cooled to 4.5 - 4.8 K at 1.5 - 1.7 bar(a) under two phase flow condition using 1.3 kW helium cryo plant. Experience revealed that the PF coils demand higher pressure heads even at lower temperatures in comparison to TF coils because of its longer hydraulic path lengths. Thermal run away are observed within PF coils because of single common control valve for all PF coils in distribution system having non-uniform lengths. Thus it is routine practice to stop the cooling of PF path and continue only TF cooling at SCMS inlet temperature of ˜ 14 K. In order to achieve uniform cool down, different control logic is adopted to make cryo stable system. In adopted control logic, the SCMS are cooled down to 80 K at constant inlet pressure of 9 bar(a). After authorization of turbine A/B, the SCMS inlet pressure is gradually controlled by refrigeration J-T valve to achieve stable operation window for cryo system. This paper presents process optimization for cryo plant operation for SST-1 SCMS.

Assessment of sidewalk/bicycle-lane gaps with safety and developing statewide pedestrian [summary].

DOT National Transportation Integrated Search

2016-04-01

Interest in multimodal transportation and walkable/bikeable communities has led to : construction of more sidewalks and bicycle paths. However, in many places, sidewalks or : bicycle paths are not continuous, leaving gaps that force pedestrians and b...

Assist-as-needed path control for the PASCAL rehabilitation robot.

PubMed

Keller, Urs; Rauter, Georg; Riener, Robert

2013-06-01

Adults and children with neurological disorders often require rehabilitation therapy to improve their arm motor functions. Complementary to conventional therapy, robotic therapy can be applied. Such robots should support arm movements while assisting only as much as needed to ensure an active participation of the patient. Different control strategies are known to provide arm support to the patient. The path controller is a strategy that helps the patient's arm to stay close to a given path while allowing for temporal and spatial freedom. In this paper, an assist-as-needed path controller is presented that is implemented in the end-effector-based robot PASCAL, which was designed for children with cerebral palsy. The new control approach is a combination of an existing path controller with additional speed restrictions to support, when the arm speed is too slow, and to resist, when the speed is too fast. Furthermore, a target position gain scheduling is introduced in order to reach a target position with a predefined precision as well as an adaptable direction-dependent supportive flux that supports along the path. These path control features were preliminarily tested with a healthy adult volunteer in different conditions. The presented controller covers the range from a completely passive user, who needs full support to an actively performed movement that needs no assistance. In close future, the controller is planned to be used to enable reaching in children as well as in adults and help to increase the intensity of the rehabilitation therapy by assisting the hand movement and by provoking an active participation.

Cheerios Effect Controlled by Electrowetting.

PubMed

Yuan, Junqi; Feng, Jian; Cho, Sung Kwon

2015-08-04

The Cheerios effect is a common phenomenon in which small floating objects are either attracted or repelled by the sidewall due to capillary interaction. This attractive or repulsive behavior is highly dependent on the slope angles (angles of the interface on the wall or floating object with respect to a horizontal line) that can be mainly controlled by the wettability of the wall and floating object and the density of the object. In this paper, electrowetting on dielectric (EWOD) is implemented to the wall or floating object in order to actively control the wettability and thus capillary interaction. As such, the capillary force on buoyant and dense floating objects can be easily switched between repulsion and attraction by simply applying an electrical input. In addition, the theoretical prediction for the capillary force is verified experimentally by measuring the motion of floating particle and the critical contact angle on the wall at which the capillary force changes from attraction to repulsion. This successive verification is enabled by the merit of EWOD that allows for continuous change in the contact angle. Finally, the control method is extended to continuously move a floating object along a linear path and to continuously rotate a dumbbell-like floating object in centimeter scales using arrays of EWOD electrodes. A continuous linear motion is also accomplished in a smaller scale where the channel width (3 mm) is comparable to the capillary length.

Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1989-01-01

Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.

MO-F-CAMPUS-T-03: Continuous Dose Delivery with Gamma Knife Perfexion

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

Ghobadi,; Li, W; Chung, C

2015-06-15

Purpose: We propose continuous dose delivery techniques for stereotactic treatments delivered by Gamma Knife Perfexion using inverse treatment planning system that can be applied to various tumour sites in the brain. We test the accuracy of the plans on Perfexion’s planning system (GammaPlan) to ensure the obtained plans are viable. This approach introduces continuous dose delivery for Perefxion, as opposed to the currently employed step-and-shoot approaches, for different tumour sites. Additionally, this is the first realization of automated inverse planning on GammaPlan. Methods: The inverse planning approach is divided into two steps of identifying a quality path inside the target,more » and finding the best collimator composition for the path. To find a path, we select strategic regions inside the target volume and find a path that visits each region exactly once. This path is then passed to a mathematical model which finds the best combination of collimators and their durations. The mathematical model minimizes the dose spillage to the surrounding tissues while ensuring the prescribed dose is delivered to the target(s). Organs-at-risk and their corresponding allowable doses can also be added to the model to protect adjacent organs. Results: We test this approach on various tumour sizes and sites. The quality of the obtained treatment plans are comparable or better than forward plans and inverse plans that use step- and-shoot technique. The conformity indices in the obtained continuous dose delivery plans are similar to those of forward plans while the beam-on time is improved on average (see Table 1 in supporting document). Conclusion: We employ inverse planning for continuous dose delivery in Perfexion for brain tumours. The quality of the obtained plans is similar to forward and inverse plans that use conventional step-and-shoot technique. We tested the inverse plans on GammaPlan to verify clinical relevance. This research was partially supported by Elekta, Sweden (vendor of Gamma Knife Perfexion)« less

Conversion of Nuclear Waste to Molten Glass: Cold-Cap Reactions in Crucible Tests

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

Xu, Kai; Hrma, Pavel; Rice, Jarrett A.

2016-05-23

The feed-to-glass conversion, which comprises complex chemical reactions and phase transitions, occurs in the cold-cap zone during nuclear waste vitrification. Knowledge of the chemistry and physics of feed-to-glass conversion will help us control the conversion path by changing the melter feed makeup to maximize the glass production rate. To investigate the conversion process, we analyzed heat-treated samples of a simulated high-level waste feed using X-ray diffraction, electron probe microanalysis – wavelength dispersive X-ray spectroscopy, leaching tests, and residual anion analysis. Feed dehydration, gas evolution, and borate phase formation occurred at temperatures below 700 °C before the emerging glass-forming melt wasmore » completely connected. Above 800 °C, intermediate aluminosilicate phases and quartz particles were gradually dissolving in the continuous borosilicate melt, which expanded into transient foam. Knowledge of the chemistry and physics of feed-to-glass conversion will help us control the conversion path by changing the melter feed makeup to maximize the glass production rate.« less

Data-driven Modeling of the Solar Corona by a New Three-dimensional Path-conservative Osher-Solomon MHD Model

NASA Astrophysics Data System (ADS)

Feng, Xueshang; Li, Caixia; Xiang, Changqing; Zhang, Man; Li, HuiChao; Wei, Fengsi

2017-11-01

A second-order path-conservative scheme with a Godunov-type finite-volume method has been implemented to advance the equations of single-fluid solar wind plasma magnetohydrodynamics (MHD) in time. This code operates on the six-component composite grid system in three-dimensional spherical coordinates with hexahedral cells of quadrilateral frustum type. The generalized Osher-Solomon Riemann solver is employed based on a numerical integration of the path-dependent dissipation matrix. For simplicity, the straight line segment path is used, and the path integral is evaluated in a fully numerical way by a high-order numerical Gauss-Legendre quadrature. Besides its very close similarity to Godunov type, the resulting scheme retains the attractive features of the original solver: it is nonlinear, free of entropy-fix, differentiable, and complete, in that each characteristic field results in a different numerical viscosity, due to the full use of the MHD eigenstructure. By using a minmod limiter for spatial oscillation control, the path-conservative scheme is realized for the generalized Lagrange multiplier and the extended generalized Lagrange multiplier formulation of solar wind MHD systems. This new model that is second order in space and time is written in the FORTRAN language with Message Passing Interface parallelization and validated in modeling the time-dependent large-scale structure of the solar corona, driven continuously by Global Oscillation Network Group data. To demonstrate the suitability of our code for the simulation of solar wind, we present selected results from 2009 October 9 to 2009 December 29 show its capability of producing a structured solar corona in agreement with solar coronal observations.

Effects of liquid layers and distribution patterns on three-phase saturation and relative permeability relationships: a micromodel study.

PubMed

Tsai, Jui-Pin; Chang, Liang-Cheng; Hsu, Shao-Yiu; Shan, Hsin-Yu

2017-12-01

In the current study, we used micromodel experiments to study three-phase fluid flow in porous media. In contrast to previous studies, we simultaneously observed and measured pore-scale fluid behavior and three-phase constitutive relationships with digital image acquisition/analysis, fluid pressure control, and permeability assays. Our results showed that the fluid layers significantly influenced pore-scale, three-phase fluid displacement as well as water relative permeability. At low water saturation, water relative permeability not only depended on water saturation but also on the distributions of air and diesel. The results also indicate that the relative permeability-saturation model proposed by Parker et al. (1987) could not completely describe the experimental data from our three-phase flow experiments because these models ignore the effects of phase distribution. A simple bundle-of-tubes model shows that the water relative permeability was proportional to the number of apparently continuous water paths before the critical stage in which no apparently continuous water flow path could be found. Our findings constitute additional information about the essential constitutive relationships involved in both the understanding and the modeling of three-phase flows in porous media.

Graphene-based battery electrodes having continuous flow paths

DOEpatents

Zhang, Jiguang; Xiao, Jie; Liu, Jun; Xu, Wu; Li, Xiaolin; Wang, Deyu

2014-05-24

Some batteries can exhibit greatly improved performance by utilizing electrodes having randomly arranged graphene nanosheets forming a network of channels defining continuous flow paths through the electrode. The network of channels can provide a diffusion pathway for the liquid electrolyte and/or for reactant gases. Metal-air batteries can benefit from such electrodes. In particular Li-air batteries show extremely high capacities, wherein the network of channels allow oxygen to diffuse through the electrode and mesopores in the electrode can store discharge products.

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

NASA Astrophysics Data System (ADS)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

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

Terrestrial Planet Finder cryogenic delay line development

NASA Technical Reports Server (NTRS)

Smythe, Robert F.; Swain, Mark R.; Alvarez-Salazar, Oscar; Moore, James D.

2004-01-01

Delay lines provide the path-length compensation that makes the measurement of interference fringes possible. When used for nulling interferometry, the delay line must control path-lengths so that the null is stable and controlled throughout the measurement. We report on a low noise, low disturbance, and high bandwidth optical delay line capable of meeting the TPF interferometer optical path length control requirements at cryogenic temperatures.

A comparative study of integrated pest management strategies based on impulsive control.

PubMed

Páez Chávez, Joseph; Jungmann, Dirk; Siegmund, Stefan

2018-12-01

The paper presents a comprehensive numerical study of mathematical models used to describe complex biological systems in the framework of integrated pest management. Our study considers two specific ecosystems that describe the application of control mechanisms based on pesticides and natural enemies, implemented in an impulsive and periodic manner, due to which the considered models belong to the class of impulsive differential equations. The present work proposes a numerical approach to study such type of models in detail, via the application of path-following (continuation) techniques for nonsmooth dynamical systems, via the novel continuation platform COCO (Dankowicz and Schilder). In this way, a detailed study focusing on the influence of selected system parameters on the effectiveness of the pest control scheme is carried out for both ecological scenarios. Furthermore, a comparative study is presented, with special emphasis on the mechanisms upon which a pest outbreak can occur in the considered ecosystems. Our study reveals that such outbreaks are determined by the presence of a branching point found during the continuation analysis. The numerical investigation concludes with an in-depth study of the state-dependent pesticide mortality considered in one of the ecological scenarios.

Impact of different eddy covariance sensors and set-up on the annual balance of CO2 and fluxes of CH4 and latent heat in the Arctic

NASA Astrophysics Data System (ADS)

Goodrich, J. P.; Zona, D.; Gioli, B.; Murphy, P.; Burba, G. G.; Oechel, W. C.

2015-12-01

Expanding eddy covariance measurements of CO2 and CH4 fluxes in the Arctic is critical for refining the global C budget. Continuous measurements are particularly challenging because of the remote locations, low power availability, and extreme weather conditions. The necessity for tailoring instrumentation at different sites further complicates the interpretation of results and may add uncertainty to estimates of annual CO2 budgets. We investigated the influence of different sensor combinations on FCO2, latent heat (LE), and FCH4, and assessed the differences in annual FCO2 estimated with different instrumentation at the same sites. Using data from four sites across the North Slope of Alaska, we resolved FCO2 and FCH4 to within 5% using different combinations of open- and closed-path gas analyzers and within 10% using heated and non-heated anemometers. A continuously heated anemometer increased data coverage relative to non-heated anemometers while resulting in comparable annual FCO2, despite over-estimating sensible heat fluxes by 15%. We also implemented an intermittent heating strategy whereby activation only when ice or snow blockage of the transducers was detected. This resulted in comparable data coverage (~ 60%) to the continuously heated anemometer, while avoiding potential over-estimation of sensible heat and gas fluxes. We found good agreement in FCO2 and FCH4 from two closed-path and one open-path gas analyzer, despite the need for large spectral corrections of closed-path fluxes and density and temperature corrections to open-path sensors. However, data coverage was generally greater when using closed-path, especially during cold seasons (36-40% vs 10-14% for the open path), when fluxes from Arctic regions are particularly uncertain and potentially critical to annual C budgets. Measurement of Arctic LE remains a challenge due to strong attenuation along sample tubes, even when heated, that could not be accounted for with spectral corrections.

Light absorption cell combining variable path and length pump

DOEpatents

Prather, W.S.

1993-12-07

A device is described for use in making spectrophotometric measurements of fluid samples. In particular, the device is a measurement cell containing a movable and a fixed lens with a sample of the fluid there between and through which light shines. The cell is connected to a source of light and a spectrophotometer via optic fibers. Movement of the lens varies the path length and also pumps the fluid into and out of the cell. Unidirectional inlet and exit valves cooperate with the movable lens to assure a one-way flow of fluid through the cell. A linear stepper motor controls the movement of the lens and cycles it from a first position closer to the fixed lens and a second position farther from the fixed lens, preferably at least 10 times per minute for a nearly continuous stream of absorption spectrum data. 2 figures.

Automatic Gain Control in Compact Spectrometers.

PubMed

Protopopov, Vladimir

2016-03-01

An image intensifier installed in the optical path of a compact spectrometer may act not only as a fast gating unit, which is widely used for time-resolved measurements, but also as a variable attenuator-amplifier in a continuous wave mode. This opens the possibility of an automatic gain control, a new feature in spectroscopy. With it, the user is relieved from the necessity to manually adjust signal level at a certain value that it is done automatically by means of an electronic feedback loop. It is even more important that automatic gain control is done without changing exposure time, which is an additional benefit in time-resolved experiments. The concept, algorithm, design considerations, and experimental results are presented. © The Author(s) 2016.

Manual flying of curved precision approaches to landing with electromechanical instrumentation. A piloted simulation study

NASA Technical Reports Server (NTRS)

Knox, Charles E.

1993-01-01

A piloted simulation study was conducted to examine the requirements for using electromechanical flight instrumentation to provide situation information and flight guidance for manually controlled flight along curved precision approach paths to a landing. Six pilots were used as test subjects. The data from these tests indicated that flight director guidance is required for the manually controlled flight of a jet transport airplane on curved approach paths. Acceptable path tracking performance was attained with each of the three situation information algorithms tested. Approach paths with both multiple sequential turns and short final path segments were evaluated. Pilot comments indicated that all the approach paths tested could be used in normal airline operations.

Active feedforward noise control and signal tracking of headsets: Electroacoustic analysis and system implementation.

PubMed

Bai, Mingsian R; Pan, Weichi; Chen, Hungyu

2018-03-01

Active noise control (ANC) of headsets is revisited in this paper. An in-depth electroacoustic analysis of the combined loudspeaker-cavity headset system is conducted on the basis of electro-mechano-acoustical analogous circuits. Model matching of the primary path and the secondary path leads to a feedforward control architecture. The ideal controller sheds some light on the key parameters that affect the noise reduction performance. Filtered-X least-mean-squares algorithm is employed to implement the feedforward controller on a digital signal processor. Since the relative delay of the primary path and the secondary path is crucial to the noise reduction performance, multirate signal processing with polyphase implementation is utilized to minimize the effective analog-digital conversion delay in the secondary path. Ad hoc decimation and interpolation filters are designed in order not to introduce excessive phase delays at the cutoff. Real-time experiments are undertaken to validate the implemented ANC system. Listening tests are also conducted to compare the fixed controller and the adaptive controller in terms of noise reduction and signal tracking performance for three noise types. The results have demonstrated that the fixed feedforward controller achieved satisfactory noise reduction performance and signal tracking quality.

Fail-fixed servovalve with positive fluid feedback

NASA Technical Reports Server (NTRS)

Kast, Howard B. (Inventor)

1984-01-01

The servovalve includes a primary jet of fluid. A variable control signal is adapted to vary the angular position of the primary jet from its maximum recovery position. A first fluid path is adapted to supply fluid to a servopiston at a variable pressure determined at least in part by the control signal. A second fluid path is adapted to receive a predetermined portion of the primary jet fluid when the control signal reaches a predetermined value. The second fluid path terminates in the vicinity of the primary jet and is adapted to direct a secondary jet of fluid at the primary jet to deflect the primary jet toward the input orifice of the second fluid path. The resultant positive fluid feedback in the second fluid path causes the primary jet to latch in a first angular position relative to the maximum recovery position when the control signal reaches a predetermined value. The servovalve may further include a means to discharge the fluid and a means to block the first fluid path to the servopiston when the control signal falls below a second predetermined value. A method of operating a fail-fixed servovalve is also described.

Sensitivity analysis of an optimization-based trajectory planner for autonomous vehicles in urban environments

NASA Astrophysics Data System (ADS)

Hardy, Jason; Campbell, Mark; Miller, Isaac; Schimpf, Brian

2008-10-01

The local path planner implemented on Cornell's 2007 DARPA Urban Challenge entry vehicle Skynet utilizes a novel mixture of discrete and continuous path planning steps to facilitate a safe, smooth, and human-like driving behavior. The planner first solves for a feasible path through the local obstacle map using a grid based search algorithm. The resulting path is then refined using a cost-based nonlinear optimization routine with both hard and soft constraints. The behavior of this optimization is influenced by tunable weighting parameters which govern the relative cost contributions assigned to different path characteristics. This paper studies the sensitivity of the vehicle's performance to these path planner weighting parameters using a data driven simulation based on logged data from the National Qualifying Event. The performance of the path planner in both the National Qualifying Event and in the Urban Challenge is also presented and analyzed.

Tracks of a non-main path traveler: 2011 Thomas Willis Lecture.

PubMed

Hallenbeck, John M

2012-02-01

After an unconventional beginning in stroke research, I veered off the main path repeatedly to view problems from a different perspective. In this lecture summary, I would like to return to several points along the byways that led to research with some continuity.

Probing the liquid crystal alignment interface and switching dynamics in a slab waveguide architecture

NASA Astrophysics Data System (ADS)

Gotjen, Henry G.; Kolacz, Jakub; Myers, Jason D.; Frantz, Jesse A.; Bekele, Robel Y.; Naciri, Jawad; Spillmann, Christopher M.

2018-02-01

A non-mechanical refractive laser beam steering device has been developed to provide continuous, two-dimensional steering of infrared beams. The technology implements a dielectric slab waveguide architecture with a liquid crystal (LC) cladding. With voltage control, the birefringence of the LC can be leveraged to tune the effective index of the waveguide under an electrode. With a clever prism electrode design a beam coupled into the waveguide can be deflected continuously in two dimensions as it is coupled out into free space. The optical interaction with LC in this beamsteerer is unique from typical LC applications: only the thin layer of LC (100s of nm) near the alignment interface interacts with the beam's evanescent field. Whereas most LC interactions take place over short path lengths (microns) in the bulk of the material, here we can interrogate the behavior of LC near the alignment interface over long path lengths (centimeters). In this work the beamsteerer is leveraged as a tool to study the behavior of LC near the alignment layer in contrast to the bulk material. We find that scattering is substantially decreased near the alignment interface due to the influence of the surface anchoring energy to suppress thermal fluctuations. By tracking the position of the deflected beam with a high speed camera, we measure response times of the LC near the interface in off-to-on switching ( ms) and on-to-off switching ( 100ms). Combined, this work will provide a path for improved alignment techniques, greater optical throughput, and faster response times in this unique approach to non-mechanical beamsteering.

IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators

NASA Astrophysics Data System (ADS)

Boz, Utku; Basdogan, Ipek

2015-12-01

Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.

Total energy based flight control system

NASA Technical Reports Server (NTRS)

Lambregts, Antonius A. (Inventor)

1985-01-01

An integrated aircraft longitudinal flight control system uses a generalized thrust and elevator command computation (38), which accepts flight path angle, longitudinal acceleration command signals, along with associated feedback signals, to form energy rate error (20) and energy rate distribution error (18) signals. The engine thrust command is developed (22) as a function of the energy rate distribution error and the elevator position command is developed (26) as a function of the energy distribution error. For any vertical flight path and speed mode the outerloop errors are normalized (30, 34) to produce flight path angle and longitudinal acceleration commands. The system provides decoupled flight path and speed control for all control modes previously provided by the longitudinal autopilot, autothrottle and flight management systems.

Real-time path planning and autonomous control for helicopter autorotation

NASA Astrophysics Data System (ADS)

Yomchinda, Thanan

Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

PubMed

Ayvali, Elif; Desai, Jaydev P

2014-04-01

This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

The Path to Deepening School-Enterprise Cooperation in Higher Vocational Education

ERIC Educational Resources Information Center

Hui, Jin

2017-01-01

The path to school-enterprise cooperation is a necessary requirement for developing higher vocational education, and it must be continually strengthened, along with practical processes. Looking at the relationship between schools as the organizational entities of higher vocational education and enterprises as demand entities, their mutual benefit…

Structural Equations and Path Analysis for Discrete Data.

ERIC Educational Resources Information Center

Winship, Christopher; Mare, Robert D.

1983-01-01

Presented is an approach to causal models in which some or all variables are discretely measured, showing that path analytic methods permit quantification of causal relationships among variables with the same flexibility and power of interpretation as is feasible in models including only continuous variables. Examples are provided. (Author/IS)

System and Method for Aiding Pilot Preview, Rehearsal, Review, and Real-Time Visual Acquisition of Flight Mission Progress

NASA Technical Reports Server (NTRS)

Prinzel, III, Lawrence J. (Inventor); Pope, Alan T. (Inventor); Williams, Steven P. (Inventor); Bailey, Randall E. (Inventor); Arthur, Jarvis J. (Inventor); Kramer, Lynda J. (Inventor); Schutte, Paul C. (Inventor)

2012-01-01

Embodiments of the invention permit flight paths (current and planned) to be viewed from various orientations to provide improved path and terrain awareness via graphical two-dimensional or three-dimensional perspective display formats. By coupling the flight path information with a terrain database, uncompromising terrain awareness relative to the path and ownship is provided. In addition, missed approaches, path deviations, and any navigational path can be reviewed and rehearsed before performing the actual task. By rehearsing a particular mission, check list items can be reviewed, terrain awareness can be highlighted, and missed approach procedures can be discussed by the flight crew. Further, the use of Controller Pilot Datalink Communications enables data-linked path, flight plan changes, and Air Traffic Control requests to be integrated into the flight display of the present invention.

Fluid-loop reaction system

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Proton and electron mean free paths: The Palmer consensus revisited

NASA Technical Reports Server (NTRS)

Bieber, John W.; Matthaeus, William H.; Smith, Charles W.; Wanner, Wolfgang; Kallenrode, May-Britt; Wibberenz, Gerd

1994-01-01

We present experimental and theoretical evidence suggesting that the mean free path of cosmic-ray electrons and protons may be fundamentally different at low to intermediate (less than 50 MV) rigidities. The experimental evidence is from Helios observations of solar energetic particles, which show that the mean free path of 1.4 MV electrons is often similar to that of 187 MV protons, even though proton mean free paths continue to decrease comparatively rapidly with decreasing rigidty down to the lowest channels (about 100 MV) observed. The theoretical evidence is from computations of particle scattering in dynamical magnetic turbulence, which predict that electrons will have a larger mean free path than protons of the same rigidity. In the light of these new results, 'consensus' ideas about cosmic-ray mean free paths may require drastic revision.

Brain-controlled telepresence robot by motor-disabled people.

PubMed

Tonin, Luca; Carlson, Tom; Leeb, Robert; del R Millán, José

2011-01-01

In this paper we present the first results of users with disabilities in mentally controlling a telepresence robot, a rather complex task as the robot is continuously moving and the user must control it for a long period of time (over 6 minutes) to go along the whole path. These two users drove the telepresence robot from their clinic more than 100 km away. Remarkably, although the patients had never visited the location where the telepresence robot was operating, they achieve similar performances to a group of four healthy users who were familiar with the environment. In particular, the experimental results reported in this paper demonstrate the benefits of shared control for brain-controlled telepresence robots. It allows all subjects (including novel BMI subjects as our users with disabilities) to complete a complex task in similar time and with similar number of commands to those required by manual control.

Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints.

PubMed

López-Nicolás, Gonzalo; Gans, Nicholas R; Bhattacharya, Sourabh; Sagüés, Carlos; Guerrero, Josechu J; Hutchinson, Seth

2010-08-01

In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography matrix. In particular, we develop individual control laws for the three path classes that define the language of optimal paths: rotations, straight-line segments, and logarithmic spirals. These control laws, as well as the switching conditions that define how to sequence path segments, are defined in terms of the entries of homography matrices. The selection of the corresponding control law requires the homography decomposition before starting the navigation. We provide a controllability and stability analysis for our system and give experimental results.

Design review report for rotary mode core sample truck (RMCST) modifications for flammable gas tanks, preliminary design

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

Corbett, J.E.

1996-02-01

This report documents the completion of a preliminary design review for the Rotary Mode Core Sample Truck (RMCST) modifications for flammable gas tanks. The RMCST modifications are intended to support core sampling operations in waste tanks requiring flammable gas controls. The objective of this review was to validate basic design assumptions and concepts to support a path forward leading to a final design. The conclusion reached by the review committee was that the design was acceptable and efforts should continue toward a final design review.

Detection of biogenic CO production above vascular cell cultures using a near-room-temperature QC-DFB laser

NASA Technical Reports Server (NTRS)

Kosterev, A. A.; Tittel, F. K.; Durante, W.; Allen, M.; Kohler, R.; Gmachl, C.; Capasso, F.; Sivco, D. L.; Cho, A. Y.

2002-01-01

We report the first application of pulsed, near-room-temperature quantum cascade laser technology to the continuous detection of biogenic CO production rates above viable cultures of vascular smooth muscle cells. A computer-controlled sequence of measurements over a 9-h period was obtained, resulting in a minimum detectable CO production of 20 ppb in a 1-m optical path above a standard cell-culture flask. Data-processing procedures for real-time monitoring of both biogenic and ambient atmospheric CO concentrations are described.

Controlled laser production of elongated articles from particulates

DOEpatents

Dixon, Raymond D.; Lewis, Gary K.; Milewski, John O.

2002-01-01

It has been discovered that wires and small diameter rods can be produced using laser deposition technology in a novel way. An elongated article such as a wire or rod is constructed by melting and depositing particulate material into a deposition zone which has been designed to yield the desired article shape and dimensions. The article is withdrawn from the deposition zone as it is formed, thus enabling formation of the article in a continuous process. Alternatively, the deposition zone is moved along any of numerous deposition paths away from the article being formed.

Bidirectional quantum teleportation of unknown photons using path-polarization intra-particle hybrid entanglement and controlled-unitary gates via cross-Kerr nonlinearity

NASA Astrophysics Data System (ADS)

Heo, Jino; Hong, Chang-Ho; Lim, Jong-In; Yang, Hyung-Jin

2015-05-01

We propose an arbitrary controlled-unitary (CU) gate and a bidirectional quantum teleportation (BQTP) scheme. The proposed CU gate utilizes photonic qubits (photons) with cross-Kerr nonlinearities (XKNLs), X-homodyne detectors, and linear optical elements, and consists of the consecutive operation of a controlled-path (C-path) gate and a gathering-path (G-path) gate. It is almost deterministic and feasible with current technology when a strong coherent state and weak XKNLs are employed. Based on the CU gate, we present a BQTP scheme that simultaneously teleports two unknown photons between distant users by transmitting only one photon in a path-polarization intra-particle hybrid entangled state. Consequently, it is possible to experimentally implement BQTP with a certain success probability using the proposed CU gate. Project supported by the Ministry of Science, ICT&Future Planning, Korea, under the C-ITRC (Convergence Information Technology Research Center) Support program (NIPA-2013-H0301-13-3007) supervised by the National IT Industry Promotion Agency.

Holonomic Quantum Control with Continuous Variable Systems.

PubMed

Albert, Victor V; Shu, Chi; Krastanov, Stefan; Shen, Chao; Liu, Ren-Bao; Yang, Zhen-Biao; Schoelkopf, Robert J; Mirrahimi, Mazyar; Devoret, Michel H; Jiang, Liang

2016-04-08

Universal computation of a quantum system consisting of superpositions of well-separated coherent states of multiple harmonic oscillators can be achieved by three families of adiabatic holonomic gates. The first gate consists of moving a coherent state around a closed path in phase space, resulting in a relative Berry phase between that state and the other states. The second gate consists of "colliding" two coherent states of the same oscillator, resulting in coherent population transfer between them. The third gate is an effective controlled-phase gate on coherent states of two different oscillators. Such gates should be realizable via reservoir engineering of systems that support tunable nonlinearities, such as trapped ions and circuit QED.

Diversified Control Paths: A Significant Way Disease Genes Perturb the Human Regulatory Network

PubMed Central

Wang, Bingbo; Gao, Lin; Zhang, Qingfang; Li, Aimin; Deng, Yue; Guo, Xingli

2015-01-01

Background The complexity of biological systems motivates us to use the underlying networks to provide deep understanding of disease etiology and the human diseases are viewed as perturbations of dynamic properties of networks. Control theory that deals with dynamic systems has been successfully used to capture systems-level knowledge in large amount of quantitative biological interactions. But from the perspective of system control, the ways by which multiple genetic factors jointly perturb a disease phenotype still remain. Results In this work, we combine tools from control theory and network science to address the diversified control paths in complex networks. Then the ways by which the disease genes perturb biological systems are identified and quantified by the control paths in a human regulatory network. Furthermore, as an application, prioritization of candidate genes is presented by use of control path analysis and gene ontology annotation for definition of similarities. We use leave-one-out cross-validation to evaluate the ability of finding the gene-disease relationship. Results have shown compatible performance with previous sophisticated works, especially in directed systems. Conclusions Our results inspire a deeper understanding of molecular mechanisms that drive pathological processes. Diversified control paths offer a basis for integrated intervention techniques which will ultimately lead to the development of novel therapeutic strategies. PMID:26284649

Quantum circuit dynamics via path integrals: Is there a classical action for discrete-time paths?

NASA Astrophysics Data System (ADS)

Penney, Mark D.; Enshan Koh, Dax; Spekkens, Robert W.

2017-07-01

It is straightforward to compute the transition amplitudes of a quantum circuit using the sum-over-paths methodology when the gates in the circuit are balanced, where a balanced gate is one for which all non-zero transition amplitudes are of equal magnitude. Here we consider the question of whether, for such circuits, the relative phases of different discrete-time paths through the configuration space can be defined in terms of a classical action, as they are for continuous-time paths. We show how to do so for certain kinds of quantum circuits, namely, Clifford circuits where the elementary systems are continuous-variable systems or discrete systems of odd-prime dimension. These types of circuit are distinguished by having phase-space representations that serve to define their classical counterparts. For discrete systems, the phase-space coordinates are also discrete variables. We show that for each gate in the generating set, one can associate a symplectomorphism on the phase-space and to each of these one can associate a generating function, defined on two copies of the configuration space. For discrete systems, the latter association is achieved using tools from algebraic geometry. Finally, we show that if the action functional for a discrete-time path through a sequence of gates is defined using the sum of the corresponding generating functions, then it yields the correct relative phases for the path-sum expression. These results are likely to be relevant for quantizing physical theories where time is fundamentally discrete, characterizing the classical limit of discrete-time quantum dynamics, and proving complexity results for quantum circuits.

Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Li, Xiaohui; Sun, Zhenping; Cao, Dongpu; Liu, Daxue; He, Hangen

2017-03-01

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC) framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.

At Home in the Web of Life: Religious Values & Development.

ERIC Educational Resources Information Center

Rausch, John S.

1996-01-01

In 1995, Appalachian Catholic bishops released a pastoral letter stating that Appalachia, the nation, and the world stand at a crossroads concerning future development. One direction continues down the path of ecological and social devastation. The bishops encourage the path of sustainable development based on religious values of respect for…

Planar maneuvering control of underwater snake robots using virtual holonomic constraints.

PubMed

Kohl, Anna M; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Y

2016-11-24

This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired planar path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints which encode biologically inspired gaits on the snake robot configuration. The virtual constraints, parametrized by states of dynamic compensators, are used to regulate the orientation and forward speed of the snake robot. A two-state ocean current observer based on relative velocity sensors is proposed. It enables the robot to follow the path in the presence of unknown constant ocean currents. The efficacy of the proposed control algorithm for several biologically inspired gaits is verified both in simulations for different path geometries and in experiments.

Controlled pilot oxidizer for a gas turbine combustor

DOEpatents

Laster, Walter R.; Bandaru, Ramarao V.

2010-07-13

A combustor (22) for a gas turbine (10) includes a main burner oxidizer flow path (34) delivering a first portion (32) of an oxidizer flow (e.g., 16) to a main burner (28) of the combustor and a pilot oxidizer flow path (38) delivering a second portion (36) of the oxidizer flow to a pilot (30) of the combustor. The combustor also includes a flow controller (42) disposed in the pilot oxidizer flow path for controlling an amount of the second portion delivered to the pilot.

Optical multi-species gas monitoring sensor and system

NASA Technical Reports Server (NTRS)

Korman, Valentin (Inventor); Polzin, Kurt A. (Inventor)

2012-01-01

The system includes at least one light source generating light energy having a corresponding wavelength. The system's sensor is based on an optical interferometer that receives light energy from each light source. The interferometer includes a free-space optical path disposed in an environment of interest. The system's sensor includes an optical device disposed in the optical path that causes light energy of a first selected wavelength to continue traversing the optical path whereas light energy of at least one second selected wavelength is directed away from the optical path. The interferometer generates an interference between the light energy of the first selected wavelength so-traversing the optical path with the light energy at the corresponding wavelength incident on the optical interferometer. A first optical detector detects the interference. At least one second detector detects the light energy at the at least one second selected wavelength directed away from the optical path.

Control of wheeled mobile robot in restricted environment

NASA Astrophysics Data System (ADS)

Ali, Mohammed A. H.; En, Chang Yong

2018-03-01

This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

Path integration: effect of curved path complexity and sensory system on blindfolded walking.

PubMed

Koutakis, Panagiotis; Mukherjee, Mukul; Vallabhajosula, Srikant; Blanke, Daniel J; Stergiou, Nicholas

2013-02-01

Path integration refers to the ability to integrate continuous information of the direction and distance traveled by the system relative to the origin. Previous studies have investigated path integration through blindfolded walking along simple paths such as straight line and triangles. However, limited knowledge exists regarding the role of path complexity in path integration. Moreover, little is known about how information from different sensory input systems (like vision and proprioception) contributes to accurate path integration. The purpose of the current study was to investigate how sensory information and curved path complexity affect path integration. Forty blindfolded participants had to accurately reproduce a curved path and return to the origin. They were divided into four groups that differed in the curved path, circle (simple) or figure-eight (complex), and received either visual (previously seen) or proprioceptive (previously guided) information about the path before they reproduced it. The dependent variables used were average trajectory error, walking speed, and distance traveled. The results indicated that (a) both groups that walked on a circular path and both groups that received visual information produced greater accuracy in reproducing the path. Moreover, the performance of the group that received proprioceptive information and later walked on a figure-eight path was less accurate than their corresponding circular group. The groups that had the visual information also walked faster compared to the group that had proprioceptive information. Results of the current study highlight the roles of different sensory inputs while performing blindfolded walking for path integration. Copyright © 2012 Elsevier B.V. All rights reserved.

Analysis multi-agent with precense of the leader

NASA Astrophysics Data System (ADS)

Achmadi, Sentot; Marjono, Miswanto

2017-12-01

The phenomenon of swarm is a natural phenomenon that is often done by a collection of living things in the form of motion from one place to another. By clustering, a group of animals can increase their effectiveness in food search and avoid predators. A group of geese also performs a swarm phenomenon when flying and forms an inverted V-formation with one of the geese acting as a leader. Each flying track of members of the geese group always follows the leader's path at a certain distance. This article discusses the mathematical modeling of the swarm phenomenon, which is the optimal tracking control for multi-agent model with the influence of the leader in the 2-dimensional space. The leader in this model is intended to track the specified path. Firstly, the leader's motion control is to follow the predetermined path using the Tracking Error Dynamic method. Then, the path from the leader is used to design the motion control of each agent to track the leader's path at a certain distance. The result of numerical simulation shows that the leader trajectory can track the specified path. Similarly, the motion of each agent can trace and follow the leader's path.

Long Open Path Fourier Transform Spectroscopy Measurements of Greenhouse Gases in the Near Infrared

NASA Astrophysics Data System (ADS)

Griffith, D. W. T.

2015-12-01

Atmospheric composition measurements are an important tool to quantify local and regional emissions and sinks of greenhouse gases. Most in situ measurements are made at a point, but how representative are such measurements in an inhomogeneous environment? Open path Fourier Transform Spectroscopy (FTS) measurements potentially offer spatial averaging and continuous measurements of several trace gases (including CO2, CH4, CO and N2O) simultaneously in the same airmass. Spatial averaging over kilometre scales is a better fit to the finest scale atmospheric models becoming available, and helps bridge the gap between models and in situ measurements. In this paper we assess the precision, accuracy and reliability of long open path measurements by Fourier Transform Spectroscopy in the near infrared from a 5-month continuous record of measurements over a 1.5 km pathlength. Direct open-atmosphere measurements of trace gases CO2, CH4, CO and N2O as well as O2 were retrieved from several absorption bands between 4000 and 8000 cm-1 (2.5 - 1.25 micron). At one end of the path an in situ FTIR analyser simultaneously collected well calibrated measurements of the same species for comparison with the open path-integrated measurements. The measurements ran continuously from June - November 2014. We introduce the open path FTS measurement system and present an analysis of the results, including assessment of precision, accuracy relative to co-incident in situ measurements, reliability. Short term precision of the open path measurement of CO2 was better than 1 ppm for 5 minute averages and thus sufficient for studies in urban and other non-background environments. Measurement bias relative to calibrated in situ measurements was stable across the measurement period. The system operated reliably with data losses mainly due to weather events such as rain and fog preventing transmission of the IR beam. In principle the system can be improved to provide longer pathlengths and higher precision, and we present recent progress in improving the original measurements.

Hybrid Methods in Quantum Information

NASA Astrophysics Data System (ADS)

Marshall, Kevin

Today, the potential power of quantum information processing comes as no surprise to physicist or science-fiction writer alike. However, the grand promises of this field remain unrealized, despite significant strides forward, due to the inherent difficulties of manipulating quantum systems. Simply put, it turns out that it is incredibly difficult to interact, in a controllable way, with the quantum realm when we seem to live our day to day lives in a classical world. In an effort to solve this challenge, people are exploring a variety of different physical platforms, each with their strengths and weaknesses, in hopes of developing new experimental methods that one day might allow us to control a quantum system. One path forward rests in combining different quantum systems in novel ways to exploit the benefits of different systems while circumventing their respective weaknesses. In particular, quantum systems come in two different flavours: either discrete-variable systems or continuous-variable ones. The field of hybrid quantum information seeks to combine these systems, in clever ways, to help overcome the challenges blocking the path between what is theoretically possible and what is achievable in a laboratory. In this thesis we explore four topics in the context of hybrid methods in quantum information, in an effort to contribute to the resolution of existing challenges and to stimulate new avenues of research. First, we explore the manipulation of a continuous-variable quantum system consisting of phonons in a linear chain of trapped ions where we use the discretized internal levels to mediate interactions. Using our proposed interaction we are able to implement, for example, the acoustic equivalent of a beam splitter with modest experimental resources. Next we propose an experimentally feasible implementation of the cubic phase gate, a primitive non-Gaussian gate required for universal continuous-variable quantum computation, based off sequential photon subtraction. We then discuss the notion of embedding a finite dimensional state into a continuous-variable system, and propose a method of performing quantum computations on encrypted continuous-variable states. This protocol allows for a client, of limited quantum ability, to outsource a computation while hiding their information. Next, we discuss the possibility of performing universal quantum computation on discrete-variable logical states encoded in mixed continuous-variable quantum states. Finally, we present an account of open problems related to our results, and possible future avenues of research.

Safe Maritime Autonomous Path Planning in a High Sea State

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Quadrelli, Marco; Huntsberger, Terrance L.

2014-01-01

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

Path tracking control of an omni-directional walker considering pressures from a user.

PubMed

Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G

2013-01-01

An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

Parenting practices and problem behavior across three generations: monitoring, harsh discipline, and drug use in the intergenerational transmission of externalizing behavior.

PubMed

Bailey, Jennifer A; Hill, Karl G; Oesterle, Sabrina; Hawkins, J David

2009-09-01

Using data from grandparents (G1), parents (G2), and children (G3), this study examined continuity in parental monitoring, harsh discipline, and child externalizing behavior across generations, and the contribution of parenting practices and parental drug use to intergenerational continuity in child externalizing behavior. Structural equation and path modeling of prospective, longitudinal data from 808 G2 participants, their G1 parents, and their school-age G3 children (n = 136) showed that parental monitoring and harsh discipline demonstrated continuity from G1 to G2. Externalizing behavior demonstrated continuity from G2 to G3. Continuity in parenting practices did not explain the intergenerational continuity in externalizing behavior. Rather, G2 adolescent externalizing behavior predicted their adult substance use, which was associated with G3 externalizing behavior. A small indirect effect of G1 harsh parenting on G3 was observed. Interparental abuse and socidemographic risk were included as controls but did not explain the intergenerational transmission of externalizing behavior. Results highlight the need for preventive interventions aimed at breaking intergenerational cycles in poor parenting practices. More research is required to identify parental mechanisms influencing the continuity of externalizing behavior across generations.

Proactive routing mutation against stealthy Distributed Denial of Service attacks: metrics, modeling, and analysis

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

Duan, Qi; Al-Shaer, Ehab; Chatterjee, Samrat

The Infrastructure Distributed Denial of Service (IDDoS) attacks continue to be one of the most devastating challenges facing cyber systems. The new generation of IDDoS attacks exploit the inherent weakness of cyber infrastructure including deterministic nature of routes, skew distribution of flows, and Internet ossification to discover the network critical links and launch highly stealthy flooding attacks that are not observable at the victim end. In this paper, first, we propose a new metric to quantitatively measure the potential susceptibility of any arbitrary target server or domain to stealthy IDDoS attacks, and es- timate the impact of such susceptibility onmore » enterprises. Second, we develop a proactive route mutation technique to minimize the susceptibility to these attacks by dynamically changing the flow paths periodically to invalidate the adversary knowledge about the network and avoid targeted critical links. Our proposed approach actively changes these network paths while satisfying security and qualify of service requirements. We present an integrated approach of proactive route mutation that combines both infrastructure-based mutation that is based on reconfiguration of switches and routers, and middle-box approach that uses an overlay of end-point proxies to construct a virtual network path free of critical links to reach a destination. We implemented the proactive path mutation technique on a Software Defined Network using the OpendDaylight controller to demonstrate a feasible deployment of this approach. Our evaluation validates the correctness, effectiveness, and scalability of the proposed approaches.« less

Comparison of tablet-based strategies for incision planning in laser microsurgery

NASA Astrophysics Data System (ADS)

Schoob, Andreas; Lekon, Stefan; Kundrat, Dennis; Kahrs, Lüder A.; Mattos, Leonardo S.; Ortmaier, Tobias

2015-03-01

Recent research has revealed that incision planning in laser surgery deploying stylus and tablet outperforms state-of-the-art micro-manipulator-based laser control. Providing more detailed quantitation regarding that approach, a comparative study of six tablet-based strategies for laser path planning is presented. Reference strategy is defined by monoscopic visualization and continuous path drawing on a graphics tablet. Further concepts deploying stereoscopic or a synthesized laser view, point-based path definition, real-time teleoperation or a pen display are compared with the reference scenario. Volunteers were asked to redraw and ablate stamped lines on a sample. Performance is assessed by measuring planning accuracy, completion time and ease of use. Results demonstrate that significant differences exist between proposed concepts. The reference strategy provides more accurate incision planning than the stereo or laser view scenario. Real-time teleoperation performs best with respect to completion time without indicating any significant deviation in accuracy and usability. Point-based planning as well as the pen display provide most accurate planning and increased ease of use compared to the reference strategy. As a result, combining the pen display approach with point-based planning has potential to become a powerful strategy because of benefiting from improved hand-eye-coordination on the one hand and from a simple but accurate technique for path definition on the other hand. These findings as well as the overall usability scale indicating high acceptance and consistence of proposed strategies motivate further advanced tablet-based planning in laser microsurgery.

Comparative study of a learning fuzzy PID controller and a self-tuning controller.

PubMed

Kazemian, H B

2001-01-01

The self-organising fuzzy controller is an extension of the rule-based fuzzy controller with an additional learning capability. The self-organising fuzzy (SOF) is used as a master controller to readjust conventional PID gains at the actuator level during the system operation, copying the experience of a human operator. The application of the self-organising fuzzy PID (SOF-PID) controller to a 2-link non-linear revolute-joint robot-arm is studied using path tracking trajectories at the setpoint. For the purpose of comparison, the same experiments are repeated by using the self-tuning controller subject to the same data supplied at the setpoint. For the path tracking experiments, the output trajectories of the SOF-PID controller followed the specified path closer and smoother than the self-tuning controller.

Reducing water scarcity possible by 2050: Linking global assessments to policy dimensions

NASA Astrophysics Data System (ADS)

Wada, Y.; Gleeson, T.; Esnault, L.

2015-12-01

Water scarcity is not a problem just for the developing world. In California, legislators are currently proposing a $7.5 billion emergency water plan to their voters; and U.S. federal officials last year warned residents of Arizona and Nevada that they could face cuts in Colorado River water deliveries in 2016. Irrigation techniques, industrial and residential habits combined with climate change lie at the root of the problem. But despite what appears to be an insurmountable problem, it is possible to turn the situation around and significantly reduce water scarcity in over next 35 years. We identify outline strategies in six key areas that they believe can be combined in different ways in different parts of the world in order to effectively reduce water stress. (Water stress occurs in an area where more than 40% of the available water from rivers is unavailable because it is already being used - a situation that currently affects about a third of the global population, and may affect as many as half the people in the world by the end of the century if the current pattern of water use continues). We separate six key strategy areas for reducing water stress into "hard path" measures, involving building more reservoirs and increasing desalination efforts of sea water, and "soft path" measures that focus on reducing water demand rather than increasing water supply thanks to community-scale efforts and decision-making, combining efficient technology and environmental protection. While there are some economic, cultural and social factors that may make certain of the "soft path" measures such as population control difficult, the "soft path" measures offer the more realistic path forward in terms of reducing water stress by 2050.

Data-Driven Modeling of Solar Corona by a New 3d Path-Conservative Osher-Solomon MHD Odel

NASA Astrophysics Data System (ADS)

Feng, X. S.; Li, C.

2017-12-01

A second-order path-conservative scheme with Godunov-type finite volume method (FVM) has been implemented to advance the equations of single-fluid solar wind plasma magnetohydrodynamics (MHD) in time. This code operates on the six-component composite grid system in 3D spherical coordinates with hexahedral cells of quadrilateral frustum type. The generalized Osher-Solomon Riemann solver is employed based on a numerical integration of the path-dependentdissipation matrix. For simplicity, the straight line segment path is used and the path-integral is evaluated in a fully numerical way by high-order numerical Gauss-Legendre quadrature. Besides its closest similarity to Godunov, the resulting scheme retains the attractive features of the original solver: it is nonlinear, free of entropy-fix, differentiable and complete in that each characteristic field results in a different numerical viscosity, due to the full use of the MHD eigenstructure. By using a minmod limiter for spatial oscillation control, the pathconservative scheme is realized for the generalized Lagrange multiplier (GLM) and the extended generalized Lagrange multiplier (EGLM) formulation of solar wind MHD systems. This new model of second-order in space and time is written in FORTRAN language with Message Passing Interface (MPI) parallelization, and validated in modeling time-dependent large-scale structure of solar corona, driven continuously by the Global Oscillation Network Group (GONG) data. To demonstrate the suitability of our code for the simulation of solar wind, we present selected results from October 9th, 2009 to December 29th, 2009 , & Year 2008 to show its capability of producing structured solar wind in agreement with the observations.

Reducing water scarcity possible by 2050: Linking global assessments to policy dimensions

NASA Astrophysics Data System (ADS)

Watts, A.; Turetsky, M. R.; Benscoter, B.; Page, S. E.; Rein, G.; van der Werf, G.

2014-12-01

Water scarcity is not a problem just for the developing world. In California, legislators are currently proposing a $7.5 billion emergency water plan to their voters; and U.S. federal officials last year warned residents of Arizona and Nevada that they could face cuts in Colorado River water deliveries in 2016. Irrigation techniques, industrial and residential habits combined with climate change lie at the root of the problem. But despite what appears to be an insurmountable problem, it is possible to turn the situation around and significantly reduce water scarcity in over next 35 years. We identify outline strategies in six key areas that they believe can be combined in different ways in different parts of the world in order to effectively reduce water stress. (Water stress occurs in an area where more than 40% of the available water from rivers is unavailable because it is already being used - a situation that currently affects about a third of the global population, and may affect as many as half the people in the world by the end of the century if the current pattern of water use continues). We separate six key strategy areas for reducing water stress into "hard path" measures, involving building more reservoirs and increasing desalination efforts of sea water, and "soft path" measures that focus on reducing water demand rather than increasing water supply thanks to community-scale efforts and decision-making, combining efficient technology and environmental protection. While there are some economic, cultural and social factors that may make certain of the "soft path" measures such as population control difficult, the "soft path" measures offer the more realistic path forward in terms of reducing water stress by 2050.

Interior Noise

NASA Technical Reports Server (NTRS)

Mixson, John S.; Wilby, John F.

1991-01-01

The generation and control of flight vehicle interior noise is discussed. Emphasis is placed on the mechanisms of transmission through airborne and structure-borne paths and the control of cabin noise by path modification. Techniques for identifying the relative contributions of the various source-path combinations are also discussed along with methods for the prediction of aircraft interior noise such as those based on the general modal theory and statistical energy analysis.

Personal Control and Service Connection as Paths to Improved Mental Health and Exiting Homelessness among Severely Marginalized Homeless Youth.

PubMed

Slesnick, Natasha; Zhang, Jing; Brakenhoff, Brittany

2017-02-01

Non-service connected, continuously homeless youth are arguably one of the most vulnerable populations in the U.S. These youth reside at society's margins experiencing an accumulation of risks over time. Research concludes that as vulnerabilities increase so do poor long-term outcomes. This study tested the mediating effects of service connection and personal control as mediators of cumulative risk and housing, health and mental health outcomes. By understanding the processes associated with therapeutic change among those with the most vulnerabilities, service providers and researchers can target those factors to enhance positive outcomes. Seventy-nine, non-service connected, substance using homeless youth were offered a strengths-based outreach and engagement intervention and were assessed at baseline 3, 6 and 9 months post-baseline. Personal control mediated the effects of cumulative risk on housing stability, and service utilization mediated the effects of cumulative risk on mental health. This study specifies important targets of intervention for a population at high risk for continuing homelessness. In particular, service providers should target youths' sense of personal control and link them to needed community-based services in order to help them exit street life and improve mental health outcomes.

Electrical resistance tomography during in-situ trichloroethylene remediation at the Savannah River Site

NASA Astrophysics Data System (ADS)

Daily, W.; Ramirez, A.

1995-04-01

Electrical resistance tomography was used to monitor in-situ remediation processes for removal of volatile organic compounds from subsurface water and soil at the Savannah River Site near Aiken, South Carolina. This work was designed to test the feasibility of injecting a weak mixture of methane in air as a metabolic carbon source for natural microbial populations which are capable of trichloroethylene degradation. Electrical resistance tomograms were constructed of the subsurface during the test to provide detailed images of the process. These images were made using an iterative reconstruction algorithm based on a finite element forward model and Newton-type least-squares minimization. Changes in the subsurface resistivity distribution were imaged by a pixel-by-pixel subtraction of images taken before and during the process. This differential tomography removed all static features of formation resistivity but clearly delineated dynamic features induced by remediation processes. The air-methane mixture was injected into the saturated zone and the intrained air migration paths were tomographically imaged by the increased resistivity of the path as air displaced formation water. We found the flow paths to be confined to a complex three-dimensional network of channels, some of which extended as far as 30 m from the injection well. These channels were not entirely stable over a period of months since new channels appeared to form with time. Also, the resistivity of the air injection paths increased with time. In another series of tests, resistivity images of water infiltration from the surface support similar conclusions about the preferential permeability paths in the vadose zone. In this case, the water infiltration front is confined to narrow channels which have a three-dimensional structure. Here, similar to air injection in the saturated zone, the water flow is controlled by local variations in formation permeability. However, temporal changes in these channels are minor, indicating that the permeable paths do not seem to be modified by continued infiltration.

Detecting False Positives in Multielement Designs: Implications for Brief Assessments

ERIC Educational Resources Information Center

Bartlett, Sara M.; Rapp, John T.; Henrickson, Marissa L.

2011-01-01

The authors assessed the extent to which multielement designs produced false positives using continuous duration recording (CDR) and interval recording with 10-s and 1-min interval sizes. Specifically, they created 6,000 graphs with multielement designs that varied in the number of data paths, and the number of data points per data path, using a…

Learning of Temporal and Spatial Movement Aspects: A Comparison of Four Types of Haptic Control and Concurrent Visual Feedback.

PubMed

Rauter, Georg; Sigrist, Roland; Riener, Robert; Wolf, Peter

2015-01-01

In literature, the effectiveness of haptics for motor learning is controversially discussed. Haptics is believed to be effective for motor learning in general; however, different types of haptic control enhance different movement aspects. Thus, in dependence on the movement aspects of interest, one type of haptic control may be effective whereas another one is not. Therefore, in the current work, it was investigated if and how different types of haptic controllers affect learning of spatial and temporal movement aspects. In particular, haptic controllers that enforce active participation of the participants were expected to improve spatial aspects. Only haptic controllers that provide feedback about the task's velocity profile were expected to improve temporal aspects. In a study on learning a complex trunk-arm rowing task, the effect of training with four different types of haptic control was investigated: position control, path control, adaptive path control, and reactive path control. A fifth group (control) trained with visual concurrent augmented feedback. As hypothesized, the position controller was most effective for learning of temporal movement aspects, while the path controller was most effective in teaching spatial movement aspects of the rowing task. Visual feedback was also effective for learning temporal and spatial movement aspects.

Dynamics of a Two-Link Vehicle in an L-Shaped Corridor Revisited

NASA Astrophysics Data System (ADS)

Antonyuk, E. Ya.; Zabuga, A. T.

2014-03-01

The kinematics of a two-link mobile robot with three steerable wheels moving in an L-shaped corridor is analyzed. A smooth (with continuous first derivative) path is designed maintaining the optimal maneuverability of the vehicle. The motion of the vehicle along this path is planned. Analytical expressions for the reactions at the contact of the wheels with the ground are given in the general case of motion. The radius of curvature of the programmed path is shown to have a strong influence on the reactions.

Speed and path control for conflict-free flight in high air traffic demand in terminal airspace

NASA Astrophysics Data System (ADS)

Rezaei, Ali

To accommodate the growing air traffic demand, flights will need to be planned and navigated with a much higher level of precision than today's aircraft flight path. The Next Generation Air Transportation System (NextGen) stands to benefit significantly in safety and efficiency from such movement of aircraft along precisely defined paths. Air Traffic Operations (ATO) relying on such precision--the Precision Air Traffic Operations or PATO--are the foundation of high throughput capacity envisioned for the future airports. In PATO, the preferred method is to manage the air traffic by assigning a speed profile to each aircraft in a given fleet in a given airspace (in practice known as (speed control). In this research, an algorithm has been developed, set in the context of a Hybrid Control System (HCS) model, that determines whether a speed control solution exists for a given fleet of aircraft in a given airspace and if so, computes this solution as a collective speed profile that assures separation if executed without deviation. Uncertainties such as weather are not considered but the algorithm can be modified to include uncertainties. The algorithm first computes all feasible sequences (i.e., all sequences that allow the given fleet of aircraft to reach destinations without violating the FAA's separation requirement) by looking at all pairs of aircraft. Then, the most likely sequence is determined and the speed control solution is constructed by a backward trajectory generation, starting with the aircraft last out and proceeds to the first out. This computation can be done for different sequences in parallel which helps to reduce the computation time. If such a solution does not exist, then the algorithm calculates a minimal path modification (known as path control) that will allow separation-compliance speed control. We will also prove that the algorithm will modify the path without creating a new separation violation. The new path will be generated by adding new waypoints in the airspace. As a byproduct, instead of minimal path modification, one can use the aircraft arrival time schedule to generate the sequence in which the aircraft reach their destinations.

Path Planning for Robot based on Chaotic Artificial Potential Field Method

NASA Astrophysics Data System (ADS)

Zhang, Cheng

2018-03-01

Robot path planning in unknown environments is one of the hot research topics in the field of robot control. Aiming at the shortcomings of traditional artificial potential field methods, we propose a new path planning for Robot based on chaotic artificial potential field method. The path planning adopts the potential function as the objective function and introduces the robot direction of movement as the control variables, which combines the improved artificial potential field method with chaotic optimization algorithm. Simulations have been carried out and the results demonstrate that the superior practicality and high efficiency of the proposed method.

Investigation of controlled flight into terrain : descriptions of flight paths for selected controlled flight into terrain (CFIT) aircraft accidents, 1985-1997

DOT National Transportation Integrated Search

1999-03-01

This report documents an investigation of the flight paths of 13 selected controlled flight into terrain (CFIT) aircraft accidents that occurred between 1985 and 1997. The Operations Assessment Division (DTS-43) and the Aviation Safety Division (DTS-...

76 FR 51463 - Petition for Waiver of Compliance

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-18

... territory. Specifically, this petition is made in connection with the implementation of PATH's Automatic Train Control (ATC) project and the plan to use unequipped PA-4 cars as maintenance-of-way (MOW) work... control (CBTC) technology throughout the PATH rail network, as described in the Positive Train Control...

Identifying Source Water and Flow Paths in a Semi-Arid Watershed

NASA Astrophysics Data System (ADS)

Gulvin, C. J.; Miller, S. N.

2016-12-01

Processes controlling water delivery to perennial streams in the semi-arid mountain west are poorly understood, yet necessary to characterize water distribution across the landscape and better protect and manage diminishing water resources. Stream water chemistry profiling and hydrograph separation using stable isotopes can help identify source waters. Weekly stream water samples tested for stable water isotope fractionations, and major cations and anions at seven sites collocated with continuously recording stream depth gauges within a small watershed in southeastern Wyoming is a necessary first-step to identifying seasonally changing source water and flow paths. Sample results will help establish appropriate end members for a mixing analysis, as well as, characterize flow path heterogeneity, transit time distributions, and landscape selectively features. Hourly stream sampling during late-summer thunderstorms and rapid spring melt will help demonstrate if and how stream discharge change is affected by the two different events. Soil water and water extracted from tree xylem will help resolve how water is partitioned in the first 10m of the subsurface. In the face of land use change and a growing demand for water in the area, understanding how the water in small mountain streams is sustained is crucial for the future of agriculture, municipal water supplies, and countless ecosystem services.

Flight assessment of a data-link-based navigation-guidance concept

NASA Technical Reports Server (NTRS)

Abbott, T. S.

1983-01-01

With the proposed introduction of a data-link provision into the Air-Traffic-control (ATC) system, the capability will exist to supplement the ground-air, voice (radio) link with digital, data-link information. Additionally, ATC computers could provide, via the data link guidance and navigation information to the pilot which could then be presented in much the same manner as conventional navigation information. The primary objective of this study was to assess the feasibility and acceptability of using 4-sec and 12-sec information updating to drive conventional cockpit-navigation-instrument formats for path-tracking guidance. A flight test, consisting of 19 tracking tasks, was conducted and, through the use of pilot questionnaires and performance data, the following results were obtained. From a performance standpoint, the 4-sec and 12-sec updating led to a slight degradation in path-tracking performance, relative to continuous updating. From the pilot's viewpoint, the 12-sec data interval was suitable for long path segments (greater than 2 min of flight time), but it was difficult to use on shorter segments because of higher work load and insufficient stabilization time. Overall, it was determined that the utilization of noncontinuous data for navigation was both feasible and acceptable for the prescribed task.

Dynamic wavefront creation for processing units using a hybrid compactor

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

Puthoor, Sooraj; Beckmann, Bradford M.; Yudanov, Dmitri

A method, a non-transitory computer readable medium, and a processor for repacking dynamic wavefronts during program code execution on a processing unit, each dynamic wavefront including multiple threads are presented. If a branch instruction is detected, a determination is made whether all wavefronts following a same control path in the program code have reached a compaction point, which is the branch instruction. If no branch instruction is detected in executing the program code, a determination is made whether all wavefronts following the same control path have reached a reconvergence point, which is a beginning of a program code segment tomore » be executed by both a taken branch and a not taken branch from a previous branch instruction. The dynamic wavefronts are repacked with all threads that follow the same control path, if all wavefronts following the same control path have reached the branch instruction or the reconvergence point.« less

Apparatus for dispensing compressed natural gas and liquified natural gas to natural gas powered vehicles

DOEpatents

Bingham, Dennis A.; Clark, Michael L.; Wilding, Bruce M.; Palmer, Gary L.

2007-05-29

A fueling facility and method for dispensing liquid natural gas (LNG), compressed natural gas (CNG) or both on-demand. The fueling facility may include a source of LNG, such as cryogenic storage vessel. A low volume high pressure pump is coupled to the source of LNG to produce a stream of pressurized LNG. The stream of pressurized LNG may be selectively directed through an LNG flow path or to a CNG flow path which includes a vaporizer configured to produce CNG from the pressurized LNG. A portion of the CNG may be drawn from the CNG flow path and introduced into the CNG flow path to control the temperature of LNG flowing therethrough. Similarly, a portion of the LNG may be drawn from the LNG flow path and introduced into the CNG flow path to control the temperature of CNG flowing therethrough.

Method and apparatus for dispensing compressed natural gas and liquified natural gas to natural gas powered vehicles

DOEpatents

Bingham, Dennis A.; Clark, Michael L.; Wilding, Bruce M.; Palmer, Gary L.

2005-05-31

A fueling facility and method for dispensing liquid natural gas (LNG), compressed natural gas (CNG) or both on-demand. The fueling facility may include a source of LNG, such as cryogenic storage vessel. A low volume high pressure pump is coupled to the source of LNG to produce a stream of pressurized LNG. The stream of pressurized LNG may be selectively directed through an LNG flow path or to a CNG flow path which includes a vaporizer configured to produce CNG from the pressurized LNG. A portion of the CNG may be drawn from the CNG flow path and introduced into the CNG flow path to control the temperature of LNG flowing therethrough. Similarly, a portion of the LNG may be drawn from the LNG flow path and introduced into the CNG flow path to control the temperature of CNG flowing therethrough.

A study of interior noise levels, noise sources and transmission paths in light aircraft

NASA Technical Reports Server (NTRS)

Hayden, R. E.; Murray, B. S.; Theobald, M. A.

1983-01-01

The interior noise levels and spectral characteristics of 18 single-and twin-engine propeller-driven light aircraft, and source-path diagnosis of a single-engine aircraft which was considered representative of a large part of the fleet were studied. The purpose of the flight surveys was to measure internal noise levels and identify principal noise sources and paths under a carefully controlled and standardized set of flight procedures. The diagnostic tests consisted of flights and ground tests in which various parts of the aircraft, such as engine mounts, the engine compartment, exhaust pipe, individual panels, and the wing strut were instrumented to determine source levels and transmission path strengths using the transfer function technique. Predominant source and path combinations are identified. Experimental techniques are described. Data, transfer function calculations to derive source-path contributions to the cabin acoustic environment, and implications of the findings for noise control design are analyzed.

Optical source and apparatus for remote sensing

NASA Technical Reports Server (NTRS)

Coyle, Donald Barry (Inventor)

2011-01-01

An optical amplifier is configured to amplify an injected seed optical pulse. The optical amplifier may include two or more gain sections coupled to form a continuous solid waveguide along a primary optical path. Each gain section may include: (i) an optical isolator forming an input to that gain section; (ii) a doped optical fiber having a first end coupled to the optical isolator and having a second end; (iii) a plurality of pump laser diodes; (iv) a controller providing drive signals to each of the plurality, the controller being configured to provide at least pulsed drive signals; and (v) an optical coupler having a first input port coupled to the second end, and a second input port coupled to the plurality and an output port.

Kinematic analyses of the golf swing hub path and its role in golfer/club kinetic transfers.

PubMed

Nesbit, Steven M; McGinnis, Ryan

2009-01-01

This study analyzed the fundamental geometric and kinematic characteristics of the swing hub path of the golf shot for four diverse subjects. In addition, the role of the hub path geometry in transferring the kinetic quantities from the golfer to the club were investigated. The hub path was found to have a complex geometry with significantly changing radii, and a constantly moving center-of-curvature during the downswing for all subjects. While the size and shape of the hub path differed considerably among the subjects, a three phase radius-based pattern was revealed that aligned with distinct stages of the downswing. Artificially controlling and optimizing the hub path of the better golfer in the group indicated that a non-circular hub path was superior to a constant radius path in minimizing the kinetic loading while generating the highest possible club head velocity. The shape and purpose of the hub path geometry appears to result from a complex combination of achieving equilibrium between the golfer and the club, and a purposeful configuring of the path to control the outward movement of the club while minimizing the kinetic loading on the golfer yet transferring the maximum kinetic quantities to the club. Describing the downswing relative to the hub path phasing is presented and was found to be informative since the phases align with significant swing, kinetic and kinematic markers. These findings challenge golf swing modeling methodologies which fix the center-of-curvature of the hub path thus constraining it to constant radius motion. Key pointsThe golf swing hub path was found to have a complex geometry with significantly changing radii, and a constantly moving center-of-curvature during the downswing.The hub path differed considerably among subjects, however a three phase radius-based pattern was revealed that aligned with distinct stages of the downswing.The shape and purpose of the hub path geometry appears to result from a complex combination of achieving equilibrium between the golfer and the club, and a purposeful configuring of the path to control the outward movement of the club while minimizing the kinetic loading on the golfer yet transferring the maximum kinetic quantities to the club.

Path-oriented early reaction to approaching disruptions in ASDEX Upgrade and TCV in view of the future needs for ITER and DEMO

NASA Astrophysics Data System (ADS)

Maraschek, M.; Gude, A.; Igochine, V.; Zohm, H.; Alessi, E.; Bernert, M.; Cianfarani, C.; Coda, S.; Duval, B.; Esposito, B.; Fietz, S.; Fontana, M.; Galperti, C.; Giannone, L.; Goodman, T.; Granucci, G.; Marelli, L.; Novak, S.; Paccagnella, R.; Pautasso, G.; Piovesan, P.; Porte, L.; Potzel, S.; Rapson, C.; Reich, M.; Sauter, O.; Sheikh, U.; Sozzi, C.; Spizzo, G.; Stober, J.; Treutterer, W.; ZancaP; ASDEX Upgrade Team; TCV Team; the EUROfusion MST1 Team

2018-01-01

Routine reaction to approaching disruptions in tokamaks is currently largely limited to machine protection by mitigating an ongoing disruption, which remains a basic requirement for ITER and DEMO [1]. Nevertheless, a mitigated disruption still generates stress to the device. Additionally, in future fusion devices, high-performance discharge time itself will be very valuable. Instead of reacting only on generic features, occurring shortly before the disruption, the ultimate goal is to actively avoid approaching disruptions at an early stage, sustain the discharges whenever possible and restrict mitigated disruptions to major failures. Knowledge of the most relevant root causes and the corresponding chain of events leading to disruption, the disruption path, is a prerequisite. For each disruption path, physics-based sensors and adequate actuators must be defined and their limitations considered. Early reaction facilitates the efficiency of the actuators and enhances the probability of a full recovery. Thus, sensors that detect potential disruptions in time are to be identified. Once the entrance into a disruption path is detected, we propose a hierarchy of actions consisting of (I) recovery of the discharge to full performance or at least continuation with a less disruption-prone backup scenario, (II) complete avoidance of disruption to sustain the discharge or at least delay it for a controlled termination and, (III), only as last resort, a disruption mitigation. Based on the understanding of disruption paths, a hierarchical and path-specific handling strategy must be developed. Such schemes, testable in present devices, could serve as guidelines for ITER and DEMO operation. For some disruption paths, experiments have been performed at ASDEX Upgrade and TCV. Disruptions were provoked in TCV by impurity injection into ELMy H-mode discharges and in ASDEX Upgrade by forcing a density limit in H-mode discharges. The new approach proposed in this paper is discussed for these cases. For the H-mode density limit sensors used so far react too late. Thus a plasma-state boundary is proposed, that can serve as an adequate early sensor for avoiding density limit disruptions in H-modes and for recovery to full performance.

Path Finding on High-Dimensional Free Energy Landscapes

NASA Astrophysics Data System (ADS)

Díaz Leines, Grisell; Ensing, Bernd

2012-07-01

We present a method for determining the average transition path and the free energy along this path in the space of selected collective variables. The formalism is based upon a history-dependent bias along a flexible path variable within the metadynamics framework but with a trivial scaling of the cost with the number of collective variables. Controlling the sampling of the orthogonal modes recovers the average path and the minimum free energy path as the limiting cases. The method is applied to resolve the path and the free energy of a conformational transition in alanine dipeptide.

Early Knowledge of Object Motion: Continuity and Inertia.

ERIC Educational Resources Information Center

Spelke, Elizabeth; And Others

1994-01-01

Investigated whether infants infer that a hidden, freely moving object will move continuously and smoothly. Six- to 10- month olds inferred that the object's path would be connected and unobstructed, in accord with continuity. Younger infants did not infer this, in accord with inertia. At 8 and 10 months, knowledge of inertia emerged but remained…

Second-order discrete Kalman filtering equations for control-structure interaction simulations

NASA Technical Reports Server (NTRS)

Park, K. C.; Belvin, W. Keith; Alvin, Kenneth F.

1991-01-01

A general form for the first-order representation of the continuous, second-order linear structural dynamics equations is introduced in order to derive a corresponding form of first-order Kalman filtering equations (KFE). Time integration of the resulting first-order KFE is carried out via a set of linear multistep integration formulas. It is shown that a judicious combined selection of computational paths and the undetermined matrices introduced in the general form of the first-order linear structural systems leads to a class of second-order discrete KFE involving only symmetric, N x N solution matrix.

Continuous quantum measurements and the action uncertainty principle

NASA Astrophysics Data System (ADS)

Mensky, Michael B.

1992-09-01

The path-integral approach to quantum theory of continuous measurements has been developed in preceding works of the author. According to this approach the measurement amplitude determining probabilities of different outputs of the measurement can be evaluated in the form of a restricted path integral (a path integral “in finite limits”). With the help of the measurement amplitude, maximum deviation of measurement outputs from the classical one can be easily determined. The aim of the present paper is to express this variance in a simpler and transparent form of a specific uncertainty principle (called the action uncertainty principle, AUP). The most simple (but weak) form of AUP is δ S≳ℏ, where S is the action functional. It can be applied for simple derivation of the Bohr-Rosenfeld inequality for measurability of gravitational field. A stronger (and having wider application) form of AUP (for ideal measurements performed in the quantum regime) is |∫{/' t″ }(δ S[ q]/δ q( t))Δ q( t) dt|≃ℏ, where the paths [ q] and [Δ q] stand correspondingly for the measurement output and for the measurement error. It can also be presented in symbolic form as Δ(Equation) Δ(Path) ≃ ℏ. This means that deviation of the observed (measured) motion from that obeying the classical equation of motion is reciprocally proportional to the uncertainty in a path (the latter uncertainty resulting from the measurement error). The consequence of AUP is that improving the measurement precision beyond the threshold of the quantum regime leads to decreasing information resulting from the measurement.

Predevelopment Water-Level Contours for Aquifers in the Rainier Mesa and Shoshone Mountain area of the Nevada Test Site, Nye County, Nevada

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

Joseph M. Fenelon; Randell J. Laczniak; and Keith J. Halford

2008-06-24

Contaminants introduced into the subsurface of the Nevada Test Site at Rainier Mesa and Shoshone Mountain by underground nuclear testing are of concern to the U.S. Department of Energy and regulators responsible for protecting human health and safety. Although contaminants were introduced into low-permeability rocks above the regional flow system, the potential for contaminant movement away from the underground test areas and into the accessible environment is greatest by ground-water transport. The primary hydrologic control on this transport is evaluated and examined through a series of contour maps developed to represent the water-level distribution within each of the major aquifersmore » underlying the area. Aquifers were identified and their extents delineated by merging and analyzing multiple hydrostratigraphic framework models developed by other investigators from existing geologic information. The contoured water-level distribution in each major aquifer was developed from a detailed evaluation and assessment of available water-level measurements. Multiple spreadsheets that accompany this report provide pertinent water-level and geologic data by well or drill hole. Aquifers are mapped, presented, and discussed in general terms as being one of three aquifer types—volcanic aquifer, upper carbonate aquifer, or lower carbonate aquifer. Each of these aquifer types was subdivided and mapped as independent continuous and isolated aquifers, based on the continuity of its component rock. Ground-water flow directions, as related to the transport of test-generated contaminants, were developed from water-level contours and are presented and discussed for each of the continuous aquifers. Contoured water-level altitudes vary across the study area and range from more than 5,000 feet in the volcanic aquifer beneath a recharge area in the northern part of the study area to less than 2,450 feet in the lower carbonate aquifer in the southern part of the study area. Variations in water-level altitudes within any single continuous aquifer range from a few hundred feet in a lower carbonate aquifer to just more than 1,100 feet in a volcanic aquifer. Flow directions throughout the study area are dominantly southward with minor eastward or westward deviations. Primary exceptions are westward flow in the northern part of the volcanic aquifer and eastward flow in the eastern part of the lower carbonate aquifer. Northward flow in the upper and lower carbonate aquifers in the northern part of the study area is possible but cannot be substantiated because data are lacking. Interflow between continuous aquifers is evaluated and mapped to define major flow paths. These flow paths delineate tributary flow systems, which converge to form the regional ground-water flow system. The implications of these tributary flow paths in controlling transport away from the underground test areas at Rainier Mesa and Shoshone Mountain are discussed. The obvious data gaps contributing to uncertainties in the delineation of aquifers and development of water-level contours are identified and evaluated.« less

Predevelopment Water-Level Contours for Aquifers in the Rainier Mesa and Shoshone Mountain area of the Nevada Test Site, Nye County, Nevada

USGS Publications Warehouse

Fenelon, Joseph M.; Laczniak, Randell J.; Halford, Keith J.

2008-01-01

Contaminants introduced into the subsurface of the Nevada Test Site at Rainier Mesa and Shoshone Mountain by underground nuclear testing are of concern to the U.S. Department of Energy and regulators responsible for protecting human health and safety. Although contaminants were introduced into low-permeability rocks above the regional flow system, the potential for contaminant movement away from the underground test areas and into the accessible environment is greatest by ground-water transport. The primary hydrologic control on this transport is evaluated and examined through a series of contour maps developed to represent the water-level distribution within each of the major aquifers underlying the area. Aquifers were identified and their extents delineated by merging and analyzing multiple hydrostratigraphic framework models developed by other investigators from existing geologic information. The contoured water-level distribution in each major aquifer was developed from a detailed evaluation and assessment of available water-level measurements. Multiple spreadsheets that accompany this report provide pertinent water-level and geologic data by well or drill hole. Aquifers are mapped, presented, and discussed in general terms as being one of three aquifer types?volcanic aquifer, upper carbonate aquifer, or lower carbonate aquifer. Each of these aquifer types was subdivided and mapped as independent continuous and isolated aquifers, based on the continuity of its component rock. Ground-water flow directions, as related to the transport of test-generated contaminants, were developed from water-level contours and are presented and discussed for each of the continuous aquifers. Contoured water-level altitudes vary across the study area and range from more than 5,000 feet in the volcanic aquifer beneath a recharge area in the northern part of the study area to less than 2,450 feet in the lower carbonate aquifer in the southern part of the study area. Variations in water-level altitudes within any single continuous aquifer range from a few hundred feet in a lower carbonate aquifer to just more than 1,100 feet in a volcanic aquifer. Flow directions throughout the study area are dominantly southward with minor eastward or westward deviations. Primary exceptions are westward flow in the northern part of the volcanic aquifer and eastward flow in the eastern part of the lower carbonate aquifer. Northward flow in the upper and lower carbonate aquifers in the northern part of the study area is possible but cannot be substantiated because data are lacking. Interflow between continuous aquifers is evaluated and mapped to define major flow paths. These flow paths delineate tributary flow systems, which converge to form the regional ground-water flow system. The implications of these tributary flow paths in controlling transport away from the underground test areas at Rainier Mesa and Shoshone Mountain are discussed. The obvious data gaps contributing to uncertainties in the delineation of aquifers and development of water-level contours are identified and evaluated.

Educational Process Navigator as Means of Creation of Individual Educational Path of a Student

ERIC Educational Resources Information Center

Khuziakhmetov, Anvar N.; Sytina, Nadezhda S.

2016-01-01

Rationale of the problem stated in the article is caused by search for new alternative models for individual educational paths of students in the continuous multi-level education system on the basis of the navigators of the educational process, being a visual matrix of individual educational space. The purpose of the article is to develop the…

The application of Markov decision process in restaurant delivery robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Hu, Zhen; Wang, Ying

2017-05-01

As the restaurant delivery robot is often in a dynamic and complex environment, including the chairs inadvertently moved to the channel and customers coming and going. The traditional path planning algorithm is not very ideal. To solve this problem, this paper proposes the Markov dynamic state immediate reward (MDR) path planning algorithm according to the traditional Markov decision process. First of all, it uses MDR to plan a global path, then navigates along this path. When the sensor detects there is no obstructions in front state, increase its immediate state reward value; when the sensor detects there is an obstacle in front, plan a global path that can avoid obstacle with the current position as the new starting point and reduce its state immediate reward value. This continues until the target is reached. When the robot learns for a period of time, it can avoid those places where obstacles are often present when planning the path. By analyzing the simulation experiment, the algorithm has achieved good results in the global path planning under the dynamic environment.

[Measurements of stable isotopes in atmospheric CO2 and H2O by open-path Fourier transform infrared spectrometry].

PubMed

Wang, Wei; Liu, Wen-Qing; Zhang, Tian-Shu

2013-08-01

The development of spectroscopic techniques has offered continuous measurement of stable isotopes in the ambient air. The method of measuring environmental stable isotopes based on Fourier transform infrared spectrometry (FTIR) is described. In order to verify the feasibility of the method for continuous measurement of the stable isotopes, an open-path FTIR system was used to measure stable isotopes of CO2 and H2O in ambient air directly in a seven-day field experiment, including 12CO2, 3CO2, H2 16O and HD16 O. Also, the time course of carbon isotopic ratio delta13 C and deuterium isotope composition deltaD was calculated. The measurement precision is about 1.08 per thousand for delta13 C and 1.32 per thousand for deltaD. The measured stable isotopes of CO2 and H2O were analyzed on different time scales by Keeling plot methods, and the deuterium isotopic ratios of evapotranspiration were determined. The results of the field experiment demonstrate the potential of the open-path FTIR system for continuous measurement of stable isotopes in the air.

Novel CO2 laser robotic controller outperforms experienced laser operators in tasks of accuracy and performance repeatability.

PubMed

Wong, Yu-Tung; Finley, Charles C; Giallo, Joseph F; Buckmire, Robert A

2011-08-01

To introduce a novel method of combining robotics and the CO(2) laser micromanipulator to provide excellent precision and performance repeatability designed for surgical applications. Pilot feasibility study. We developed a portable robotic controller that appends to a standard CO(2) laser micromanipulator. The robotic accuracy and laser beam path repeatability were compared to six experienced users of the industry standard micromanipulator performing the same simulated surgical tasks. Helium-neon laser beam video tracking techniques were employed. The robotic controller demonstrated superiority over experienced human manual micromanipulator control in accuracy (laser path within 1 mm of idealized centerline), 97.42% (standard deviation [SD] 2.65%), versus 85.11% (SD 14.51%), P = .018; and laser beam path repeatability (area of laser path divergence on successive trials), 21.42 mm(2) (SD 4.35 mm(2) ) versus 65.84 mm(2) (SD 11.93 mm(2) ), P = .006. Robotic micromanipulator control enhances accuracy and repeatability for specific laser tasks. Computerized control opens opportunity for alternative user interfaces and additional safety features. Copyright © 2011 The American Laryngological, Rhinological, and Otological Society, Inc.

Gaze control during face exploration in schizophrenia.

PubMed

Delerue, Céline; Laprévote, Vincent; Verfaillie, Karl; Boucart, Muriel

2010-10-04

Patients with schizophrenia perform worse than controls on various face perception tasks. Studies monitoring eye movements have shown reduced scan paths and a lower number of fixations to relevant facial features (eyes, nose, mouth) than to other parts. We examine whether attentional control, through instructions, modulates visual scanning in schizophrenia. Visual scan paths were monitored in 20 patients with schizophrenia and 20 controls. Participants started with a "free viewing" task followed by tasks in which they were asked to determine the gender, identify the facial expression, estimate the age, or decide whether the face was known or unknown. Temporal and spatial characteristics of scan paths were compared for each group and task. Consistent with the literature, patients with schizophrenia showed reduced attention to salient facial features in the passive viewing. However, their scan paths did not differ from that of controls when asked to determine the facial expression, the gender, the age or the familiarity of the face. The results are interpreted in terms of attentional control and cognitive flexibility. (c) 2010 Elsevier Ireland Ltd. All rights reserved.

Graph theory applied to noise and vibration control in statistical energy analysis models.

PubMed

Guasch, Oriol; Cortés, Lluís

2009-06-01

A fundamental aspect of noise and vibration control in statistical energy analysis (SEA) models consists in first identifying and then reducing the energy flow paths between subsystems. In this work, it is proposed to make use of some results from graph theory to address both issues. On the one hand, linear and path algebras applied to adjacency matrices of SEA graphs are used to determine the existence of any order paths between subsystems, counting and labeling them, finding extremal paths, or determining the power flow contributions from groups of paths. On the other hand, a strategy is presented that makes use of graph cut algorithms to reduce the energy flow from a source subsystem to a receiver one, modifying as few internal and coupling loss factors as possible.

Robust H∞ output-feedback control for path following of autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

Laser production of articles from powders

DOEpatents

Lewis, Gary K.; Milewski, John O.; Cremers, David A.; Nemec, Ronald B.; Barbe, Michael R.

1998-01-01

Method and apparatus for forming articles from materials in particulate form in which the materials are melted by a laser beam and deposited at points along a tool path to form an article of the desired shape and dimensions. Preferably the tool path and other parameters of the deposition process are established using computer-aided design and manufacturing techniques. A controller comprised of a digital computer directs movement of a deposition zone along the tool path and provides control signals to adjust apparatus functions, such as the speed at which a deposition head which delivers the laser beam and powder to the deposition zone moves along the tool path.

Laser production of articles from powders

DOEpatents

Lewis, G.K.; Milewski, J.O.; Cremers, D.A.; Nemec, R.B.; Barbe, M.R.

1998-11-17

Method and apparatus for forming articles from materials in particulate form in which the materials are melted by a laser beam and deposited at points along a tool path to form an article of the desired shape and dimensions. Preferably the tool path and other parameters of the deposition process are established using computer-aided design and manufacturing techniques. A controller comprised of a digital computer directs movement of a deposition zone along the tool path and provides control signals to adjust apparatus functions, such as the speed at which a deposition head which delivers the laser beam and powder to the deposition zone moves along the tool path. 20 figs.

Projectile stopping system

DOEpatents

Karr, T.J.; Pittenger, L.C.

1996-11-26

A projectile interceptor launches a projectile catcher into the path of a projectile. In one embodiment, signals indicative of the path of a projectile are received by the projectile interceptor. A flinger mechanism has a projectile catcher releasably attached thereto, such that the projectile catcher can be released and launched from the flinger mechanism. A controller connected to the flinger mechanism uses the signals indicative of the path of the projectile to determine the launch parameters of the projectile catcher. The controller directs the flinger mechanism to release the projectile catcher such that the projectile catcher is launched into the path of the projectile and intercepts the projectile. 13 figs.

Path integration of head direction: updating a packet of neural activity at the correct speed using axonal conduction delays.

PubMed

Walters, Daniel; Stringer, Simon; Rolls, Edmund

2013-01-01

The head direction cell system is capable of accurately updating its current representation of head direction in the absence of visual input. This is known as the path integration of head direction. An important question is how the head direction cell system learns to perform accurate path integration of head direction. In this paper we propose a model of velocity path integration of head direction in which the natural time delay of axonal transmission between a linked continuous attractor network and competitive network acts as a timing mechanism to facilitate the correct speed of path integration. The model effectively learns a "look-up" table for the correct speed of path integration. In simulation, we show that the model is able to successfully learn two different speeds of path integration across two different axonal conduction delays, and without the need to alter any other model parameters. An implication of this model is that, by learning look-up tables for each speed of path integration, the model should exhibit a degree of robustness to damage. In simulations, we show that the speed of path integration is not significantly affected by degrading the network through removing a proportion of the cells that signal rotational velocity.

Path Integration of Head Direction: Updating a Packet of Neural Activity at the Correct Speed Using Axonal Conduction Delays

PubMed Central

Walters, Daniel; Stringer, Simon; Rolls, Edmund

2013-01-01

The head direction cell system is capable of accurately updating its current representation of head direction in the absence of visual input. This is known as the path integration of head direction. An important question is how the head direction cell system learns to perform accurate path integration of head direction. In this paper we propose a model of velocity path integration of head direction in which the natural time delay of axonal transmission between a linked continuous attractor network and competitive network acts as a timing mechanism to facilitate the correct speed of path integration. The model effectively learns a “look-up” table for the correct speed of path integration. In simulation, we show that the model is able to successfully learn two different speeds of path integration across two different axonal conduction delays, and without the need to alter any other model parameters. An implication of this model is that, by learning look-up tables for each speed of path integration, the model should exhibit a degree of robustness to damage. In simulations, we show that the speed of path integration is not significantly affected by degrading the network through removing a proportion of the cells that signal rotational velocity. PMID:23526976

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

PubMed

Lin, Hao-Ting

2017-06-04

This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

PubMed Central

Lin, Hao-Ting

2017-01-01

This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally. PMID:28587220

Motion control of rigid bodies in SE(3)

NASA Astrophysics Data System (ADS)

Roza, Ashton

This thesis investigates the control of motion for a general class of vehicles that rotate and translate in three-space, and are propelled by a thrust vector which has fixed direction in body frame. The thesis addresses the problems of path following and position control. For path following, a feedback linearization controller is presented that makes the vehicle follow an arbitrary closed curve while simultaneously allowing the designer to specify the velocity profile of the vehicle on the path and its heading. For position control, a two-stage approach is presented that decouples position control from attitude control, allowing for a modular design and yielding almost global asymptotic stability of any desired hovering equilibrium. The effectiveness of the proposed method is verified both in simulation and experimentally by means of a hardware-in-the-loop setup emulating a co-axial helicopter.

Self-controlled learning benefits: exploring contributions of self-efficacy and intrinsic motivation via path analysis.

PubMed

Ste-Marie, Diane M; Carter, Michael J; Law, Barbi; Vertes, Kelly; Smith, Victoria

2016-09-01

Research has shown learning advantages for self-controlled practice contexts relative to yoked (i.e., experimenter-imposed) contexts; yet, explanations for this phenomenon remain relatively untested. We examined, via path analysis, whether self-efficacy and intrinsic motivation are important constructs for explaining self-controlled learning benefits. The path model was created using theory-based and empirically supported relationships to examine causal links between these psychological constructs and physical performance. We hypothesised that self-efficacy and intrinsic motivation would have greater predictive power for learning under self-controlled compared to yoked conditions. Participants learned double-mini trampoline progressions, and measures of physical performance, self-efficacy and intrinsic motivation were collected over two practice days and a delayed retention day. The self-controlled group (M = 2.04, SD = .98) completed significantly more skill progressions in retention than their yoked counterparts (M = 1.3, SD = .65). The path model displayed adequate fit, and similar significant path coefficients were found for both groups wherein each variable was predominantly predicted by its preceding time point (e.g., self-efficacy time 1 predicts self-efficacy time 2). Interestingly, the model was not moderated by group; thus, failing to support the hypothesis that self-efficacy and intrinsic motivation have greater predictive power for learning under self-controlled relative to yoked conditions.

An iterative learning control method with application for CNC machine tools

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

Kim, D.I.; Kim, S.

1996-01-01

A proportional, integral, and derivative (PID) type iterative learning controller is proposed for precise tracking control of industrial robots and computer numerical controller (CNC) machine tools performing repetitive tasks. The convergence of the output error by the proposed learning controller is guaranteed under a certain condition even when the system parameters are not known exactly and unknown external disturbances exist. As the proposed learning controller is repeatedly applied to the industrial robot or the CNC machine tool with the path-dependent repetitive task, the distance difference between the desired path and the actual tracked or machined path, which is one ofmore » the most significant factors in the evaluation of control performance, is progressively reduced. The experimental results demonstrate that the proposed learning controller can improve machining accuracy when the CNC machine tool performs repetitive machining tasks.« less

Brain-computer interface control along instructed paths

NASA Astrophysics Data System (ADS)

Sadtler, P. T.; Ryu, S. I.; Tyler-Kabara, E. C.; Yu, B. M.; Batista, A. P.

2015-02-01

Objective. Brain-computer interfaces (BCIs) are being developed to assist paralyzed people and amputees by translating neural activity into movements of a computer cursor or prosthetic limb. Here we introduce a novel BCI task paradigm, intended to help accelerate improvements to BCI systems. Through this task, we can push the performance limits of BCI systems, we can quantify more accurately how well a BCI system captures the user’s intent, and we can increase the richness of the BCI movement repertoire. Approach. We have implemented an instructed path task, wherein the user must drive a cursor along a visible path. The instructed path task provides a versatile framework to increase the difficulty of the task and thereby push the limits of performance. Relative to traditional point-to-point tasks, the instructed path task allows more thorough analysis of decoding performance and greater richness of movement kinematics. Main results. We demonstrate that monkeys are able to perform the instructed path task in a closed-loop BCI setting. We further investigate how the performance under BCI control compares to native arm control, whether users can decrease their movement variability in the face of a more demanding task, and how the kinematic richness is enhanced in this task. Significance. The use of the instructed path task has the potential to accelerate the development of BCI systems and their clinical translation.

Discrete-continuous duality of protein structure space.

PubMed

Sadreyev, Ruslan I; Kim, Bong-Hyun; Grishin, Nick V

2009-06-01

Recently, the nature of protein structure space has been widely discussed in the literature. The traditional discrete view of protein universe as a set of separate folds has been criticized in the light of growing evidence that almost any arrangement of secondary structures is possible and the whole protein space can be traversed through a path of similar structures. Here we argue that the discrete and continuous descriptions are not mutually exclusive, but complementary: the space is largely discrete in evolutionary sense, but continuous geometrically when purely structural similarities are quantified. Evolutionary connections are mainly confined to separate structural prototypes corresponding to folds as islands of structural stability, with few remaining traceable links between the islands. However, for a geometric similarity measure, it is usually possible to find a reasonable cutoff that yields paths connecting any two structures through intermediates.

Inference of strata separation and gas emission paths in longwall overburden using continuous wavelet transform of well logs and geostatistical simulation

NASA Astrophysics Data System (ADS)

Karacan, C. Özgen; Olea, Ricardo A.

2014-06-01

Prediction of potential methane emission pathways from various sources into active mine workings or sealed gobs from longwall overburden is important for controlling methane and for improving mining safety. The aim of this paper is to infer strata separation intervals and thus gas emission pathways from standard well log data. The proposed technique was applied to well logs acquired through the Mary Lee/Blue Creek coal seam of the Upper Pottsville Formation in the Black Warrior Basin, Alabama, using well logs from a series of boreholes aligned along a nearly linear profile. For this purpose, continuous wavelet transform (CWT) of digitized gamma well logs was performed by using Mexican hat and Morlet, as the mother wavelets, to identify potential discontinuities in the signal. Pointwise Hölder exponents (PHE) of gamma logs were also computed using the generalized quadratic variations (GQV) method to identify the location and strength of singularities of well log signals as a complementary analysis. PHEs and wavelet coefficients were analyzed to find the locations of singularities along the logs. Using the well logs in this study, locations of predicted singularities were used as indicators in single normal equation simulation (SNESIM) to generate equi-probable realizations of potential strata separation intervals. Horizontal and vertical variograms of realizations were then analyzed and compared with those of indicator data and training image (TI) data using the Kruskal-Wallis test. A sum of squared differences was employed to select the most probable realization representing the locations of potential strata separations and methane flow paths. Results indicated that singularities located in well log signals reliably correlated with strata transitions or discontinuities within the strata. Geostatistical simulation of these discontinuities provided information about the location and extents of the continuous channels that may form during mining. If there is a gas source within their zone of influence, paths may develop and allow methane movement towards sealed or active gobs under pressure differentials. Knowledge gained from this research will better prepare mine operations for potential methane inflows, thus improving mine safety.

Education and Training for 16-18 Year Olds in England and Wales. Individual Paths and National Trends.

ERIC Educational Resources Information Center

Payne, Joan; Cheng, Yuan; Witherspoon, Sharon

This book describes the experiences of a series of five nationally representative cohorts of young people reaching school-leaving age between 1986 and 1993 who were surveyed as part of the continuing England and Wales Youth Cohort Study. The cohort study charts the path taken by young people over the first 3 years after compulsory education. Part…

Improving Graduate Education to Support a Branching Career Pipeline: Recommendations Based on a Survey of Doctoral Students in the Basic Biomedical Sciences

ERIC Educational Resources Information Center

Fuhrmann, C. N.; Halme, D. G.; O'Sullivan, P. S.; Lindstaedt, B.

2011-01-01

Today's doctoral programs continue to prepare students for a traditional academic career path despite the inadequate supply of research-focused faculty positions. We advocate for a broader doctoral curriculum that prepares trainees for a wide range of science-related career paths. In support of this argument, we describe data from our survey of…

Accurate path integration in continuous attractor network models of grid cells.

PubMed

Burak, Yoram; Fiete, Ila R

2009-02-01

Grid cells in the rat entorhinal cortex display strikingly regular firing responses to the animal's position in 2-D space and have been hypothesized to form the neural substrate for dead-reckoning. However, errors accumulate rapidly when velocity inputs are integrated in existing models of grid cell activity. To produce grid-cell-like responses, these models would require frequent resets triggered by external sensory cues. Such inadequacies, shared by various models, cast doubt on the dead-reckoning potential of the grid cell system. Here we focus on the question of accurate path integration, specifically in continuous attractor models of grid cell activity. We show, in contrast to previous models, that continuous attractor models can generate regular triangular grid responses, based on inputs that encode only the rat's velocity and heading direction. We consider the role of the network boundary in the integration performance of the network and show that both periodic and aperiodic networks are capable of accurate path integration, despite important differences in their attractor manifolds. We quantify the rate at which errors in the velocity integration accumulate as a function of network size and intrinsic noise within the network. With a plausible range of parameters and the inclusion of spike variability, our model networks can accurately integrate velocity inputs over a maximum of approximately 10-100 meters and approximately 1-10 minutes. These findings form a proof-of-concept that continuous attractor dynamics may underlie velocity integration in the dorsolateral medial entorhinal cortex. The simulations also generate pertinent upper bounds on the accuracy of integration that may be achieved by continuous attractor dynamics in the grid cell network. We suggest experiments to test the continuous attractor model and differentiate it from models in which single cells establish their responses independently of each other.

Robust Flight Path Determination for Mars Precision Landing Using Genetic Algorithms

NASA Technical Reports Server (NTRS)

Bayard, David S.; Kohen, Hamid

1997-01-01

This paper documents the application of genetic algorithms (GAs) to the problem of robust flight path determination for Mars precision landing. The robust flight path problem is defined here as the determination of the flight path which delivers a low-lift open-loop controlled vehicle to its desired final landing location while minimizing the effect of perturbations due to uncertainty in the atmospheric model and entry conditions. The genetic algorithm was capable of finding solutions which reduced the landing error from 111 km RMS radial (open-loop optimal) to 43 km RMS radial (optimized with respect to perturbations) using 200 hours of computation on an Ultra-SPARC workstation. Further reduction in the landing error is possible by going to closed-loop control which can utilize the GA optimized paths as nominal trajectories for linearization.

Radiation oncology career decision variables for graduating trainees seeking positions in 2003-2004

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

Wilson, Lynn D.; Flynn, Daniel F.; Haffty, Bruce G.

2005-06-01

Purpose: Radiation oncology trainees must consider an array of variables when deciding upon an academic or private practice career path. This prospective evaluation of the 2004 graduating radiation oncology trainees, evaluates such variables and provides additional descriptive data. Methods: A survey that included 15 questions (one subjective, eleven categorical, and 3 continuous variables) was mailed to the 144 graduating radiation oncology trainees in United States programs in January of 2004. Questions were designed to gather information regarding factors that may have influenced career path choices. The responses were anonymous, and no identifying information was sought. Survey data were collated andmore » analyzed for differences in both categorical and continuous variables as they related to choice of academic or private practice career path. Results: Sixty seven (47%) of the surveys were returned. Forty-five percent of respondents indicated pursuit of an academic career. All respondents participated in research during training with 73% participating in research publication authorship. Post graduate year-3 was the median in which career path was chosen, and 20% thought that a fellowship position was 'perhaps' necessary to secure an academic position. Thirty percent of the respondents revealed that the timing of the American Board of Radiology examination influenced their career path decision. Eighteen variables were offered as possibly influencing career path choice within the survey, and the top five identified by those seeking an academic path were: (1) colleagues, (2) clinical research, (3) teaching, (4) geography, (5) and support staff. For those seeking private practice, the top choices were: (1) lifestyle, (2) practice environment, (3) patient care, (4) geography, (5) colleagues. Female gender (p = 0.064), oral meeting presentation (p = 0.053), and international meeting presentation (p 0.066) were the variables most significantly associated with pursuing an academic career path. The following variables were ranked significantly differently in hierarchy (p < 0.05) by those seeking an academic versus private practice path with respect to having influence on the career decision: lifestyle, income, case-mix, autonomy, ability to sub-specialize, basic research, clinical research, teaching, patient care, board structure, practice environment, and mentoring. Conclusion: These data offer descriptive information regarding variables that lead to radiation oncology trainee career path decisions. Such information may be of use in modification of training programs to meet future personnel and programmatic needs within the specialty.« less

Bidirectional amplifier

DOEpatents

Wright, James T.

1986-01-01

A bilateral circuit is operable for transmitting signals in two directions without generation of ringing due to feedback caused by the insertion of the circuit. The circuit may include gain for each of the signals to provide a bidirectional amplifier. The signals are passed through two separate paths, with a unidirectional amplifier in each path. A controlled sampling device is provided in each path for sampling the two signals. Any feedback loop between the two signals is disrupted by providing a phase displacement between the control signals for the two sampling devices.

Bidirectional amplifier

DOEpatents

Wright, J.T.

1984-02-02

A bilateral circuit is operable for transmitting signals in two directions without generation of ringing due to feedback caused by the insertion of the circuit. The circuit may include gain for each of the signals to provide a bidirectional amplifier. The signals are passed through two separate paths, with a unidirectional amplifier in each path. A controlled sampling device is provided in each path for sampling the two signals. Any feedback loop between the two signals is disrupted by providing a phase displacement between the control signals for the two sampling devices.

Research on optimal path planning algorithm of task-oriented optical remote sensing satellites

NASA Astrophysics Data System (ADS)

Liu, Yunhe; Xu, Shengli; Liu, Fengjing; Yuan, Jingpeng

2015-08-01

GEO task-oriented optical remote sensing satellite, is very suitable for long-term continuous monitoring and quick access to imaging. With the development of high resolution optical payload technology and satellite attitude control technology, GEO optical remote sensing satellites will become an important developing trend for aerospace remote sensing satellite in the near future. In the paper, we focused on GEO optical remote sensing satellite plane array stare imaging characteristics and real-time leading mission of earth observation mode, targeted on satisfying needs of the user with the minimum cost of maneuver, and put forward the optimal path planning algorithm centered on transformation from geographic coordinate space to Field of plane, and finally reduced the burden of the control system. In this algorithm, bounded irregular closed area on the ground would be transformed based on coordinate transformation relations in to the reference plane for field of the satellite payload, and then using the branch and bound method to search for feasible solutions, cutting off the non-feasible solution in the solution space based on pruning strategy; and finally trimming some suboptimal feasible solutions based on the optimization index until a feasible solution for the global optimum. Simulation and visualization presentation software testing results verified the feasibility and effectiveness of the strategy.

Symbology Development for General Aviation Synthetic Vision Primary Flight Displays for the Approach and Missed-Approach Modes of Flight

NASA Technical Reports Server (NTRS)

Bartolone, Anthony P.; Hughes, Monica F.; Wong, Douglas T.; Takallu, Mohammad A.

2004-01-01

Spatial disorientation induced by inadvertent flight into instrument meteorological conditions (IMC) continues to be a leading cause of fatal accidents in general aviation. The Synthetic Vision Systems General Aviation (SVS-GA) research element, an integral part of NASA s Aviation Safety and Security Program (AvSSP), is investigating a revolutionary display technology designed to mitigate low visibility events such as controlled flight into terrain (CFIT) and low-visibility loss of control (LVLoC). The integrated SVS Primary Flight Display (SVS-PFD) utilizes computer generated 3-dimensional imagery of the surrounding terrain augmented with flight path guidance symbology. This unique combination will provide GA pilots with an accurate representation of their environment and projection of their flight path, regardless of time of day or out-the-window (OTW) visibility. The initial Symbology Development for Head-Down Displays (SD-HDD) simulation experiment examined 16 display configurations on a centrally located high-resolution PFD installed in NASA s General Aviation Work Station (GAWS) flight simulator. The results of the experiment indicate that situation awareness (SA) can be enhanced without having a negative impact on flight technical error (FTE), by providing a general aviation pilot with an integrated SVS display to use when OTW visibility is obscured.

Path following control of planar snake robots using virtual holonomic constraints: theory and experiments.

PubMed

Rezapour, Ehsan; Pettersen, Kristin Y; Liljebäck, Pål; Gravdahl, Jan T; Kelasidi, Eleni

This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These appropriately defined constraints shape the geometry of a constraint manifold for the system, which is a submanifold of the configuration space of the robot. Furthermore, we show that the constraint manifold can be made invariant by a suitable choice of feedback. In particular, we analytically design a smooth feedback control law to exponentially stabilize the constraint manifold. We show that enforcing the appropriately defined virtual holonomic constraints for the configuration variables implies that the robot converges to and follows a desired geometric path. Numerical simulations and experimental results are presented to validate the theoretical approach.

Inverse optimal self-tuning PID control design for an autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Rout, Raja; Subudhi, Bidyadhar

2017-01-01

This paper presents a new approach to path following control design for an autonomous underwater vehicle (AUV). A NARMAX model of the AUV is derived first and then its parameters are adapted online using the recursive extended least square algorithm. An adaptive Propotional-Integral-Derivative (PID) controller is developed using the derived parameters to accomplish the path following task of an AUV. The gain parameters of the PID controller are tuned using an inverse optimal control technique, which alleviates the problem of solving Hamilton-Jacobian equation and also satisfies an error cost function. Simulation studies were pursued to verify the efficacy of the proposed control algorithm. From the obtained results, it is envisaged that the proposed NARMAX model-based self-tuning adaptive PID control provides good path following performance even in the presence of uncertainty arising due to ocean current or hydrodynamic parameter.

Aerosol mass spectrometry systems and methods

DOEpatents

Fergenson, David P.; Gard, Eric E.

2013-08-20

A system according to one embodiment includes a particle accelerator that directs a succession of polydisperse aerosol particles along a predetermined particle path; multiple tracking lasers for generating beams of light across the particle path; an optical detector positioned adjacent the particle path for detecting impingement of the beams of light on individual particles; a desorption laser for generating a beam of desorbing light across the particle path about coaxial with a beam of light produced by one of the tracking lasers; and a controller, responsive to detection of a signal produced by the optical detector, that controls the desorption laser to generate the beam of desorbing light. Additional systems and methods are also disclosed.

CONTINUOUS FORMALDEHYDE MEASUREMENT SYSTEM BASED ON MODIFIED FOURIER TRANSFORM INFRARED SPECTROSCOPY

EPA Science Inventory

EPA is developing advanced open-path and cell-based optical techniques for time-resolved measurement of priority hazardous air pollutants such as formaldehyde (HCHO). Due to its high National Air Toxics Assessment risk factor, there is increasing interest in continuous measuremen...

Network Randomization and Dynamic Defense for Critical Infrastructure Systems

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

Chavez, Adrian R.; Martin, Mitchell Tyler; Hamlet, Jason

2015-04-01

Critical Infrastructure control systems continue to foster predictable communication paths, static configurations, and unpatched systems that allow easy access to our nation's most critical assets. This makes them attractive targets for cyber intrusion. We seek to address these attack vectors by automatically randomizing network settings, randomizing applications on the end devices themselves, and dynamically defending these systems against active attacks. Applying these protective measures will convert control systems into moving targets that proactively defend themselves against attack. Sandia National Laboratories has led this effort by gathering operational and technical requirements from Tennessee Valley Authority (TVA) and performing research and developmentmore » to create a proof-of-concept solution. Our proof-of-concept has been tested in a laboratory environment with over 300 nodes. The vision of this project is to enhance control system security by converting existing control systems into moving targets and building these security measures into future systems while meeting the unique constraints that control systems face.« less

An avionics sensitivity study. Volume 1: Operational considerations

NASA Technical Reports Server (NTRS)

Scott, R. W.; Mcconkey, E. D.

1976-01-01

Equipment and operational concepts affecting aircraft in the terminal area are reported. Curved approach applications and modified climb and descent procedures for minimum fuel consumption are considered. The curved approach study involves the application of MLS guidance to enable execution of the current visual approach to Washington National Airport under instrument flight conditions. The operational significance and the flight path control requirements involved in the application of curved approach paths to this situation are considered. Alternative flight path control regimes are considered to achieve minimum fuel consumption subject to constraints related to air traffic control requirements, flight crew and passenger reactions, and airframe and powerplant limitations.

Vector navigation in desert ants, Cataglyphis fortis: celestial compass cues are essential for the proper use of distance information.

PubMed

Sommer, Stefan; Wehner, Rüdiger

2005-10-01

Foraging desert ants navigate primarily by path integration. They continually update homing direction and distance by employing a celestial compass and an odometer. Here we address the question of whether information about travel distance is correctly used in the absence of directional information. By using linear channels that were partly covered to exclude celestial compass cues, we were able to test the distance component of the path-integration process while suppressing the directional information. Our results suggest that the path integrator cannot process the distance information accumulated by the odometer while ants are deprived of celestial compass information. Hence, during path integration directional cues are a prerequisite for the proper use of travel-distance information by ants.

Surface Wave Tomography with Spatially Varying Smoothing Based on Continuous Model Regionalization

NASA Astrophysics Data System (ADS)

Liu, Chuanming; Yao, Huajian

2017-03-01

Surface wave tomography based on continuous regionalization of model parameters is widely used to invert for 2-D phase or group velocity maps. An inevitable problem is that the distribution of ray paths is far from homogeneous due to the spatially uneven distribution of stations and seismic events, which often affects the spatial resolution of the tomographic model. We present an improved tomographic method with a spatially varying smoothing scheme that is based on the continuous regionalization approach. The smoothness of the inverted model is constrained by the Gaussian a priori model covariance function with spatially varying correlation lengths based on ray path density. In addition, a two-step inversion procedure is used to suppress the effects of data outliers on tomographic models. Both synthetic and real data are used to evaluate this newly developed tomographic algorithm. In the synthetic tests, when the contrived model has different scales of anomalies but with uneven ray path distribution, we compare the performance of our spatially varying smoothing method with the traditional inversion method, and show that the new method is capable of improving the recovery in regions of dense ray sampling. For real data applications, the resulting phase velocity maps of Rayleigh waves in SE Tibet produced using the spatially varying smoothing method show similar features to the results with the traditional method. However, the new results contain more detailed structures and appears to better resolve the amplitude of anomalies. From both synthetic and real data tests we demonstrate that our new approach is useful to achieve spatially varying resolution when used in regions with heterogeneous ray path distribution.

Man-machine cooperation in advanced teleoperation

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Das, Hari; Lee, Sukhan

1993-01-01

Teleoperation experiments at JPL have shown that advanced features in a telerobotic system are a necessary condition for good results, but that they are not sufficient to assure consistently good performance by the operators. Two or three operators are normally used during training and experiments to maintain the desired performance. An alternative to this multi-operator control station is a man-machine interface embedding computer programs that can perform some of the operator's functions. In this paper we present our first experiments with these concepts, in which we focused on the areas of real-time task monitoring and interactive path planning. In the first case, when performing a known task, the operator has an automatic aid for setting control parameters and camera views. In the second case, an interactive path planner will rank different path alternatives so that the operator will make the correct control decision. The monitoring function has been implemented with a neural network doing the real-time task segmentation. The interactive path planner was implemented for redundant manipulators to specify arm configurations across the desired path and satisfy geometric, task, and performance constraints.

Longitudinal impact of the project PATHS on adolescent risk behavior: what happened after five years?

PubMed

Shek, Daniel T L; Yu, Lu

2012-01-01

The present study investigated the longitudinal impact of the Project PATHS, a large-scale curriculum-based positive youth development program in Hong Kong, on the development of adolescents' risk behavior over a period of five years. Using a longitudinal randomized controlled design, eight waves of data were collected from 19 experimental schools in which students participated in the Project PATHS (N = 2,850 at Wave 8) and 24 control schools without joining the Project PATHS (N = 3,640 at Wave 8). At each wave, students responded to measures assessing their current risk behaviors, including delinquency, use of different types of drug, and their intentions of participating in risk behaviors in the future. Results demonstrated that adolescents receiving the program exhibited significantly slower increases in delinquent behaviors and substance use as compared to the control participants. During two years after the completion of the program, differences in youth risk behaviors in the two groups still existed. These results suggest that the Project PATHS has long-term effect in preventing adolescent problem behavior through promoting positive youth development.

Ultra-high density aligned Carbon-nanotube with controled nano-morphology for supercapacitors

NASA Astrophysics Data System (ADS)

Ghaffari, Mehdi; Zhao, Ran; Liu, Yang; Zhou, Yue; Cheng, Jiping; Guzman de Villoria, Roberto; Wardle, B. L.; Zhang, Q. M.

2012-02-01

Recent advances in fabricating controlled-morphology vertically aligned carbon nanotubes (VA-CNTs) with ultrahigh volume fractioncreate unique opportunities for developing unconventional supercapacitors with ultra-high energy density, power density, and long charge/discharge cycle life.Continuous paths through inter-VA-CNT channels allow fast ion transport, and high electrical conduction of the aligned CNTs in the composite electrodes lead to fast discharge speed. We investigate the charge-discharge characteristics of VA-CNTs with >20 vol% of CNT and ionic liquids as electrolytes. By employing both the electric and electromechanical spectroscopes, as well as nanostructured materials characterization, the ion transport and storage behaviors in porous electrodes are studied. The results suggest pathways for optimizing the electrode morphology in supercapacitorsusing ultra-high volume fraction VA-CNTs to further enhance performance.

Aircraft landing control system

NASA Technical Reports Server (NTRS)

Lambregts, Antonius A. (Inventor); Hansen, Rolf (Inventor)

1982-01-01

Upon aircraft landing approach, flare path command signals of altitude, vertical velocity and vertical acceleration are generated as functions of aircraft position and velocity with respect to the ground. The command signals are compared with corresponding actual values to generate error signals which are used to control the flight path.

Spatial Updating Strategy Affects the Reference Frame in Path Integration.

PubMed

He, Qiliang; McNamara, Timothy P

2018-06-01

This study investigated how spatial updating strategies affected the selection of reference frames in path integration. Participants walked an outbound path consisting of three successive waypoints in a featureless environment and then pointed to the first waypoint. We manipulated the alignment of participants' final heading at the end of the outbound path with their initial heading to examine the adopted reference frame. We assumed that the initial heading defined the principal reference direction in an allocentric reference frame. In Experiment 1, participants were instructed to use a configural updating strategy and to monitor the shape of the outbound path while they walked it. Pointing performance was best when the final heading was aligned with the initial heading, indicating the use of an allocentric reference frame. In Experiment 2, participants were instructed to use a continuous updating strategy and to keep track of the location of the first waypoint while walking the outbound path. Pointing performance was equivalent regardless of the alignment between the final and the initial headings, indicating the use of an egocentric reference frame. These results confirmed that people could employ different spatial updating strategies in path integration (Wiener, Berthoz, & Wolbers Experimental Brain Research 208(1) 61-71, 2011), and suggested that these strategies could affect the selection of the reference frame for path integration.

A collaborative network middleware project by Lambda Station, TeraPaths, and Phoebus

NASA Astrophysics Data System (ADS)

Bobyshev, A.; Bradley, S.; Crawford, M.; DeMar, P.; Katramatos, D.; Shroff, K.; Swany, M.; Yu, D.

2010-04-01

The TeraPaths, Lambda Station, and Phoebus projects, funded by the US Department of Energy, have successfully developed network middleware services that establish on-demand and manage true end-to-end, Quality-of-Service (QoS) aware, virtual network paths across multiple administrative network domains, select network paths and gracefully reroute traffic over these dynamic paths, and streamline traffic between packet and circuit networks using transparent gateways. These services improve network QoS and performance for applications, playing a critical role in the effective use of emerging dynamic circuit network services. They provide interfaces to applications, such as dCache SRM, translate network service requests into network device configurations, and coordinate with each other to setup up end-to-end network paths. The End Site Control Plane Subsystem (ESCPS) builds upon the success of the three projects by combining their individual capabilities into the next generation of network middleware. ESCPS addresses challenges such as cross-domain control plane signalling and interoperability, authentication and authorization in a Grid environment, topology discovery, and dynamic status tracking. The new network middleware will take full advantage of the perfSONAR monitoring infrastructure and the Inter-Domain Control plane efforts and will be deployed and fully vetted in the Large Hadron Collider data movement environment.

The social transmission of risk: Maternal stress physiology, synchronous parenting, and well-being mediate the effects of war exposure on child psychopathology.

PubMed

Halevi, Galit; Djalovski, Amir; Kanat-Maymon, Yaniv; Yirmiya, Karen; Zagoory-Sharon, Orna; Koren, Lee; Feldman, Ruth

2017-11-01

While chronic early stress increases child susceptibility to psychopathology, risk and resilience trajectories are shaped by maternal social influences whose role requires much further research in longitudinal studies. We examined the social transmission of risk by assessing paths leading from war-exposure to child symptoms as mediated by 3 sources of maternal social influence; stress physiology, synchronous parenting, and psychiatric disorder. Mothers and children living in a zone of continuous war were assessed in early childhood (1.5-5 years) and the current study revisited families in late (9-11years) childhood (N = 177; N = 101 war-exposed; N = 76 controls). At both time-points, maternal and child's salivary cortisol (SC), social behavior, and externalizing and internalizing symptoms were assessed. In late childhood, hair cortisol concentrations (HCC) were also measured and mother and child underwent psychiatric diagnosis. The social transmission model was tested against 2 alternative models; 1 proposing direct impact of war on children without maternal mediation, the other predicting late-childhood symptoms from early childhood variables, not change trajectories. Path analysis controlling for early childhood variables supported our conceptual model. Whereas maternal psychopathology was directly linked with child symptoms, defining direct mediation, the impact of maternal stress hormones was indirect and passed through stress contagion mechanisms involving coupling between maternal and child's HCC and SC. Similarly, maternal synchrony linked with child social engagement as the pathway to reduced symptomatology. Findings underscore the critical role of maternal stress physiology, attuned behavior, and well-being in shaping child psychopathology amid adversity and specify direct and indirect paths by which mothers stand between war and the child. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

The traveling salesman problem as a new screening test in early Alzheimer's disease: an exploratory study. Visual problem-solving in AD.

PubMed

De Vreese, Luc Pieter; Pradelli, Samantha; Massini, Giulia; Buscema, Massimo; Savarè, Rita; Grossi, Enzo

2005-12-01

In the clinical setting, brief general mental status tests tend to detect early-stage Alzheimer's disease (AD) less well than more specific cognitive tests. Some preliminary information was collected on the diagnostic accuracy of the Traveling Salesman Problem (TSP) compared with the Mini-Mental State Examination (MMSE) in recognizing early AD from normal aging. Fifteen AD outpatients (mean +/- SD MMSE: 24.45 +/- 2.61) and 30 age- and education-matched controls were submitted in a single blind protocol to a paper-and-pencil visually-presented version of the TSP, containing a random array of 30 points (TSP30). The task consisted of drawing the shortest continuous path, passing through each point once and only once, and returning to the starting point. Path lengths for subjects' solutions were computed and compared with the optimal solution given by a specific evolutionary algorithm called GenD. TP30 discriminated significantly better between AD subjects and controls (ROC curve AUC = 0.976; 95% CI 0.94-1.01) compared with the MMSE corrected for age and education (ROC curve AUC = 0.877; 95% CI 0.74-1.005). A path length of 478.2354, taken as "cut-off point", classified correctly subjects with a sensitivity of 93.3% and a specificity of 99.3%, whereas a score corrected for age and education of 25.85 on the MMSE had a sensitivity of 73.3% and a specificity of 96.7%. The TSP seems to be particularly sensitive to early AD and independent of patient's age and educational level. The high diagnostic ability, simplicity, and independence of age and education make the TSP promising as a screening test for early AD.

An adaptive multi-level simulation algorithm for stochastic biological systems

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

Lester, C., E-mail: lesterc@maths.ox.ac.uk; Giles, M. B.; Baker, R. E.

2015-01-14

Discrete-state, continuous-time Markov models are widely used in the modeling of biochemical reaction networks. Their complexity often precludes analytic solution, and we rely on stochastic simulation algorithms (SSA) to estimate system statistics. The Gillespie algorithm is exact, but computationally costly as it simulates every single reaction. As such, approximate stochastic simulation algorithms such as the tau-leap algorithm are often used. Potentially computationally more efficient, the system statistics generated suffer from significant bias unless tau is relatively small, in which case the computational time can be comparable to that of the Gillespie algorithm. The multi-level method [Anderson and Higham, “Multi-level Montemore » Carlo for continuous time Markov chains, with applications in biochemical kinetics,” SIAM Multiscale Model. Simul. 10(1), 146–179 (2012)] tackles this problem. A base estimator is computed using many (cheap) sample paths at low accuracy. The bias inherent in this estimator is then reduced using a number of corrections. Each correction term is estimated using a collection of paired sample paths where one path of each pair is generated at a higher accuracy compared to the other (and so more expensive). By sharing random variables between these paired paths, the variance of each correction estimator can be reduced. This renders the multi-level method very efficient as only a relatively small number of paired paths are required to calculate each correction term. In the original multi-level method, each sample path is simulated using the tau-leap algorithm with a fixed value of τ. This approach can result in poor performance when the reaction activity of a system changes substantially over the timescale of interest. By introducing a novel adaptive time-stepping approach where τ is chosen according to the stochastic behaviour of each sample path, we extend the applicability of the multi-level method to such cases. We demonstrate the efficiency of our method using a number of examples.« less

Langevin Dynamics, Large Deviations and Instantons for the Quasi-Geostrophic Model and Two-Dimensional Euler Equations

NASA Astrophysics Data System (ADS)

Bouchet, Freddy; Laurie, Jason; Zaboronski, Oleg

2014-09-01

We investigate a class of simple models for Langevin dynamics of turbulent flows, including the one-layer quasi-geostrophic equation and the two-dimensional Euler equations. Starting from a path integral representation of the transition probability, we compute the most probable fluctuation paths from one attractor to any state within its basin of attraction. We prove that such fluctuation paths are the time reversed trajectories of the relaxation paths for a corresponding dual dynamics, which are also within the framework of quasi-geostrophic Langevin dynamics. Cases with or without detailed balance are studied. We discuss a specific example for which the stationary measure displays either a second order (continuous) or a first order (discontinuous) phase transition and a tricritical point. In situations where a first order phase transition is observed, the dynamics are bistable. Then, the transition paths between two coexisting attractors are instantons (fluctuation paths from an attractor to a saddle), which are related to the relaxation paths of the corresponding dual dynamics. For this example, we show how one can analytically determine the instantons and compute the transition probabilities for rare transitions between two attractors.

Electrically optofluidic zoom system with a large zoom range and high-resolution image.

PubMed

Li, Lei; Yuan, Rong-Ying; Wang, Jin-Hui; Wang, Qiong-Hua

2017-09-18

We report an electrically controlled optofluidic zoom system which can achieve a large continuous zoom change and high-resolution image. The zoom system consists of an optofluidic zoom objective and a switchable light path which are controlled by two liquid optical shutters. The proposed zoom system can achieve a large tunable focal length range from 36mm to 92mm. And in this tuning range, the zoom system can correct aberrations dynamically, thus the image resolution is high. Due to large zoom range, the proposed imaging system incorporates both camera configuration and telescope configuration into one system. In addition, the whole system is electrically controlled by three electrowetting liquid lenses and two liquid optical shutters, therefore, the proposed system is very compact and free of mechanical moving parts. The proposed zoom system has potential to take place of conventional zoom systems.

Photodrive of magnetic bubbles via magnetoelastic waves

PubMed Central

Ogawa, Naoki; Koshibae, Wataru; Beekman, Aron Jonathan; Nagaosa, Naoto; Kubota, Masashi; Kawasaki, Masashi; Tokura, Yoshinori

2015-01-01

Precise control of magnetic domain walls continues to be a central topic in the field of spintronics to boost infotech, logic, and memory applications. One way is to drive the domain wall by current in metals. In insulators, the incoherent flow of phonons and magnons induced by the temperature gradient can carry the spins, i.e., spin Seebeck effect, but the spatial and time dependence is difficult to control. Here, we report that coherent phonons hybridized with spin waves, magnetoelastic waves, can drive magnetic bubble domains, or curved domain walls, in an iron garnet, which are excited by ultrafast laser pulses at a nonabsorbing photon energy. These magnetoelastic waves were imaged by time-resolved Faraday microscopy, and the resultant spin transfer force was evaluated to be larger for domain walls with steeper curvature. This will pave a path for the rapid spatiotemporal control of magnetic textures in insulating magnets. PMID:26150487

Photodrive of magnetic bubbles via magnetoelastic waves.

PubMed

Ogawa, Naoki; Koshibae, Wataru; Beekman, Aron Jonathan; Nagaosa, Naoto; Kubota, Masashi; Kawasaki, Masashi; Tokura, Yoshinori

2015-07-21

Precise control of magnetic domain walls continues to be a central topic in the field of spintronics to boost infotech, logic, and memory applications. One way is to drive the domain wall by current in metals. In insulators, the incoherent flow of phonons and magnons induced by the temperature gradient can carry the spins, i.e., spin Seebeck effect, but the spatial and time dependence is difficult to control. Here, we report that coherent phonons hybridized with spin waves, magnetoelastic waves, can drive magnetic bubble domains, or curved domain walls, in an iron garnet, which are excited by ultrafast laser pulses at a nonabsorbing photon energy. These magnetoelastic waves were imaged by time-resolved Faraday microscopy, and the resultant spin transfer force was evaluated to be larger for domain walls with steeper curvature. This will pave a path for the rapid spatiotemporal control of magnetic textures in insulating magnets.

Interactive cutting path analysis programs

NASA Technical Reports Server (NTRS)

Weiner, J. M.; Williams, D. S.; Colley, S. R.

1975-01-01

The operation of numerically controlled machine tools is interactively simulated. Four programs were developed to graphically display the cutting paths for a Monarch lathe, Cintimatic mill, Strippit sheet metal punch, and the wiring path for a Standard wire wrap machine. These programs are run on a IMLAC PDS-ID graphic display system under the DOS-3 disk operating system. The cutting path analysis programs accept input via both paper tape and disk file.

All-Optical Wavelength-Path Service With Quality Assurance by Multilayer Integration System

NASA Astrophysics Data System (ADS)

Yagi, Mikio; Tanaka, Shinya; Satomi, Shuichi; Ryu, Shiro; Asano, Shoichiro

2006-09-01

In the future all-optical network controlled by generalized multiprotocol label switching (GMPLS), the wavelength path between end nodes will change dynamically. This inevitably means that the fiber parameters along the wavelength path will also vary. This variation in fiber parameters influences the signal quality of high-speed-transmission system (bit rates over 40 Gb/s). Therefore, at a path setup, the fiber-parameter effect should be adequately compensated. Moreover, the path setup must be completed fast enough to meet the network-application demands. To realize the rapid setup of adequate paths, a multilayer integration system for all-optical wavelength-path quality assurance is proposed. This multilayer integration system is evaluated in a field trial. In the trial, the GMPLS control plane, measurement plane, and data plane coordinated to maintain the quality of a 40-Gb/s wavelength path that would otherwise be degraded by the influence of chromatic dispersion. It is also demonstrated that the multilayer integration system can assure the signal quality in the face of not only chromatic dispersion but also degradation in the optical signal-to-noise ratio by the use of a 2R regeneration system. Our experiments confirm that the proposed multilayer integration system is an essential part of future all-optical networks.

Predicting continued participation in college chemistry for men and women

NASA Astrophysics Data System (ADS)

Deboer, George E.

The purpose of this study was to test the effectiveness of a cognitive motivational model of course selection patterns to explain the continued participation of men and women in college science courses. A number of cognitive motivational constructs were analyzed in a path model and their effect on students' intention to continue in college chemistry was determined. Variables in the model included self-perceived ability in science, future expectations, level of past success, effort expended, subjective interpretations of both past success and task difficulty, and the intention to continue in college chemistry.The results showed no sex differences in course performance, the plan to continue in chemistry, perceived ability in science, or past achievement in science courses. The path analysis did confirm the usefulness of the cognitive motivational perspective to explain the intention of both men and women to continue in science. Central to that process appears to be a person's belief about their ability. Students who had confidence in their ability in chemistry expected to do well in the future and were more likely to take more chemistry. Ability ratings in turn were dependent on a number of past achievement experiences and the personal interpretation of those experiences.

Vertical Navigation Control Laws and Logic for the Next Generation Air Transportation System

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.; Khong, Thuan H.

2013-01-01

A vertical navigation (VNAV) outer-loop control system was developed to capture and track the vertical path segments of energy-efficient trajectories that are being developed for high-density operations in the evolving Next Generation Air Transportation System (NextGen). The VNAV control system has a speed-on-elevator control mode to pitch the aircraft for tracking a calibrated airspeed (CAS) or Mach number profile and a path control mode for tracking the VNAV altitude profile. Mode control logic was developed for engagement of either the speed or path control modes. The control system will level the aircraft to prevent it from flying through a constraint altitude. A stability analysis was performed that showed that the gain and phase margins of the VNAV control system significantly exceeded the design gain and phase margins. The system performance was assessed using a six-deg-of-freedom non-linear transport aircraft simulation and the performance is illustrated with time-history plots of recorded simulation data.

Facilitating Self-Transcendence: An Intervention to Enhance Well-Being in Late Life.

PubMed

McCarthy, Valerie Lander; Hall, Lynne A; Crawford, Timothy N; Connelly, Jennifer

2018-06-01

This randomized controlled pilot study evaluated the effects of the Psychoeducational Approach to Transcendence and Health (PATH) Program, an 8-week intervention hypothesized to increase self-transcendence and improve well-being in community-dwelling women aged 60 years and older ( N = 20). The PATH combined mindfulness exercises, group processes, creative activities, and at-home practice using community engaged research methods. Findings provided some support for the effectiveness of PATH. Although there was no significant Group × Time interaction, self-transcendence, psychological well-being, and life satisfaction differed significantly pre- and postintervention in the wait-listed control group, which received a revised version of the program. Further study is needed with a larger sample to determine the effectiveness of PATH. Potentially, PATH may be a convenient and affordable activity to support personal development and improve well-being among older adults at senior centers, retirement communities, nursing homes, church groups, and other places where older adults gather.

Abnormal visual scan paths: a psychophysiological marker of delusions in schizophrenia.

PubMed

Phillips, M L; David, A S

1998-02-09

The role of the visual scan path as a psychophysiological marker of visual attention has been highlighted previously (Phillips and David, 1994). We investigated information processing in schizophrenic patients with severe delusions and again when the delusions were subsiding using visual scan path measurements. We aimed to demonstrate a specific deficit in processing human faces in deluded subjects by relating this to abnormal viewing strategies. Scan paths were measured in six deluded and five non-deluded schizophrenics (matched for medication and negative symptoms), and nine age-matched normal controls. Deluded subjects had abnormal scan paths in a recognition task, fixating non-feature areas significantly more than controls, but were equally accurate. Re-testing after improvement in delusional conviction revealed fewer group differences. The results suggest state-dependent abnormal information processing in schizophrenics when deluded, with reliance on less-salient visual information for decision-making.

The force control and path planning of electromagnetic induction-based massage robot.

PubMed

Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing

2017-07-20

Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore the massage effect can be improved.

Power dissipation in the mixed metal-insulator state of self-heated VO2 single crystals and the effect of sliding domains

NASA Astrophysics Data System (ADS)

Fisher, B.; Patlagan, L.

2018-06-01

The mixed metal-insulator state in VO2 sets on within the current-controlled negative differential resistivity regime of I-V loops traced at ambient temperature. In this state, the stability of I(V) and/or spontaneous switching between initial and final steady states are governed by the load resistance RL in series with the sample. With increasing current (decreasing voltage), the power P = IV reaches a maximum (Pmax) and drops to a minimum (Pmin) along a path that depends on RL. For low enough RL, the ratio Pmax/Pmin may exceed by far the contrast in thermal emissivity from films of VO2 over the metal-insulator transition as reported in Kats et al. [Phys. Rev. X 3, 041004 (2013)]. The minimum is followed by a range of currents where the power increases with current. The return path overlaps the original path and continues towards backward switching. For a few samples, there is evidence from optical microscopy that the portion of the P(I) loop between Pmin and backward switching coincides with the range of currents where semiconducting domains slide within a metallic background. Damage induced in crystals by repeated I-V cycling suppresses domain sliding and flattens P(I) in the respective range of currents. This is consistent with the current dependent excess power dissipation being induced by the sliding domains.

Fluidic Oscillator Having Decoupled Frequency and Amplitude Control

NASA Technical Reports Server (NTRS)

Koklu, Mehti (Inventor)

2017-01-01

A fluidic oscillator having independent frequency and amplitude control includes a fluidic-oscillator main flow channel having a main flow inlet, a main flow outlet, and first and second control ports disposed at opposing sides thereof. A fluidic-oscillator controller has an inlet and outlet. A volume defined by the main flow channel is greater than the volume defined by the controller. A flow diverter coupled to the outlet of the controller defines a first fluid flow path from the controller's outlet to the first control port and defines a second fluid flow path from the controller's outlet to the second control port.

Fluidic Oscillator Having Decoupled Frequency and Amplitude Control

NASA Technical Reports Server (NTRS)

Koklu, Mehti (Inventor)

2016-01-01

A fluidic oscillator having independent frequency and amplitude control includes a fluidic-oscillator main flow channel having a main flow inlet, a main flow outlet, and first and second control ports disposed at opposing sides thereof. A fluidic-oscillator controller has an inlet and outlet. A volume defined by the main flow channel is greater than the volume defined by the controller. A flow diverter coupled to the outlet of the controller defines a first fluid flow path from the controller's outlet to the first control port and defines a second fluid flow path from the controller's outlet to the second control port.

Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters

PubMed Central

Jan, Shau Shiun; Lin, Yu Hsiang

2011-01-01

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029

Integrated flight path planning system and flight control system for unmanned helicopters.

PubMed

Jan, Shau Shiun; Lin, Yu Hsiang

2011-01-01

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).

Topographic Controls on Landslide and Debris-Flow Mobility

NASA Astrophysics Data System (ADS)

McCoy, S. W.; Pettitt, S.

2014-12-01

Regardless of whether a granular flow initiates from failure and liquefaction of a shallow landslide or from overland flow that entrains sediment to form a debris flow, the resulting flow poses hazards to downslope communities. Understanding controls on granular-flow mobility is critical for accurate hazard prediction. The topographic form of granular-flow paths can vary significantly across different steeplands and is one of the few flow-path properties that can be readily altered by engineered control structures such as closed-type check dams. We use grain-scale numerical modeling (discrete element method simulations) of free-surface, gravity-driven granular flows to investigate how different topographic profiles with the same mean slope and total relief can produce notable differences in flow mobility due to strong nonlinearities inherent to granular-flow dynamics. We describe how varying the profile shape from planar, to convex up, to concave up, as well how varying the number, size, and location of check dams along a flow path, changes flow velocity, thickness, discharge, energy dissipation, impact force and runout distance. Our preliminary results highlight an important path dependence for this nonlinear system, show that caution should be used when predicting flow dynamics from path-averaged properties, and provide some mechanics-based guidance for engineering control structures.

Facial emotion recognition, face scan paths, and face perception in children with neurofibromatosis type 1.

PubMed

Lewis, Amelia K; Porter, Melanie A; Williams, Tracey A; Bzishvili, Samantha; North, Kathryn N; Payne, Jonathan M

2017-05-01

This study aimed to investigate face scan paths and face perception abilities in children with Neurofibromatosis Type 1 (NF1) and how these might relate to emotion recognition abilities in this population. The authors investigated facial emotion recognition, face scan paths, and face perception in 29 children with NF1 compared to 29 chronological age-matched typically developing controls. Correlations between facial emotion recognition, face scan paths, and face perception in children with NF1 were examined. Children with NF1 displayed significantly poorer recognition of fearful expressions compared to controls, as well as a nonsignificant trend toward poorer recognition of anger. Although there was no significant difference between groups in time spent viewing individual core facial features (eyes, nose, mouth, and nonfeature regions), children with NF1 spent significantly less time than controls viewing the face as a whole. Children with NF1 also displayed significantly poorer face perception abilities than typically developing controls. Facial emotion recognition deficits were not significantly associated with aberrant face scan paths or face perception abilities in the NF1 group. These results suggest that impairments in the perception, identification, and interpretation of information from faces are important aspects of the social-cognitive phenotype of NF1. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Vertical flight path steering system for aircraft

NASA Technical Reports Server (NTRS)

Lambregts, Antonius A. (Inventor)

1983-01-01

Disclosed is a vertical flight path angle steering system for aircraft, utilizing a digital flight control computer which processes pilot control inputs and aircraft response parameters into suitable elevator commands and control information for display to the pilot on a cathode ray tube. The system yields desirable airplane control handling qualities and responses as well as improvements in pilot workload and safety during airplane operation in the terminal area and under windshear conditions.

Path planning on satellite images for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Yang, Joe-Ming; Tseng, Chien-Ming; Tseng, P. S.

2015-01-01

In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A* algorithm (FAA*), an advanced A* algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.

Stark effect spectrophone for continuous absorption spectra monitoring. [a technique for gas analysis

NASA Technical Reports Server (NTRS)

Kavaya, M. J. (Inventor)

1981-01-01

A Stark effect spectrophone using a pulsed or continuous wave laser having a beam with one or more absorption lines of a constituent of an unknown gas is described. The laser beam is directed through windows of a closed cell while the unknown gas to be modified flows continuously through the cell between electric field plates disposed in the cell on opposite sides of the beam path through the cell. When the beam is pulsed, energy absorbed by the gas increases at each point along the beam path according to the spectral lines of the constituents of the gas for the particular field strengths at those points. The pressure measurement at each point during each pulse of energy yields a plot of absorption as a function of electric field for simultaneous detection of the gas constituents. Provision for signal averaging and modulation is included.

Path Entanglement of Continuous-Variable Quantum Microwaves

NASA Astrophysics Data System (ADS)

Menzel, E. P.; Deppe, F.; Eder, P.; Zhong, L.; Haeberlein, M.; Baust, A.; Hoffmann, E.; Marx, A.; Gross, R.; di Candia, R.; Solano, E.; Ballester, D.; Ihmig, M.; Inomata, K.; Yamamoto, T.; Nakamura, Y.

2013-03-01

Entanglement is a quantum mechanical phenomenon playing a key role in quantum communication and information processing protocols. Here, we report on frequency-degenerate entanglement between continuous-variable quantum microwaves propagating along two separated paths. In our experiment, we combine a squeezed and a vacuum state via a beam splitter. Overcoming the challenges imposed by the low photon energies in the microwave regime, we reconstruct the squeezed state and, independently from this, detect and quantify the produced entanglement via correlation measurements (E. P. Menzel et al., arXiv:1210.4413). Our work paves the way towards quantum communication and teleportation with continuous variables in the microwave regime. This work is supported by SFB 631, German Excellence Initiative via NIM, EU projects SOLID, CCQED and PROMISCE, MEXT Kakenhi ``Quantum Cybernetics'', JSPS FIRST Program, the NICT Commissioned Research, EPSRC EP/H050434/1, Basque Government IT472-10, and Spanish MICINN FIS2009-12773-C02-01.

A driven active mass damper by using output of a neural oscillator (effects of position control system changes on vibration mitigation performance)

NASA Astrophysics Data System (ADS)

Hongu, J.; Iba, D.; Sasaki, T.; Nakamura, M.; Moriwaki, I.

2015-03-01

In this paper, a design method for a PD controller, which is a part of a new active mass damper system using a neural oscillator for high-rise buildings, is proposed. The new system mimicking the motion of bipedal mammals is a quite simple system, which has the neural oscillator synchronizing with the acceleration response of the structure. The travel distance and direction of the auxiliary mass of the active mass damper is decided by the output of the neural oscillator, and then, the auxiliary mass is transferred to the decided location by using the PD controller. Therefore, the performance of the PD controller must be evaluated by the vibration energy absorbing efficiency by the system. In order to bring the actual path driven by the PD controller in closer alignment with the ideal path, which is assumed to be a sinusoidal wave under resonance, firstly, the path of the auxiliary mass driven by the PD controller is analytically derived, and the inner product between the vector of ideal and analytical path is evaluated. And then, the PD gain is decided by the maximum value of the inner product. Finally, numerical simulations confirm the validity of the proposed design method of the PD controller.

Privacy-Preserving Relationship Path Discovery in Social Networks

NASA Astrophysics Data System (ADS)

Mezzour, Ghita; Perrig, Adrian; Gligor, Virgil; Papadimitratos, Panos

As social networks sites continue to proliferate and are being used for an increasing variety of purposes, the privacy risks raised by the full access of social networking sites over user data become uncomfortable. A decentralized social network would help alleviate this problem, but offering the functionalities of social networking sites is a distributed manner is a challenging problem. In this paper, we provide techniques to instantiate one of the core functionalities of social networks: discovery of paths between individuals. Our algorithm preserves the privacy of relationship information, and can operate offline during the path discovery phase. We simulate our algorithm on real social network topologies.

Path Following in the Exact Penalty Method of Convex Programming.

PubMed

Zhou, Hua; Lange, Kenneth

2015-07-01

Classical penalty methods solve a sequence of unconstrained problems that put greater and greater stress on meeting the constraints. In the limit as the penalty constant tends to ∞, one recovers the constrained solution. In the exact penalty method, squared penalties are replaced by absolute value penalties, and the solution is recovered for a finite value of the penalty constant. In practice, the kinks in the penalty and the unknown magnitude of the penalty constant prevent wide application of the exact penalty method in nonlinear programming. In this article, we examine a strategy of path following consistent with the exact penalty method. Instead of performing optimization at a single penalty constant, we trace the solution as a continuous function of the penalty constant. Thus, path following starts at the unconstrained solution and follows the solution path as the penalty constant increases. In the process, the solution path hits, slides along, and exits from the various constraints. For quadratic programming, the solution path is piecewise linear and takes large jumps from constraint to constraint. For a general convex program, the solution path is piecewise smooth, and path following operates by numerically solving an ordinary differential equation segment by segment. Our diverse applications to a) projection onto a convex set, b) nonnegative least squares, c) quadratically constrained quadratic programming, d) geometric programming, and e) semidefinite programming illustrate the mechanics and potential of path following. The final detour to image denoising demonstrates the relevance of path following to regularized estimation in inverse problems. In regularized estimation, one follows the solution path as the penalty constant decreases from a large value.

Path Following in the Exact Penalty Method of Convex Programming

PubMed Central

Zhou, Hua; Lange, Kenneth

2015-01-01

Classical penalty methods solve a sequence of unconstrained problems that put greater and greater stress on meeting the constraints. In the limit as the penalty constant tends to ∞, one recovers the constrained solution. In the exact penalty method, squared penalties are replaced by absolute value penalties, and the solution is recovered for a finite value of the penalty constant. In practice, the kinks in the penalty and the unknown magnitude of the penalty constant prevent wide application of the exact penalty method in nonlinear programming. In this article, we examine a strategy of path following consistent with the exact penalty method. Instead of performing optimization at a single penalty constant, we trace the solution as a continuous function of the penalty constant. Thus, path following starts at the unconstrained solution and follows the solution path as the penalty constant increases. In the process, the solution path hits, slides along, and exits from the various constraints. For quadratic programming, the solution path is piecewise linear and takes large jumps from constraint to constraint. For a general convex program, the solution path is piecewise smooth, and path following operates by numerically solving an ordinary differential equation segment by segment. Our diverse applications to a) projection onto a convex set, b) nonnegative least squares, c) quadratically constrained quadratic programming, d) geometric programming, and e) semidefinite programming illustrate the mechanics and potential of path following. The final detour to image denoising demonstrates the relevance of path following to regularized estimation in inverse problems. In regularized estimation, one follows the solution path as the penalty constant decreases from a large value. PMID:26366044

Deflate decompressor

DOEpatents

Hamlet, Jason R [Albuquerque, NM; Robertson, Perry J [Albuquerque, NM; Pierson, Lyndon G [Albuquerque, NM; Olsberg, Ronald R [Albuquerque, NM

2012-02-28

A deflate decompressor includes at least one decompressor unit, a memory access controller, a feedback path, and an output buffer unit. The memory access controller is coupled to the decompressor unit via a data path and includes a data buffer to receive the data stream and temporarily buffer a first portion the data stream. The memory access controller transfers fixed length data units of the data stream from the data buffer to the decompressor unit with reference to a memory pointer pointing into the memory buffer. The feedback path couples the decompressor unit to the memory access controller to feed back decrement values to the memory access controller for updating the memory pointer. The decrement values each indicate a number of bits unused by the decompressor unit when decoding the fixed length data units. The output buffer unit buffers a second portion of the data stream after decompression.

Method and system for modulation of gain suppression in high average power laser systems

DOEpatents

Bayramian, Andrew James [Manteca, CA

2012-07-31

A high average power laser system with modulated gain suppression includes an input aperture associated with a first laser beam extraction path and an output aperture associated with the first laser beam extraction path. The system also includes a pinhole creation laser having an optical output directed along a pinhole creation path and an absorbing material positioned along both the first laser beam extraction path and the pinhole creation path. The system further includes a mechanism operable to translate the absorbing material in a direction crossing the first laser beam extraction laser path and a controller operable to modulate the second laser beam.

Optimal Predictive Control for Path Following of a Full Drive-by-Wire Vehicle at Varying Speeds

NASA Astrophysics Data System (ADS)

SONG, Pan; GAO, Bolin; XIE, Shugang; FANG, Rui

2017-05-01

The current research of the global chassis control problem for the full drive-by-wire vehicle focuses on the control allocation (CA) of the four-wheel-distributed traction/braking/steering systems. However, the path following performance and the handling stability of the vehicle can be enhanced a step further by automatically adjusting the vehicle speed to the optimal value. The optimal solution for the combined longitudinal and lateral motion control (MC) problem is given. First, a new variable step-size spatial transformation method is proposed and utilized in the prediction model to derive the dynamics of the vehicle with respect to the road, such that the tracking errors can be explicitly obtained over the prediction horizon at varying speeds. Second, a nonlinear model predictive control (NMPC) algorithm is introduced to handle the nonlinear coupling between any two directions of the vehicular planar motion and computes the sequence of the optimal motion states for following the desired path. Third, a hierarchical control structure is proposed to separate the motion controller into a NMPC based path planner and a terminal sliding mode control (TSMC) based path follower. As revealed through off-line simulations, the hierarchical methodology brings nearly 1700% improvement in computational efficiency without loss of control performance. Finally, the control algorithm is verified through a hardware in-the-loop simulation system. Double-lane-change (DLC) test results show that by using the optimal predictive controller, the root-mean-square (RMS) values of the lateral deviations and the orientation errors can be reduced by 41% and 30%, respectively, comparing to those by the optimal preview acceleration (OPA) driver model with the non-preview speed-tracking method. Additionally, the average vehicle speed is increased by 0.26 km/h with the peak sideslip angle suppressed to 1.9°. This research proposes a novel motion controller, which provides the full drive-by-wire vehicle with better lane-keeping and collision-avoidance capabilities during autonomous driving.

Control of Sediment Availability on the Path of Channel Recovery in Bedload-Dominated Rivers

NASA Astrophysics Data System (ADS)

Doyle, H.; Renshaw, C. E.; Magilligan, F. J.

2015-12-01

Following a disturbance, a channel can recover to an equilibrium form by adjusting its slope, width, depth, grain size, or some combination of these dimensions that define the recovery path. In this study we relate the channel recovery path to the quantity and caliber of sediment introduced due to dam construction/removal or erosion caused by flooding. We suggest that the recovery path of a channel depends on the availability of sediment of a size that is transported as bedload during bankfull flows (the "mobile fraction"). We define a ratio, S*, of the sediment volume added to the channel because of the disturbance to the average annual sediment flux. We compare S* values to the recovery path of New England gravel-bedded streams following two dam emplacements and removals and flooding related to Tropical Storm Irene. Pelham Dam in Pelham, MA (removed 2012) and Kendrick Dam in Pittsford, VT (removed 2014) were on similar streams: drainage areas ~25 km2, slopes 1-2%, and bankfull widths ~10 m. Sediment was excavated from both impoundments prior to removal, resulting in lower S* values. Irene-affected study sites are on ~10 gravel-bedded streams in VT, NH, and MA. Sediment input at these sites is due to bank failures and landslides, many of which continue to supply sediment to the channel four years after flooding. To track recovery we collected annual topographic and sediment size data and calculated Shields numbers to determine if channels had reached an equilibrium form. We define equilibrium for bedload rivers as Shields numbers at bankfull discharge equal to that required to initiate bedload transport. Following dam emplacements the channels failed to recover because mobile sediment was unavailable. Fining dominated the recovery at Irene-affected sites (~10% reduction in sediment size) and dam removal sites (up to 30-60% reduction) with little post-disturbance change in channel geometry, possibly due to the limited mobile fraction.

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

PubMed

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-05-30

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

PubMed Central

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-01-01

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control. PMID:28556817

Compact CH 4 sensor system based on a continuous-wave, low power consumption, room temperature interband cascade laser

DOE PAGES

Dong, Lei; Li, Chunguang; Sanchez, Nancy P.; ...

2016-01-05

A tunable diode laser absorption spectroscopy-based methane sensor, employing a dense-pattern multi-pass gas cell and a 3.3 µm, CW, DFB, room temperature interband cascade laser (ICL), is reported. The optical integration based on an advanced folded optical path design and an efficient ICL control system with appropriate electrical power management resulted in a CH 4 sensor with a small footprint (32 x 20 x 17 cm 3) and low-power consumption (6 W). Polynomial and least-squares fit algorithms are employed to remove the baseline of the spectral scan and retrieve CH 4 concentrations, respectively. An Allan-Werle deviation analysis shows that themore » measurement precision can reach 1.4 ppb for a 60 s averaging time. Continuous measurements covering a seven-day period were performed to demonstrate the stability and robustness of the reported CH 4 sensor system.« less

Compact CH 4 sensor system based on a continuous-wave, low power consumption, room temperature interband cascade laser

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

Dong, Lei; Li, Chunguang; Sanchez, Nancy P.

A tunable diode laser absorption spectroscopy-based methane sensor, employing a dense-pattern multi-pass gas cell and a 3.3 µm, CW, DFB, room temperature interband cascade laser (ICL), is reported. The optical integration based on an advanced folded optical path design and an efficient ICL control system with appropriate electrical power management resulted in a CH 4 sensor with a small footprint (32 x 20 x 17 cm 3) and low-power consumption (6 W). Polynomial and least-squares fit algorithms are employed to remove the baseline of the spectral scan and retrieve CH 4 concentrations, respectively. An Allan-Werle deviation analysis shows that themore » measurement precision can reach 1.4 ppb for a 60 s averaging time. Continuous measurements covering a seven-day period were performed to demonstrate the stability and robustness of the reported CH 4 sensor system.« less

TOOTHPASTEV6.11.3

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

Sankel, David J.; Clair, Aaron B. St.; Langsfield, Joshua D.

2006-11-01

Toothpaste is a graphical user interface and Computer Aided Drafting/Manufacturing (CAD/CAM) software package used to plan tool paths for Galil Motion Control hardware. The software is a tool for computer controlled dispensing of materials. The software may be used for solid freeform fabrication of components or the precision printing of inks. Mathematical calculations are used to produce a set of segments and arcs that when coupled together will fill space. The paths of the segments and arcs are then translated into a machine language that controls the motion of motors and translational stages to produce tool paths in three dimensions.more » As motion begins material(s) are dispensed or printed along the three-dimensional pathway.« less

Self-regulation as a mediator between sibling relationship quality and early adolescents' positive and negative outcomes.

PubMed

Padilla-Walker, Laura M; Harper, James M; Jensen, Alexander C

2010-08-01

The current study examined the role of adolescents' self-regulation as a mediator between sibling relationship quality and adolescent outcomes, after controlling for the quality of the parent-child relationship. Participants were 395 families (282 two parent; 113 single parent) with an adolescent child (M age of child at Time 1 = 11.15, SD = .96, 49% female) who took part in [project name masked for blind review] at both Time 1 and Time 2. Path analysis via structural equation modeling suggested that sibling affection was longitudinally and positively related to self-regulation and prosocial behaviors, and negatively related to externalizing behaviors; while sibling hostility was positively, and having a sister was negatively related to internalizing behaviors (in general, paths were stronger for adolescents from two- vs. single-parent families). There was also evidence that adolescents' self-regulation partially mediated the relation between sibling affection and positive and negative adolescent outcomes. The discussion focuses on the importance of continued research examining the mechanisms through which the sibling relationship influences development during adolescence.

Folded path LWIR system for SWAP constrained platforms

NASA Astrophysics Data System (ADS)

Fleet, Erin F.; Wilson, Michael L.; Linne von Berg, Dale; Giallorenzi, Thomas; Mathieu, Barry

2014-06-01

Folded path reflection and catadioptric optics are of growing interest, especially in the long wave infrared (LWIR), due to continuing demands for reductions in imaging system size, weight and power (SWAP). We present the optical design and laboratory data for a 50 mm focal length low f/# folded-path compact LWIR imaging system. The optical design uses 4 concentric aspheric mirrors, each of which is described by annular aspheric functions well suited to the folded path design space. The 4 mirrors are diamond turned onto two thin air-spaced aluminum plates which can be manually focused onto the uncooled LWIR microbolometer array detector. Stray light analysis will be presented to show how specialized internal baffling can be used to reduce stray light propagation through the folded path optical train. The system achieves near diffraction limited performance across the FOV with a 15 mm long optical train and a 5 mm back focal distance. The completed system is small enough to reside within a 3 inch diameter ball gimbal.

Adaptive Dynamics, Control, and Extinction in Networked Populations

DTIC Science & Technology

2015-07-09

network geometries. From the pre-history of paths that go extinct, a density function is created from the prehistory of these paths, and a clear local...density plots of Fig. 3b. Using the IAMM to compute the most probable path and comparing it to the prehistory of extinction events on stochastic networks

Head motion in humans alternating between straight and curved walking path: combination of stabilizing and anticipatory orienting mechanisms.

PubMed

Hicheur, Halim; Vieilledent, Stéphane; Berthoz, Alain

Anticipatory head orientation relative to walking direction was investigated in humans. Subjects were asked to walk along a 20 m perimeter, figure of eight. The geometry of this path required subjects to steer their body according to both curvature variations (alternate straight with curved walking) and walking direction (clock wise and counter clock wise). In agreement with previous results obtained during different locomotor tasks [R. Grasso, S. Glasauer, Y. Takei, A. Berthoz, The predictive brain: anticipatory control of head direction for the steering of locomotion, NeuroReport 7 (1996) 1170-1174; R. Grasso, P. Prevost, Y.P. Ivanenko, A. Berthoz, Eye-head coordination for the steering of locomotion in humans: an anticipatory synergy, Neurosci. Lett. 253 (2) (1998) 115-118; T. Imai, S.T. Moore, T. Raphan, B. Cohen, Interaction of body, head, and eyes during walking and turning, Exp. Brain Res. 136 (2001) 1-18; P. Prevost, Y. Ivanenko, R. Grasso, A. Berthoz, Spatial invariance in anticipatory orienting behaviour during human navigation, Neurosci. Lett. 339 (2002) 243-247; G. Courtine, M. Schieppati, Human walking along a curved path. I. Body trajectory, segment orientation and the effect of vision, Eur. J. Neurosci. 18 (2003) 177-190], the head turned toward the future walking direction. This anticipatory head behaviour was continuously modulated by the geometrical variations of the path. Two main components were observed in the anticipatory head behaviour. One was related to the geometrical form of the path, the other to the transfer of body mass from one foot to the other during stepping. A clear modulation of the head deviation pattern was observed between walking on curved versus straight parts of the path: head orientation was influenced to a lesser extent by step alternation for curved path where a transient head fixation was observed. We also observed good symmetry in the head deviation profile, i.e. the head tended to anticipate the future walking direction with the same amplitude when turning to the left (29.75 +/- 7.41 degrees of maximum head deviation) or to the right (30.86 +/- 9.92 degrees ). These findings suggest a combination of motor strategies underlying head stabilization in space and more global orienting mechanisms for steering the whole body in the desired direction.

Device for adapting continuously variable transmissions to infinitely variable transmissions with forward-neutral-reverse capabilities

DOEpatents

Wilkes, Donald F.; Purvis, James W.; Miller, A. Keith

1997-01-01

An infinitely variable transmission is capable of operating between a maximum speed in one direction and a minimum speed in an opposite direction, including a zero output angular velocity, while being supplied with energy at a constant angular velocity. Input energy is divided between a first power path carrying an orbital set of elements and a second path that includes a variable speed adjustment mechanism. The second power path also connects with the orbital set of elements in such a way as to vary the rate of angular rotation thereof. The combined effects of power from the first and second power paths are combined and delivered to an output element by the orbital element set. The transmission can be designed to operate over a preselected ratio of forward to reverse output speeds.

An exact formulation of the time-ordered exponential using path-sums

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

Giscard, P.-L., E-mail: p.giscard1@physics.ox.ac.uk; Lui, K.; Thwaite, S. J.

2015-05-15

We present the path-sum formulation for the time-ordered exponential of a time-dependent matrix. The path-sum formulation gives the time-ordered exponential as a branched continued fraction of finite depth and breadth. The terms of the path-sum have an elementary interpretation as self-avoiding walks and self-avoiding polygons on a graph. Our result is based on a representation of the time-ordered exponential as the inverse of an operator, the mapping of this inverse to sums of walks on a graphs, and the algebraic structure of sets of walks. We give examples demonstrating our approach. We establish a super-exponential decay bound for the magnitudemore » of the entries of the time-ordered exponential of sparse matrices. We give explicit results for matrices with commonly encountered sparse structures.« less

Behavioral and Emotional Regulation and Adolescent Substance Use Problems: A Test of Moderation Effects in a Dual-Process Model

PubMed Central

Wills, Thomas A.; Pokhrel, Pallav; Morehouse, Ellen; Fenster, Bonnie

2011-01-01

In a structural model, we tested how relations of predictors to level of adolescent substance use (tobacco, alcohol, marijuana), and to substance-related impaired-control and behavior problems, are moderated by good self-control and poor regulation in behavioral and emotional domains. The participants were a sample of 1,116 public high-school students. In a multiple-group analysis for good self-control, the paths from negative life events to substance use level and from level to behavior problems were lower among persons scoring higher on good behavioral self-control. In a multiple-group analysis for poor regulation, the paths from negative life events to level and from peer substance use to level were greater among persons scoring higher on poor behavioral (but not emotional) regulation; an inverse path from academic competence to level was greater among persons scoring higher on both aspects of poor regulation. Paths from level to impaired-control and behavior problems were greater among persons scoring higher on both poor behavioral and poor emotional regulation. Theoretical implications for the basis of moderation effects are discussed. PMID:21443302

Infinite non-causality in active cancellation of random noise

NASA Astrophysics Data System (ADS)

Friot, Emmanuel

2006-03-01

Active cancellation of broadband random noise requires the detection of the incoming noise with some time advance. In an duct for example this advance must be larger than the delays in the secondary path from the control source to the error sensor. In this paper it is shown that, in some cases, the advance required for perfect noise cancellation is theoretically infinite because the inverse of the secondary path, which is required for control, can include an infinite non-causal response. This is shown to be the result of two mechanisms: in the single-channel case (one control source and one error sensor), this can arise because of strong echoes in the control path. In the multi-channel case this can arise even in free field simply because of an unfortunate placing of sensors and actuators. In the present paper optimal feedforward control is derived through analytical and numerical computations, in the time and frequency domains. It is shown that, in practice, the advance required for significant noise attenuation can be much larger than the secondary path delays. Practical rules are also suggested in order to prevent infinite non-causality from appearing.

Transitioning DARPA Technology

DTIC Science & Technology

2001-05-01

logo suggests, the Institute’s work reflects the summation of technology’s effects on business and government. With a reputation for fierce objectivity... effective for "customerpull" strategies. b. Products moved along the DIS path 30 percent of the time. This path was particularlysuccessful for small...must often be "waited out." But DARPA ha s few effective mechanisms for continuing to "market" its products after the prog ram is over- particularly

Alcohol Sensitivity Moderates the Indirect Associations between Impulsive Traits, Impaired Control over Drinking, and Drinking Outcomes

PubMed Central

Wardell, Jeffrey D.; Quilty, Lena C.; Hendershot, Christian S.

2017-01-01

Objective To examine impaired control over drinking behavior as a mediator of unique pathways from impulsive traits to alcohol outcomes in young adults and to investigate the moderating influence of self-reported sensitivity to alcohol on these pathways. Method Young adult heavy drinkers (N=172; n=82 women) recruited from the community completed self-report measures of impulsive traits (positive urgency, negative urgency, sensation seeking), alcohol sensitivity (Self-Rating of the Effects of Alcohol scale), impaired control over drinking, and alcohol use and problems. Multiple-groups path analysis was used to analyze the data. Results Path coefficients between urgency and impaired control were larger for individuals with lower versus higher self-reported sensitivity to alcohol. The same was true for the association between impaired control and alcohol problems. For participants lower on alcohol sensitivity, significant indirect paths were observed from both positive and negative urgency to all alcohol outcomes (quantity, frequency, and problems) mediated via impaired control. For participants higher on alcohol sensitivity, only the paths from negative urgency (but not positive urgency) to the three alcohol outcomes via impaired control were statistically significant. Sensation seeking was not uniquely associated with impaired control. Conclusions The findings indicate that relatively low sensitivity to the pharmacological effects of alcohol may exacerbate the association of urgency – especially positive urgency – with impaired control, supporting the notion that personality and level of response to alcohol may interact to increase risk for impaired control over drinking. PMID:25785803

Spatial curvilinear path following control of underactuated AUV with multiple uncertainties.

PubMed

Miao, Jianming; Wang, Shaoping; Zhao, Zhiping; Li, Yuan; Tomovic, Mileta M

2017-03-01

This paper investigates the problem of spatial curvilinear path following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. Firstly, in order to design the appropriate controller, path following error dynamics model is constructed in a moving Serret-Frenet frame, and the five degrees of freedom (DOFs) dynamic model with multiple uncertainties is established. Secondly, the proposed control law is separated into kinematic controller and dynamic controller via back-stepping technique. In the case of kinematic controller, to overcome the drawback of dependence on the accurate vehicle model that are present in a number of path following control strategies described in the literature, the unknown side-slip angular velocity and attack angular velocity are treated as uncertainties. Whereas in the case of dynamic controller, the model parameters perturbations, unknown external environmental disturbances and the nonlinear hydrodynamic damping terms are treated as lumped uncertainties. Both kinematic and dynamic uncertainties are estimated and compensated by designed reduced-order linear extended state observes (LESOs). Thirdly, feedback linearization (FL) based control law is implemented for the control model using the estimates generated by reduced-order LESOs. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiators (NTDs) are applied to construct derivatives of the virtual control commands. Finally, the closed loop stability for the overall system is established. Simulation and comparative analysis demonstrate that the proposed controller exhibits enhanced performance in the presence of internal parameter variations, external unknown disturbances, unmodeled nonlinear damping terms, and measurement noises. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Continuous in-situ methane measurements at paddy fields in a rural area of India with poor electric infrastructure, using a low-cost instrument based on open-path near-IR laser absorption spectroscopy

NASA Astrophysics Data System (ADS)

Hidemori, T.; Matsumi, Y.; Nakayama, T.; Kawasaki, M.; Sasago, H.; Takahashi, K.; Imasu, R.; Takeuchi, W.; Adachi, M.; Machida, T.; Terao, Y.; Nomura, S.; Dhaka, S. K.; Singh, J.

2015-12-01

In southeast and south Asia, the previous satellite observations suggest that the methane emission from rice paddies is significant and important source of methane during rainy season. Since it is difficult to measure methane stably and continuously at rural areas such as the paddy fields in terms of infrastructures and maintenances, there are large uncertainties in quantitative estimation of methane emission in these areas and there are needs for more certification between satellite and ground based measurements. To measure methane concentrations continuously at difficult situations such as the center of paddy fields　and wetlands, we developed the continuous in-situ measurement system, not to look for your lost keys under the streetlight. The methane gas sensor is used an open-path laser based measurement instrument (LaserMethane, ANRITSU CORPORATION), which can quickly and selectively detect average methane concentrations on the optical path of the laser beam. The developed system has the power supply and telecommunication system to run the laser gas sensor in rural areas with poor electricity infrastructure.The methane measurement system was installed at paddy fields of Sonepat, Haryana on the north of Delhi in India and has been operated from the end of 2014. The air sampling along with our measurement has been carried out once a week during daytime to calibrate the laser instrument. We found that the seasonal variation of methane concentrations was different from the satellite observations and there were significant diurnal variations, which it was difficult to detect from occasional air samplings. We will present details of the measurement system and recent results of continuous methane measurements in India.

A new social-family model for eating disorders: A European multicentre project using a case-control design.

PubMed

Krug, Isabel; Fuller-Tyszkiewicz, Matthew; Anderluh, Marija; Bellodi, Laura; Bagnoli, Silvia; Collier, David; Fernandez-Aranda, Fernando; Karwautz, Andreas; Mitchell, Sarah; Nacmias, Benedetta; Ricca, Valdo; Sorbi, Sandro; Tchanuria, Kate; Wagner, Gudrun; Treasure, Janet; Micali, Nadia

2015-12-01

To examine a new socio-family risk model of Eating Disorders (EDs) using path-analyses. The sample comprised 1264 (ED patients = 653; Healthy Controls = 611) participants, recruited into a multicentre European project. Socio-family factors assessed included: perceived maternal and parental parenting styles, family, peer and media influences, and body dissatisfaction. Two types of path-analyses were run to assess the socio-family model: 1.) a multinomial logistic path-model including ED sub-types [Anorexia Nervosa-Restrictive (AN-R), AN-Binge-Purging (AN-BP), Bulimia Nervosa (BN) and EDNOS)] as the key polychotomous categorical outcome and 2.) a path-model assessing whether the socio-family model differed across ED sub-types and healthy controls using body dissatisfaction as the outcome variable. The first path-analyses suggested that family and media (but not peers) were directly and indirectly associated (through body dissatisfaction) with all ED sub-types. There was a weak effect of perceived parenting directly on ED sub-types and indirectly through family influences and body dissatisfaction. For the second path-analyses, the socio-family model varied substantially across ED sub-types. Family and media influences were related to body dissatisfaction in the EDNOS and control sample, whereas perceived abusive parenting was related to AN-BP and BN. This is the first study providing support for this new socio-family model, which differed across ED sub-types. This suggests that prevention and early intervention might need to be tailored to diagnosis-specific ED profiles. Copyright © 2015 Elsevier Ltd. All rights reserved.

Quad-rotor flight path energy optimization

NASA Astrophysics Data System (ADS)

Kemper, Edward

Quad-Rotor unmanned areal vehicles (UAVs) have been a popular area of research and development in the last decade, especially with the advent of affordable microcontrollers like the MSP 430 and the Raspberry Pi. Path-Energy Optimization is an area that is well developed for linear systems. In this thesis, this idea of path-energy optimization is extended to the nonlinear model of the Quad-rotor UAV. The classical optimization technique is adapted to the nonlinear model that is derived for the problem at hand, coming up with a set of partial differential equations and boundary value conditions to solve these equations. Then, different techniques to implement energy optimization algorithms are tested using simulations in Python. First, a purely nonlinear approach is used. This method is shown to be computationally intensive, with no practical solution available in a reasonable amount of time. Second, heuristic techniques to minimize the energy of the flight path are tested, using Ziegler-Nichols' proportional integral derivative (PID) controller tuning technique. Finally, a brute force look-up table based PID controller is used. Simulation results of the heuristic method show that both reliable control of the system and path-energy optimization are achieved in a reasonable amount of time.

Interferometer with Continuously Varying Path Length Measured in Wavelengths to the Reference Mirror

NASA Technical Reports Server (NTRS)

Ohara, Tetsuo (Inventor)

2016-01-01

An interferometer in which the path length of the reference beam, measured in wavelengths, is continuously changing in sinusoidal fashion and the interference signal created by combining the measurement beam and the reference beam is processed in real time to obtain the physical distance along the measurement beam between the measured surface and a spatial reference frame such as the beam splitter. The processing involves analyzing the Fourier series of the intensity signal at one or more optical detectors in real time and using the time-domain multi-frequency harmonic signals to extract the phase information independently at each pixel position of one or more optical detectors and converting the phase information to distance information.

NSRD-10: Leak Path Factor Guidance Using MELCOR

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

Louie, David; Humphries, Larry L.

Estimates of the source term from a U.S. Department of Energy (DOE) nuclear facility requires that the analysts know how to apply the simulation tools used, such as the MELCOR code, particularly for a complicated facility that may include an air ventilation system and other active systems that can influence the environmental pathway of the materials released. DOE has designated MELCOR 1.8.5, an unsupported version, as a DOE ToolBox code in its Central Registry, which includes a leak-path-factor guidance report written in 2004 that did not include experimental validation data. To continue to use this MELCOR version requires additional verificationmore » and validations, which may not be feasible from a project cost standpoint. Instead, the recent MELCOR should be used. Without any developer support and lack of experimental data validation, it is difficult to convince regulators that the calculated source term from the DOE facility is accurate and defensible. This research replaces the obsolete version in the 2004 DOE leak path factor guidance report by using MELCOR 2.1 (the latest version of MELCOR with continuing modeling development and user support) and by including applicable experimental data from the reactor safety arena and from applicable experimental data used in the DOE-HDBK-3010. This research provides best practice values used in MELCOR 2.1 specifically for the leak path determination. With these enhancements, the revised leak-path-guidance report should provide confidence to the DOE safety analyst who would be using MELCOR as a source-term determination tool for mitigated accident evaluations.« less

Evaluation of hand hygiene compliance and associated factors with a radio-frequency-identification-based real-time continuous automated monitoring system.

PubMed

Dufour, J-C; Reynier, P; Boudjema, S; Soto Aladro, A; Giorgi, R; Brouqui, P

2017-04-01

Hand hygiene is a major means for preventing healthcare-associated infections. One critical point in understanding poor compliance is the lack of relevant markers used to monitor practices systematically. This study analysed hand hygiene compliance and associated factors with a radio-frequency-identification-based real-time continuous automated monitoring system in an infectious disease ward with 17 single bedrooms. Healthcare workers (HCWs) were tracked while performing routine care over 171 days. A multi-level multi-variate logistics model was used for data analysis. The main outcome measures were hand disinfection before entering the bedroom (outside use) and before entering the patient care zone, defined as the zone surrounding the patient's bed (inside/bedside use). Variables analysed included HCWs' characteristics and behaviour, patients, room layouts, path chains and duration of HCWs' paths. In total, 4629 paths with initial hand hygiene opportunities when entering the patient care zone were selected, of which 763 (16.5%), 285 (6.1%) and 3581 (77.4%) were associated with outside use, inside/bedside use and no use, respectively. Hand hygiene is caregiver-dependent. The shorter the duration of the HCW's path, the worse the bedside hand hygiene. Bedside hand hygiene is improved when one or two extra HCWs are present in the room. Hand hygiene compliance at the bedside, as analysed using the continuous monitoring system, depended upon the HCW's occupation and personal behaviour, number of HCWs, time spent in the room and (potentially) dispenser location. Meal tray distribution was a possible factor in the case of failure to disinfect hands. Copyright © 2017 The Healthcare Infection Society. Published by Elsevier Ltd. All rights reserved.

Analysis of Non-Uniform Gain for Control of a Deformable Mirror in an Adaptive-Optics System

DTIC Science & Technology

2008-03-01

Turbulence Estimator SM Path SH WFS – DM Path Figure 3.6: Primary layout. The blue boxed components is representative of the SM path, the red boxed components...layout that was developed for the majority of the experiments conducted. 3.1.5.1 Steering Mirror Path. This path, boxed in blue in Figure 3.6, is used to...Christou, T.S. Duncan, R.J. Eager, M.A. Ealey, B.L. Ellerbroek, R.Q. Fugate , G.W. Jones, R.M. Kuhns, D.J. Lee, W.H. Lowrey, M.D. Oliker, R.E. Ruane

Software Security Knowledge: CWE. Knowing What Could Make Software Vulnerable to Attack

DTIC Science & Technology

2011-05-01

shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. 1...Buffer • CWE-642: External Control of Critical State Data • CWE-73: External Control of File Name or Path • CWE-426: Untrusted Search Path • CWE...94: Failure to Control Generation of Code (aka ’Code Injection’) • CWE-494: Download of Code Without Integrity Check • CWE-404: Improper Resource

Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

DTIC Science & Technology

2017-04-15

50 0 50 Singular Values Frequency (rad/s) S in g u la r V a lu e s ( d B ) controller . The non -output variables can be estimated by reliable linear...Contract # N00014-14-C-0004 Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States Progress Report...recovery of a VTOL UAV. There is a clear need for additional levels of stability and control augmentation and, ultimately, fully autonomous landing

Liouville action as path-integral complexity: from continuous tensor networks to AdS/CFT

NASA Astrophysics Data System (ADS)

Caputa, Pawel; Kundu, Nilay; Miyaji, Masamichi; Takayanagi, Tadashi; Watanabe, Kento

2017-11-01

We propose an optimization procedure for Euclidean path-integrals that evaluate CFT wave functionals in arbitrary dimensions. The optimization is performed by minimizing certain functional, which can be interpreted as a measure of computational complexity, with respect to background metrics for the path-integrals. In two dimensional CFTs, this functional is given by the Liouville action. We also formulate the optimization for higher dimensional CFTs and, in various examples, find that the optimized hyperbolic metrics coincide with the time slices of expected gravity duals. Moreover, if we optimize a reduced density matrix, the geometry becomes two copies of the entanglement wedge and reproduces the holographic entanglement entropy. Our approach resembles a continuous tensor network renormalization and provides a concrete realization of the proposed interpretation of AdS/CFT as tensor networks. The present paper is an extended version of our earlier report arXiv:1703.00456 and includes many new results such as evaluations of complexity functionals, energy stress tensor, higher dimensional extensions and time evolutions of thermofield double states.

Active Noise Control for Dishwasher noise

NASA Astrophysics Data System (ADS)

Lee, Nokhaeng; Park, Youngjin

2016-09-01

The dishwasher is a useful home appliance and continually used for automatically washing dishes. It's commonly placed in the kitchen with built-in style for practicality and better use of space. In this environment, people are easily exposed to dishwasher noise, so it is an important issue for the consumers, especially for the people living in open and narrow space. Recently, the sound power levels of the noise are about 40 - 50 dBA. It could be achieved by removal of noise sources and passive means of insulating acoustical path. For more reduction, such a quiet mode with the lower speed of cycle has been introduced, but this deteriorates the washing capacity. Under this background, we propose active noise control for dishwasher noise. It is observed that the noise is propagating mainly from the lower part of the front side. Control speakers are placed in the part for the collocation. Observation part of estimating sound field distribution and control part of generating the anti-noise are designed for active noise control. Simulation result shows proposed active noise control scheme could have a potential application for dishwasher noise reduction.

APPLICATION OF STANDARDIZED QUALITY CONTROL PROCEDURES TO OPEN-PATH FOURIER TRANSFORM INFRARED DATA COLLECTED AT A CONCENTRATED SWINE PRODUCTION FACILITY

EPA Science Inventory

Open-path Fourier transform infrared (OP/FT-IR) spectrometry was used to measure the concentrations of ammonia, methane, and other atmospheric eases at a concentrated swine production facility. A total of 2200 OP/FT-IR spectra were acquired along nine different monitoring paths d...

Quasi-monolithic tunable optical resonator

NASA Technical Reports Server (NTRS)

Arbore, Mark (Inventor); Tapos, Francisc (Inventor)

2003-01-01

An optical resonator has a piezoelectric element attached to a quasi-monolithic structure. The quasi-monolithic structure defines an optical path. Mirrors attached to the structure deflect light along the optical path. The piezoelectric element controllably strains the quasi-monolithic structure to change a length of the optical path by about 1 micron. A first feedback loop coupled to the piezoelectric element provides fine control over the cavity length. The resonator may include a thermally actuated spacer attached to the cavity and a mirror attached to the spacer. The thermally actuated spacer adjusts the cavity length by up to about 20 microns. A second feedback loop coupled to the sensor and heater provides a coarse control over the cavity length. An alternative embodiment provides a quasi-monolithic optical parametric oscillator (OPO). This embodiment includes a non-linear optical element within the resonator cavity along the optical path. Such an OPO configuration is broadly tunable and capable of mode-hop free operation for periods of 24 hours or more.

Coordinated path following of multiple underacutated marine surface vehicles along one curve.

PubMed

Liu, Lu; Wang, Dan; Peng, Zhouhua

2016-09-01

This paper investigates the coordinated path following problem for a fleet of underactuated marine surface vehicles (MSVs) along one curve. The dedicated control design is divided into two tasks. One is to steer individual underactuated MSV to track the given spatial path, and the other is to force the vehicles dispersed on a parameterized path subject to the constraints of a communication network. Specifically, a robust individual path following controller is developed based on a line-of-sight (LOS) guidance law and a reduced-order extended state observer (ESO). The vehicle sideslip angle due to environmental disturbances can be exactly identified. Then, the vehicle coordination is achieved by a path variable containment approach, under which the path variables are evenly dispersed between two virtual leaders. Another reduced-order ESO is developed to identify the composite disturbance related to the speed of virtual leaders and neighboring vehicles. The proposed coordination design is distributed since the reference speed does not need to be known by all vehicles as a priori. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the proposed design method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

ION SWITCH

DOEpatents

Cook, B.

1959-02-10

An ion switch capable of transferring large magnitudes of power is described. An ion switch constructed in accordance with the invention includes a pair of spaced control electrodes disposed in a highly evacuated region for connection in a conventional circuit to control the passing of power therethrough. A controllable ionic conduction path is provided directiy between the control electrodes by a source unit to close the ion switch. Conventional power supply means are provided to trigger the source unit and control the magnitude, durations and pulse repetition rate of the aforementioned ionic conduction path.

Inexact trajectory planning and inverse problems in the Hamilton–Pontryagin framework

PubMed Central

Burnett, Christopher L.; Holm, Darryl D.; Meier, David M.

2013-01-01

We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control, motivated by potential applications in computational anatomy and quantum control. Reduction by symmetry in such problems naturally summons methods from Lie group theory and Riemannian geometry. A geometrically illuminating form of the Euler–Lagrange equations is obtained from a higher-order Hamilton–Pontryagin variational formulation. In this context, the previously known node equations are recovered with a new interpretation as Legendre–Ostrogradsky momenta possessing certain conservation properties. Three example applications are discussed as well as a numerical integration scheme that follows naturally from the Hamilton–Pontryagin principle and preserves the geometric properties of the continuous-time solution. PMID:24353467

Development of a parameter optimization technique for the design of automatic control systems

NASA Technical Reports Server (NTRS)

Whitaker, P. H.

1977-01-01

Parameter optimization techniques for the design of linear automatic control systems that are applicable to both continuous and digital systems are described. The model performance index is used as the optimization criterion because of the physical insight that can be attached to it. The design emphasis is to start with the simplest system configuration that experience indicates would be practical. Design parameters are specified, and a digital computer program is used to select that set of parameter values which minimizes the performance index. The resulting design is examined, and complexity, through the use of more complex information processing or more feedback paths, is added only if performance fails to meet operational specifications. System performance specifications are assumed to be such that the desired step function time response of the system can be inferred.

System and method for optimal load and source scheduling in context aware homes

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

Shetty, Pradeep; Foslien Graber, Wendy; Mangsuli, Purnaprajna R.

A controller for controlling energy consumption in a home includes a constraints engine to define variables for multiple appliances in the home corresponding to various home modes and persona of an occupant of the home. A modeling engine models multiple paths of energy utilization of the multiple appliances to place the home into a desired state from a current context. An optimal scheduler receives the multiple paths of energy utilization and generates a schedule as a function of the multiple paths and a selected persona to place the home in a desired state.

A Design-Based Approach to Teaching Sustainability

ERIC Educational Resources Information Center

Walter, Kim R.

2013-01-01

We live on a finite ecological system, yet consume as though resources are unlimited. Current environmental data suggests many in the developed world are living beyond what the earth is able to sustain. The paradigms in which we operate continue to support a path of constant consumption that continues to exacerbate this problem. Technology…

Electronic Continuous Professional Development (E-CPD) for Teachers: Bridging the Gap between Knowledge and Application

ERIC Educational Resources Information Center

Razak, Rafiza Abdul; Yusop, Farah Dina; Halili, Siti Hajar; Chukumaran, Sri Raman

2015-01-01

The continuing professional development (CPD) is a concerted effort to ensure the educational service officers equip themselves with professional knowledge, skill, values and practices of teachers through in-service training programs organized based on competency development, lifelong learning and career path. Nonetheless, educators do not only…

Results of a simulator test comparing two display concepts for piloted flight-path-angle control

NASA Technical Reports Server (NTRS)

Kelley, W. W.

1978-01-01

Results of a simulator experiment which was conducted in order to compare pilot gamma-control performance using two display formats are reported. Pilots flew a variable flight path angle tracking task in the landing configuration. Pilot and airplane performance parameters were recorded and pilot comments noted for each case.

Automation of experimental research of waveguide paths induction soldering

NASA Astrophysics Data System (ADS)

Tynchenko, V. S.; Petrenko, V. E.; Kukartsev, V. V.; Tynchenko, V. V.; Antamoshkin, O. A.

2018-05-01

The article presents an automated system of experimental studies of the waveguide paths induction soldering process. The system is a part of additional software for a complex of automated control of the technological process of induction soldering of thin-walled waveguide paths from aluminum alloys, expanding its capabilities. The structure of the software product, the general appearance of the controls and the potential application possibilities are presented. The utility of the developed application by approbation in a series of field experiments was considered and justified. The application of the experimental research system makes it possible to improve the process under consideration, providing the possibility of fine-tuning the control regulators, as well as keeping the statistics of the soldering process in a convenient form for analysis.

Investigation of spoiler ailerons for use as speed brakes or glide-path controls on two NACA 65-series wings equipped with full-span slotted flaps

NASA Technical Reports Server (NTRS)

Fischel, Jack; Watson, James M

1951-01-01

A wind-tunnel investigation was made to determine the characteristics of spoiler ailerons used as speed brakes or glide-path controls on an NACA 65-210 wing and an NACA 65-215 wing equipped with full-span slotted flaps. Several plug aileron and retractable-aileron configurations were investigated on two wing models with the full-span flaps retracted and deflected. Tests were made at various Mach numbers between 0.13 and 0.71. The results of this investigation have indicated that the use of plug or retractable ailerons, either alone or in conjunction with wing flaps, as speed brakes or glide-path controls is feasible and very effective.

LWPC: Long Wavelength Propagation Capability

NASA Astrophysics Data System (ADS)

U. S. Navy; Ferguson, J. A.; Hutchins, Michael

2018-03-01

Long Wavelength Propagation Capability (LWPC), written as a collection of separate programs that perform unique actions, generates geographical maps of signal availability for coverage analysis. The program makes it easy to set up these displays by automating most of the required steps. The user specifies the transmitter location and frequency, the orientation of the transmitting and receiving antennae, and the boundaries of the operating area. The program automatically selects paths along geographic bearing angles to ensure that the operating area is fully covered. The diurnal conditions and other relevant geophysical parameters are then determined along each path. After the mode parameters along each path are determined, the signal strength along each path is computed. The signal strength along the paths is then interpolated onto a grid overlying the operating area. The final grid of signal strength values is used to display the signal-strength in a geographic display. The LWPC uses character strings to control programs and to specify options. The control strings have the same meaning and use among all the programs.

Robot Path Planning in Uncertain Environments: A Language Measure-theoretic Approach

DTIC Science & Technology

2014-01-01

Paper DS-14-1028 to appear in the Special Issue on Stochastic Models, Control and Algorithms in Robotics, ASME Journal of Dynamic Systems...Measurement and Control Robot Path Planning in Uncertain Environments: A Language Measure-theoretic Approach⋆ Devesh K. Jha† Yue Li† Thomas A. Wettergren‡† Asok...algorithm, called ν⋆, that was formulated in the framework of probabilistic finite state automata (PFSA) and language measure from a control -theoretic

Implications of path tolerance and path characteristics on critical vehicle manoeuvres

NASA Astrophysics Data System (ADS)

Lundahl, K.; Frisk, E.; Nielsen, L.

2017-12-01

Path planning and path following are core components in safe autonomous driving. Typically, a path planner provides a path with some tolerance on how tightly the path should be followed. Based on that, and other path characteristics, for example, sharpness of curves, a speed profile needs to be assigned so that the vehicle can stay within the given tolerance without going unnecessarily slow. Here, such trajectory planning is based on optimal control formulations where critical cases arise as on-the-limit solutions. The study focuses on heavy commercial vehicles, causing rollover to be of a major concern, due to the relatively high centre of gravity. Several results are obtained on required model complexity depending on path characteristics, for example, quantification of required path tolerance for a simple model to be sufficient, quantification of when yaw inertia needs to be considered in more detail, and how the curvature rate of change interplays with available friction. Overall, in situations where the vehicle is subject to a wide range of driving conditions, from good transport roads to more tricky avoidance manoeuvres, the requirements on the path following will vary. For this, the provided results form a basis for real-time path following.

A biologically inspired neural net for trajectory formation and obstacle avoidance.

PubMed

Glasius, R; Komoda, A; Gielen, S C

1996-06-01

In this paper we present a biologically inspired two-layered neural network for trajectory formation and obstacle avoidance. The two topographically ordered neural maps consist of analog neurons having continuous dynamics. The first layer, the sensory map, receives sensory information and builds up an activity pattern which contains the optimal solution (i.e. shortest path without collisions) for any given set of current position, target positions and obstacle positions. Targets and obstacles are allowed to move, in which case the activity pattern in the sensory map will change accordingly. The time evolution of the neural activity in the second layer, the motor map, results in a moving cluster of activity, which can be interpreted as a population vector. Through the feedforward connections between the two layers, input of the sensory map directs the movement of the cluster along the optimal path from the current position of the cluster to the target position. The smooth trajectory is the result of the intrinsic dynamics of the network only. No supervisor is required. The output of the motor map can be used for direct control of an autonomous system in a cluttered environment or for control of the actuators of a biological limb or robot manipulator. The system is able to reach a target even in the presence of an external perturbation. Computer simulations of a point robot and a multi-joint manipulator illustrate the theory.

Prediction of intention to continue sport in athlete students: A self-determination theory approach

PubMed Central

Keshtidar, Mohammad; Behzadnia, Behzad

2017-01-01

Grounded on the self-determination theory (Deci & Ryan, 1985, 2000) and achievement goals theory (Ames, 1992; Nicholls, 1989), this study via structural equation modelling, predicted intention to continue in sport from goal orientations and motivations among athlete students. 268 athlete students (Mage = 21.9), in Iranian universities completed a multi-section questionnaire tapping the targeted variables. Structural equation modelling (SEM) offered an overall support for the proposed model. The results showed that there are positive relationships between intention to continue in sport and both orientations as well as both motivations. A task-involving orientation emerged as a positive predictor of the autonomous motivation, while an ego-involving orientation was a positive predictor controlled motivation as well as autonomous motivation. The results also support positive paths between autonomous motivation and future intention to participate in sport. Autonomous motivation also was a positive mediator in relationship between task orientation and the intentions. As a conclusion, the implications of the task-involving orientation are discussabled in the light of its importance for the quality and potential maintenance of sport involvement among athlete students. PMID:28178308

Prediction of intention to continue sport in athlete students: A self-determination theory approach.

PubMed

Keshtidar, Mohammad; Behzadnia, Behzad

2017-01-01

Grounded on the self-determination theory (Deci & Ryan, 1985, 2000) and achievement goals theory (Ames, 1992; Nicholls, 1989), this study via structural equation modelling, predicted intention to continue in sport from goal orientations and motivations among athlete students. 268 athlete students (Mage = 21.9), in Iranian universities completed a multi-section questionnaire tapping the targeted variables. Structural equation modelling (SEM) offered an overall support for the proposed model. The results showed that there are positive relationships between intention to continue in sport and both orientations as well as both motivations. A task-involving orientation emerged as a positive predictor of the autonomous motivation, while an ego-involving orientation was a positive predictor controlled motivation as well as autonomous motivation. The results also support positive paths between autonomous motivation and future intention to participate in sport. Autonomous motivation also was a positive mediator in relationship between task orientation and the intentions. As a conclusion, the implications of the task-involving orientation are discussabled in the light of its importance for the quality and potential maintenance of sport involvement among athlete students.

Toward the Fabrication of Advanced Nanofiltration Membranes by Controlling Morphologies and Mesochannel Orientations of Hexagonal Lyotropic Liquid Crystals.

PubMed

Wang, Guang; Garvey, Christopher J; Zhao, Han; Huang, Kang; Kong, Lingxue

2017-07-21

Water scarcity has been recognized as one of the major threats to human activity, and, therefore, water purification technologies are increasingly drawing attention worldwide. Nanofiltration (NF) membrane technology has been proven to be an efficient and cost-effective way in terms of the size and continuity of the nanostructure. Using a template based on hexagonal lyotropic liquid crystals (LLCs) and partitioning monomer units within this structure for subsequent photo-polymerisation presents a unique path for the fabrication of NF membranes, potentially producing pores of uniform size, ranging from 1 to 5 nm, and large surface areas. The subsequent orientation of this pore network in a direction normal to a flat polymer film that provides ideal transport properties associated with continuous pores running through the membrane has been achieved by the orientation of hexagonal LLCs through various strategies. This review presents the current progresses on the strategies for structure retention from a hexagonal LLCs template and the up-to-date techniques used for the reorientation of mesochanels for continuity through the whole membrane.

Critical Behavior of Spatial Evolutionary Game with Altruistic to Spiteful Preferences on Two-Dimensional Lattices

NASA Astrophysics Data System (ADS)

Yang, Bo; Li, Xiao-Teng; Chen, Wei; Liu, Jian; Chen, Xiao-Song

2016-10-01

Self-questioning mechanism which is similar to single spin-flip of Ising model in statistical physics is introduced into spatial evolutionary game model. We propose a game model with altruistic to spiteful preferences via weighted sums of own and opponent's payoffs. This game model can be transformed into Ising model with an external field. Both interaction between spins and the external field are determined by the elements of payoff matrix and the preference parameter. In the case of perfect rationality at zero social temperature, this game model has three different phases which are entirely cooperative phase, entirely non-cooperative phase and mixed phase. In the investigations of the game model with Monte Carlo simulation, two paths of payoff and preference parameters are taken. In one path, the system undergoes a discontinuous transition from cooperative phase to non-cooperative phase with the change of preference parameter. In another path, two continuous transitions appear one after another when system changes from cooperative phase to non-cooperative phase with the prefenrence parameter. The critical exponents v, β, and γ of two continuous phase transitions are estimated by the finite-size scaling analysis. Both continuous phase transitions have the same critical exponents and they belong to the same universality class as the two-dimensional Ising model. Supported by the National Natural Science Foundation of China under Grant Nos. 11121403 and 11504384

Singular-Arc Time-Optimal Trajectory of Aircraft in Two-Dimensional Wind Field

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2006-01-01

This paper presents a study of a minimum time-to-climb trajectory analysis for aircraft flying in a two-dimensional altitude dependent wind field. The time optimal control problem possesses a singular control structure when the lift coefficient is taken as a control variable. A singular arc analysis is performed to obtain an optimal control solution on the singular arc. Using a time-scale separation with the flight path angle treated as a fast state, the dimensionality of the optimal control solution is reduced by eliminating the lift coefficient control. A further singular arc analysis is used to decompose the original optimal control solution into the flight path angle solution and a trajectory solution as a function of the airspeed and altitude. The optimal control solutions for the initial and final climb segments are computed using a shooting method with known starting values on the singular arc The numerical results of the shooting method show that the optimal flight path angle on the initial and final climb segments are constant. The analytical approach provides a rapid means for analyzing a time optimal trajectory for aircraft performance.

Analysis of explicit model predictive control for path-following control

PubMed Central

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration. PMID:29534080

Analysis of explicit model predictive control for path-following control.

PubMed

Lee, Junho; Chang, Hyuk-Jun

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration.

The Effect of Tow Shearing on Reinforcement Positional Fidelity in the Manufacture of a Continuous Fiber Reinforced Thermoplastic Matrix Composite via Pultrusion-Like Processing of Commingled Feedstock

NASA Astrophysics Data System (ADS)

Warlick, Kent M.

While the addition of short fiber to 3D printed articles has increased structural performance, ultimate gains will only be realized through the introduction of continuous reinforcement placed along pre-planned load paths. Most additive manufacturing research focusing on the addition of continuous reinforcement has revolved around utilization of a prefrabricated composite filament or a fiber and matrix mixed within a hot end prior to deposition on a printing surface such that conventional extrusion based FDM can be applied. Although stronger 3D printed parts can be made in this manner, high quality homogenous composites are not possible due to fiber dominated regions, matrix dominated regions, and voids present between adjacent filaments. Conventional composite manufacturing processes are much better at creating homogeneous composites; however, the layer by layer approach in which they are made is inhibiting the alignment of reinforcement with loads. Automated Fiber Placement techniques utilize in plane bending deformation of the tow to facilitate tow steering. Due to buckling fibers on the inner radius of curves, manufacturers recommend a minimum curvature for path placement with this technique. A method called continuous tow shearing has shown promise to enable the placement of tows in complex patterns without tow buckling, spreading, and separation inherent in conventional forms of automated reinforcement positioning. The current work employs fused deposition modeling hardware and the continuous tow shearing technique to manufacture high quality fiber reinforced composites with high positional fidelity, varying continuous reinforcement orientations within a layer, and plastic elements incorporated enabling the ultimate gains in structural performance possible. A mechanical system combining concepts of additive manufacturing with fiber placement via filament winding was developed. Paths with and without tension inherent in filament winding were analyzed through microscopy in order to examine best and worst case scenarios. High quality fiber reinforced composite materials, in terms of low void content, high fiber volume fractions and homogeneity in microstructure, were manufactured in both of these scenarios. In order to improve fidelity and quality in fiber path transition regions, a forced air cooling manifold was designed, printed, and implemented into the current system. To better understand the composite performance that results from varying pertinent manufacturing parameters, the effect of feed rate, hot end temperature, forced air cooling, and deposition surface (polypropylene and previously deposited glass polypropylene commingled tow) on interply performance, microstructure, and positional fidelity were analyzed. Interply performance, in terms of average maximum load and average peel strength, was quantified through a t-peel test of the bonding quality between two surfaces. With use of forced air cooling, minor decreases in average peel strength were present due to a reduction in tow deposition temperature which was found to be the variable most indicative of performance. Average maximum load was comparable between the forced air cooled and non-air cooled samples. Microstructure was evaluated through characterization of composite area, void content, and flash percentage. Low void contents mostly between five to seven percent were attained. Further reduction of this void content to two percent is possible through higher processing temperatures; however, reduced composite area, low average peel strength performance, and the presence of smoke during manufacturing implied thermal degradation of the polypropylene matrix occurred in these samples with higher processing temperatures. Positional fidelity was measured through calculations of shear angle, shift width, and error of a predefined path. While positional fidelity variation was low with a polypropylene deposition surface, forced air cooling is necessary to achieve fidelity on top of an already deposited tow surface as evident by the fifty-six percent reduction in error tolerance profile achieved. Lastly, proof of concept articles with unique fiber paths and neat plastic elements incorporated were produced to demonstrate fiber placement along pre-planned load paths and the ability to achieve greater structural efficiency through the use of less material. The results show that high positional fidelity and high quality composites can be produced through the use of the tow shearing technique implemented in the developed mechanical system. The implementation of forced air cooling was critical in achieving fidelity and quality in transition regions. Alignment of continuous reinforcement with pre-planned load paths was demonstrated in the proof of concept article with varying fiber orientations within a layer. Combining fused deposition modeling of plastic with the placement of continuous reinforcement enabled a honeycomb composite to be produced with higher specific properties than traditional composites. Thus, the current system demonstrated a greater capability of achieving ultimate gains in structural performance than previously possible.

Overview: Mechanism and Control of a Prosthetic Arm.

PubMed

Kulkarni, Tushar; Uddanwadiker, Rashmi

2015-09-01

Continuous growth in industrialization and lack of awareness in safety parameters the cases of amputations are growing. The search of safer, simpler and automated prosthetic arms for managing upper limbs is expected. Continuous efforts have been made to design and develop prosthetic arms ranging from simple harness actuated to automated mechanisms with various control options. However due the cost constraints, the automated prosthetic arms are still out of the reach of needy people. Recent data have shown that there is a wide scope to develop a low cost and light weight upper limb prosthesis. This review summarizes the various designs methodologies, mechanisms and control system developed by the researchers and the advances therein. Educating the patient to develop acceptability to prosthesis and using the same for the most basic desired functions of human hand, post amputation care and to improve patient's independent life is equally important. In conclusion it can be interpreted that there is a wide scope in design in an adaptive mechanism for opening and closing of the fingers using other methods of path and position synthesis. Simple mechanisms and less parts may optimize the cost factor. Reduction in the weight of the prosthesis may be achieved using polymers used for engineering applications. Control system will remain never ending challenge for the researchers, but it is essential to maintain the simplicity from the patients perspective.

Microprocessor-controlled optical stimulating device to improve the gait of patients with Parkinson's disease.

PubMed

Ferrarin, M; Brambilla, M; Garavello, L; Di Candia, A; Pedotti, A; Rabuffetti, M

2004-05-01

Different types of visual cue for subjects with Parkinson's disease (PD) produced an improvement in gait and helped some of them prevent or overcome freezing episodes. The paper describes a portable gait-enabling device (optical stimulating glasses (OSGs) that provides, in the peripheral field of view, different types of continuous optic flow (backward or forward) and intermittent stimuli synchronised with external events. The OSGs are a programmable, stand-alone, augmented reality system that can be interfaced with a PC for program set-up. It consists of a pair of non-corrective glasses, equipped with two matrixes of 70 micro light emitting diodes, one on each side, controlled by a microprocessor. Two foot-switches are used to synchronise optical stimulation with specific gait events. A pilot study was carried out on three PD patients and three controls, with different types of optic flow during walking along a fixed path. The continuous optic flow in the forward direction produced an increase in gait velocity in the PD patients (up to + 11% in average), whereas the controls had small variations. The stimulation synchronised with the swing phase, associated with an attentional strategy, produced a remarkable increase in stride length for all subjects. After prolonged testing, the device has shown good applicability and technical functionality, it is easily wearable and transportable, and it does not interfere with gait.

Path Expressions

DTIC Science & Technology

1975-06-01

ORGANIZATION NAME AND ADDRESS Carnegie-Mellon University Computer Science Dept Pittsburgh, Pa 15213 II. CONTROLLING OFFICE NAMF AND ADDRESS...programmer. Example 1. A communciation between two procasses is initiated by declaring a buffer which can hold a message whose interpretation is Known...words, the functions named in a path are automatically embedded in a critical region specific for that path.) The computation of the next state in

Medial temporal lobe roles in human path integration.

PubMed

Yamamoto, Naohide; Philbeck, John W; Woods, Adam J; Gajewski, Daniel A; Arthur, Joeanna C; Potolicchio, Samuel J; Levy, Lucien; Caputy, Anthony J

2014-01-01

Path integration is a process in which observers derive their location by integrating self-motion signals along their locomotion trajectory. Although the medial temporal lobe (MTL) is thought to take part in path integration, the scope of its role for path integration remains unclear. To address this issue, we administered a variety of tasks involving path integration and other related processes to a group of neurosurgical patients whose MTL was unilaterally resected as therapy for epilepsy. These patients were unimpaired relative to neurologically intact controls in many tasks that required integration of various kinds of sensory self-motion information. However, the same patients (especially those who had lesions in the right hemisphere) walked farther than the controls when attempting to walk without vision to a previewed target. Importantly, this task was unique in our test battery in that it allowed participants to form a mental representation of the target location and anticipate their upcoming walking trajectory before they began moving. Thus, these results put forth a new idea that the role of MTL structures for human path integration may stem from their participation in predicting the consequences of one's locomotor actions. The strengths of this new theoretical viewpoint are discussed.

Medial Temporal Lobe Roles in Human Path Integration

PubMed Central

Yamamoto, Naohide; Philbeck, John W.; Woods, Adam J.; Gajewski, Daniel A.; Arthur, Joeanna C.; Potolicchio, Samuel J.; Levy, Lucien; Caputy, Anthony J.

2014-01-01

Path integration is a process in which observers derive their location by integrating self-motion signals along their locomotion trajectory. Although the medial temporal lobe (MTL) is thought to take part in path integration, the scope of its role for path integration remains unclear. To address this issue, we administered a variety of tasks involving path integration and other related processes to a group of neurosurgical patients whose MTL was unilaterally resected as therapy for epilepsy. These patients were unimpaired relative to neurologically intact controls in many tasks that required integration of various kinds of sensory self-motion information. However, the same patients (especially those who had lesions in the right hemisphere) walked farther than the controls when attempting to walk without vision to a previewed target. Importantly, this task was unique in our test battery in that it allowed participants to form a mental representation of the target location and anticipate their upcoming walking trajectory before they began moving. Thus, these results put forth a new idea that the role of MTL structures for human path integration may stem from their participation in predicting the consequences of one's locomotor actions. The strengths of this new theoretical viewpoint are discussed. PMID:24802000

Path Planning Method in Multi-obstacle Marine Environment

NASA Astrophysics Data System (ADS)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.

Optimal Paths in Gliding Flight

NASA Astrophysics Data System (ADS)

Wolek, Artur

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Primary path reservation using enhanced slot assignment in TDMA for session admission.

PubMed

Koneri Chandrasekaran, Suresh; Savarimuthu, Prakash; Andi Elumalai, Priya; Ayyaswamy, Kathirvel

2015-01-01

Mobile ad hoc networks (MANET) is a self-organized collection of nodes that communicates without any infrastructure. Providing quality of service (QoS) in such networks is a competitive task due to unreliable wireless link, mobility, lack of centralized coordination, and channel contention. The success of many real time applications is purely based on the QoS, which can be achieved by quality aware routing (QAR) and admission control (AC). Recently proposed QoS mechanisms do focus completely on either reservation or admission control but are not better enough. In MANET, high mobility causes frequent path break due to the fact that every time the source node must find the route. In such cases the QoS session is affected. To admit a QoS session, admission control protocols must ensure the bandwidth of the relaying path before transmission starts; reservation of such bandwidth noticeably improves the admission control performance. Many TDMA based reservation mechanisms are proposed but need some improvement over slot reservation procedures. In order to overcome this specific issue, we propose a framework-PRAC (primary path reservation admission control protocol), which achieves improved QoS by making use of backup route combined with resource reservation. A network topology has been simulated and our approach proves to be a mechanism that admits the session effectively.

Improving the Flight Path Marker Symbol on Rotorcraft Synthetic Vision Displays

NASA Technical Reports Server (NTRS)

Szoboszlay, Zoltan P.; Hardy, Gordon H.; Welsh, Terence M.

2004-01-01

Two potential improvements to the flight path marker symbol were evaluated on a panel-mounted, synthetic vision, primary flight display in a rotorcraft simulation. One concept took advantage of the fact that synthetic vision systems have terrain height information available ahead of the aircraft. For this first concept, predicted altitude and ground track information was added to the flight path marker. In the second concept, multiple copies of the flight path marker were displayed at 3, 4, and 5 second prediction times as compared to a single prediction time of 3 seconds. Objective and subjective data were collected for eight rotorcraft pilots. The first concept produced significant improvements in pilot attitude control, ground track control, workload ratings, and preference ratings. The second concept did not produce significant differences in the objective or subjective measures.

Electron path control of high-order harmonic generation by a spatially inhomogeneous field

NASA Astrophysics Data System (ADS)

Mohebbi, Masoud; Nazarpoor Malaei, Sakineh

2016-04-01

We theoretically investigate the control of high-order harmonics cut-off and as-pulse generation by a chirped laser field using a metallic bow tie-shaped nanostructure. The numerical results show that the trajectories of the electron wave packet are strongly modified, the short quantum path is enhanced, the long quantum path is suppressed and the low modulated spectrum of the harmonics can be remarkably extended. Our calculated results also show that, by confining electron motion, a broadband supercontinuum with the width of 1670 eV can be produced which directly generates an isolated 34 as-pulse without phase compensation. To explore the underlying mechanism responsible for the cut-off extension and the quantum path selection, we perform time-frequency analysis and a classical simulation based on the three-step model.

Method and an apparatus to control the lateral motion of a long metal bar being formed by a mechanical process such as rolling or drawing

DOEpatents

Chang, Tzyy-Shuh; Huang, Hsun-Hau; Lin, Chang-Hung

2007-10-02

An adjustable guide, includes two or more mechanisms each having a rotatable retaining element containing a retaining groove with a variable radius in its perimeter surface. The grooves form a guidance path to control the lateral, i.e. non-axial, motion of a long bar moving along a longitudinal axis during a production process.The diameter of the guidance path varies according to the variable radii of the grooves. The guidance path increases in size at a predetermined rate, from a point of origin to an end point on the retaining groove. Rotating the retaining elements causes the diameter of the retaining grooves to change so that the size of the guidance path can be changed to match the diameter of the bar being rolled, size of the guidance path can be changed to fit the diameter of a new bar rolled without having to exchange the guide for a different sized guide, reduce fiction between the bar and the guide, a media, such as compressed air, can be injected between the retaining elements via orifices.Each retaining element is attached to a mounting apparatus. The mounting apparatus can be fixed or flexible. The flexible mounting apparatus includes one or more springs and one or more shock absorbers. A force neutral position of the flexible mounting apparatus is designed to be located on the predetermined ideal bar path line. The flexible mounting apparatus dissipates kinetic energy from the bar thereby reducing the bar's lateral motion relative to the ideal bar path line.The damping ratio of the mounting apparatus can be adjustable to alter the product's vibration mode to enable better control of the bar's lateral motion.

Flight path control strategies and preliminary deltaV requirements for the 2007 Mars Phoenix (PHX) mission

NASA Technical Reports Server (NTRS)

Raofi, Behzad

2005-01-01

This paper describes the methods used to estimate the statistical deltaV requirements for the propulsive maneuvers that will deliver the spacecraft to its target landing site while satisfying planetary protection requirements. the paper presents flight path control analysis results for three different trajectories, open, middle, and close of launch period for the mission.

A Comparison of Electromagnetic Induction Mapping to Measurements of Maximum Effluent Flow Depth for Assessing Flow Paths in Vegetative Treatment Areas

USDA-ARS?s Scientific Manuscript database

Vegetative treatment systems (VTSs) are one type of control structure that has shown potential to control runoff from open feedlots. To achieve maximum performance, sheet-flow over the width of the vegetative treatment area (VTA) is required. Tools, such as maps of flow paths through the VTA, are ne...

Optical Kerr Spatiotemporal Dark-Lump Dynamics of Hydrodynamic Origin

NASA Astrophysics Data System (ADS)

Baronio, Fabio; Wabnitz, Stefan; Kodama, Yuji

2016-04-01

There is considerable fundamental and applicative interest in obtaining nondiffractive and nondispersive spatiotemporal localized wave packets propagating in optical cubic nonlinear or Kerr media. Here, we analytically predict the existence of a novel family of spatiotemporal dark lump solitary wave solutions of the (2 +1 )D nonlinear Schrödinger equation. Dark lumps represent multidimensional holes of light on a continuous wave background. We analytically derive the dark lumps from the hydrodynamic exact soliton solutions of the (2 +1 )D shallow water Kadomtsev-Petviashvili model, inheriting their complex interaction properties. This finding opens a novel path for the excitation and control of optical spatiotemporal waveforms of hydrodynamic footprint and multidimensional optical extreme wave phenomena.

ELF propagation in the plasmasphere based on satellite observations of discrete and continuous forms

NASA Technical Reports Server (NTRS)

Muzzio, J. L. R.

1971-01-01

The propagation of electromagnetic waves in a nonhomogeneous anisotropic medium is examined from the point of view of geometrical optics. In particular, the propagation of ELF waves in the magnetosphere is described in terms of the electron and ion densities and the intensity and inclination of the earth's magnetic field. The analysis of the variations of wave normal angle along the ray path is extended to include the effects of ions. A comparison of the relative importance of each of the above parameters in controlling the orientation of the wave normals is made in the region of the magnetosphere where most of the ion whistlers have been detected.

Optical Kerr spatiotemporal dark extreme waves

NASA Astrophysics Data System (ADS)

Wabnitz, Stefan; Kodama, Yuji; Baronio, Fabio

2018-02-01

We study the existence and propagation of multidimensional dark non-diffractive and non-dispersive spatiotemporal optical wave-packets in nonlinear Kerr media. We report analytically and confirm numerically the properties of spatiotemporal dark lines, X solitary waves and lump solutions of the (2 + 1)D nonlinear Schr odinger equation (NLSE). Dark lines, X waves and lumps represent holes of light on a continuous wave background. These solitary waves are derived by exploiting the connection between the (2 + 1)D NLSE and a well-known equation of hydrodynamics, namely the (2+1)D Kadomtsev-Petviashvili (KP) equation. This finding opens a novel path for the excitation and control of spatiotemporal optical solitary and rogue waves, of hydrodynamic nature.

Optical Kerr Spatiotemporal Dark-Lump Dynamics of Hydrodynamic Origin.

PubMed

Baronio, Fabio; Wabnitz, Stefan; Kodama, Yuji

2016-04-29

There is considerable fundamental and applicative interest in obtaining nondiffractive and nondispersive spatiotemporal localized wave packets propagating in optical cubic nonlinear or Kerr media. Here, we analytically predict the existence of a novel family of spatiotemporal dark lump solitary wave solutions of the (2+1)D nonlinear Schrödinger equation. Dark lumps represent multidimensional holes of light on a continuous wave background. We analytically derive the dark lumps from the hydrodynamic exact soliton solutions of the (2+1)D shallow water Kadomtsev-Petviashvili model, inheriting their complex interaction properties. This finding opens a novel path for the excitation and control of optical spatiotemporal waveforms of hydrodynamic footprint and multidimensional optical extreme wave phenomena.

CW-THz vector spectroscopy and imaging system based on 1.55-µm fiber-optics.

PubMed

Kim, Jae-Young; Song, Ho-Jin; Yaita, Makoto; Hirata, Akihiko; Ajito, Katsuhiro

2014-01-27

We present a continuous-wave terahertz (THz) vector spectroscopy and imaging system based on a 1.5-µm fiber optic uni-traveling-carrier photodiode and InGaAs photo-conductive receiver. Using electro-optic (EO) phase modulators for THz phase control with shortened optical paths, the system achieves fast vector measurement with effective phase stabilization. Dynamic ranges of 100 dB · Hz and 75 dB · Hz at 300 GHz and 1 THz, and phase stability of 1.5° per minute are obtained. With the simultaneous measurement of absorbance and relative permittivity, we demonstrate non-destructive analyses of pharmaceutical cocrystals inside tablets within a few minutes.

Effect of cognitive challenge on the postural control of patients with ACL reconstruction under visual and surface perturbations.

PubMed

Lion, Alexis; Gette, Paul; Meyer, Christophe; Seil, Romain; Theisen, Daniel

2018-02-01

Our study aimed to evaluate the effect of cognitive challenge on double-leg postural control under visual and surface perturbations of patients with anterior cruciate ligament reconstruction (ACLR) cleared to return to sport. Double-leg stance postural control of 19 rehabilitated patients with ACLR (age: 24.8 ± 6.7 years, time since surgery: 9.2 ± 1.6 months) and 21 controls (age: 24.9 ± 3.7 years) was evaluated in eight randomized situations combining two cognitive (with and without silent backward counting in steps of seven), two visual (eyes open, eyes closed) and two surface (stable support, foam support) conditions. Sway area and sway path of the centre of foot pressure were measured during three 20-s recordings for each situation. Higher values indicated poorer postural control. Generally, postural control of patients with ACLR and controls was similar for sway area and sway path (p > 0.05). The lack of visual anchorage and the disturbance of the plantar input by the foam support increased sway area and sway path (p < 0.001) similarly in both groups. The addition of the cognitive task decreased sway area and sway path (p < 0.001) similarly in both groups. Patients with ACLR who recently completed their rehabilitation have normalized postural control during double-leg stance tests. The use of a dual task paradigm under increased task complexity modified postural control, but in a similar way in patients with ACLR than in healthy controls. Double-leg stance tests, even under challenging conditions, are not sensitive enough to reveal postural control differences between rehabilitated patients with ACLR and controls. Copyright © 2017 Elsevier B.V. All rights reserved.

Simultaneous continuous measurement of non-commuting observables and correlation in qubit trajectories

NASA Astrophysics Data System (ADS)

Chantasri, Areeya; Jordan, Andrew

We consider the continuous quantum measurement of two or more non-commuting observables of a single qubit. Examples are presented for the measurement of two observables which can be mapped to two measurement axes on the Bloch sphere; a special case being the measurement along the X and Z bases. The qubit dynamics is described by the stochastic master equations which include the effect of decoherence and measurement inefficiencies. We investigate the qubit trajectories, their most likely paths, and their correlation functions using the stochastic path integral formalism. The correlation functions in qubit trajectories can be derived exactly for a special case and perturbatively for general cases. The theoretical predictions are compared with numerical simulations, as well as with trajectory data from the transmon superconducting qubit experiments.

Effect of a limited-enforcement intelligent tutoring system in dermatopathology on student errors, goals and solution paths.

PubMed

Payne, Velma L; Medvedeva, Olga; Legowski, Elizabeth; Castine, Melissa; Tseytlin, Eugene; Jukic, Drazen; Crowley, Rebecca S

2009-11-01

Determine effects of a limited-enforcement intelligent tutoring system in dermatopathology on student errors, goals and solution paths. Determine if limited enforcement in a medical tutoring system inhibits students from learning the optimal and most efficient solution path. Describe the type of deviations from the optimal solution path that occur during tutoring, and how these deviations change over time. Determine if the size of the problem-space (domain scope), has an effect on learning gains when using a tutor with limited enforcement. Analyzed data mined from 44 pathology residents using SlideTutor-a Medical Intelligent Tutoring System in Dermatopathology that teaches histopathologic diagnosis and reporting skills based on commonly used diagnostic algorithms. Two subdomains were included in the study representing sub-algorithms of different sizes and complexities. Effects of the tutoring system on student errors, goal states and solution paths were determined. Students gradually increase the frequency of steps that match the tutoring system's expectation of expert performance. Frequency of errors gradually declines in all categories of error significance. Student performance frequently differs from the tutor-defined optimal path. However, as students continue to be tutored, they approach the optimal solution path. Performance in both subdomains was similar for both errors and goal differences. However, the rate at which students progress toward the optimal solution path differs between the two domains. Tutoring in superficial perivascular dermatitis, the larger and more complex domain was associated with a slower rate of approximation towards the optimal solution path. Students benefit from a limited-enforcement tutoring system that leverages diagnostic algorithms but does not prevent alternative strategies. Even with limited enforcement, students converge toward the optimal solution path.

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

NASA Astrophysics Data System (ADS)

Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig

2012-01-01

In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

A continuous function model for path prediction of entities

NASA Astrophysics Data System (ADS)

Nanda, S.; Pray, R.

2007-04-01

As militaries across the world continue to evolve, the roles of humans in various theatres of operation are being increasingly targeted by military planners for substitution with automation. Forward observation and direction of supporting arms to neutralize threats from dynamic adversaries is one such example. However, contemporary tracking and targeting systems are incapable of serving autonomously for they do not embody the sophisticated algorithms necessary to predict the future positions of adversaries with the accuracy offered by the cognitive and analytical abilities of human operators. The need for these systems to incorporate methods characterizing such intelligence is therefore compelling. In this paper, we present a novel technique to achieve this goal by modeling the path of an entity as a continuous polynomial function of multiple variables expressed as a Taylor series with a finite number of terms. We demonstrate the method for evaluating the coefficient of each term to define this function unambiguously for any given entity, and illustrate its use to determine the entity's position at any point in time in the future.

Penetration of magnetosonic waves into the plasmasphere observed by the Van Allen Probes

DOE PAGES

Xiao, Fuliang; Zhou, Qinghua; He, Yihua; ...

2015-09-11

During the small storm on 14–15 April 2014, Van Allen Probe A measured a continuously distinct proton ring distribution and enhanced magnetosonic (MS) waves along its orbit outside the plasmapause. Inside the plasmasphere, strong MS waves were still present but the distinct proton ring distribution was falling steeply with distance. We adopt a sum of subtracted bi-Maxwellian components to model the observed proton ring distribution and simulate the wave trajectory and growth. MS waves at first propagate toward lower L shells outside the plasmasphere, with rapidly increasing path gains related to the continuous proton ring distribution. The waves then graduallymore » cross the plasmapause into the deep plasmasphere, with almost unchanged path gains due to the falling proton ring distribution and higher ambient density. These results present the first report on how MS waves penetrate into the plasmasphere with the aid of the continuous proton ring distributions during weak geomagnetic activities.« less

Sensitivity of rough differential equations: An approach through the Omega lemma

NASA Astrophysics Data System (ADS)

Coutin, Laure; Lejay, Antoine

2018-03-01

The Itô map gives the solution of a Rough Differential Equation, a generalization of an Ordinary Differential Equation driven by an irregular path, when existence and uniqueness hold. By studying how a path is transformed through the vector field which is integrated, we prove that the Itô map is Hölder or Lipschitz continuous with respect to all its parameters. This result unifies and weakens the hypotheses of the regularity results already established in the literature.

Laser materials processing of complex components: from reverse engineering via automated beam path generation to short process development cycles

NASA Astrophysics Data System (ADS)

Görgl, Richard; Brandstätter, Elmar

2017-01-01

The article presents an overview of what is possible nowadays in the field of laser materials processing. The state of the art in the complete process chain is shown, starting with the generation of a specific components CAD data and continuing with the automated motion path generation for the laser head carried by a CNC or robot system. Application examples from laser cladding and laser-based additive manufacturing are given.

Automatic Control Of Length Of Welding Arc

NASA Technical Reports Server (NTRS)

Iceland, William F.

1991-01-01

Nonlinear relationships among current, voltage, and length stored in electronic memory. Conceptual microprocessor-based control subsystem maintains constant length of welding arc in gas/tungsten arc-welding system, even when welding current varied. Uses feedback of current and voltage from welding arc. Directs motor to set position of torch according to previously measured relationships among current, voltage, and length of arc. Signal paths marked "calibration" or "welding" used during those processes only. Other signal paths used during both processes. Control subsystem added to existing manual or automatic welding system equipped with automatic voltage control.

Automatic guidance and control laws for helicopter obstacle avoidance

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

FTS evolution

NASA Technical Reports Server (NTRS)

Provost, David E.

1990-01-01

Viewgraphs on flight telerobotic servicer evolution are presented. Topics covered include: paths for FTS evolution; frequently performed actions; primary task states; EPS radiator panel installation; generic task definitions; path planning; non-contact alignment; contact planning and control; and human operator interface.

The problem of the driverless vehicle specified path stability control

NASA Astrophysics Data System (ADS)

Buznikov, S. E.; Endachev, D. V.; Elkin, D. S.; Strukov, V. O.

2018-02-01

Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky “morphological box” method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.

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

NASA Technical Reports Server (NTRS)

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

1979-01-01

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

High-speed measurement of an air transect's temperature shift heated by laser beam

NASA Astrophysics Data System (ADS)

Li, WenYu; Jiang, ZongFu; Xi, Fengjie; Li, Qiang; Xie, Wenke

2005-02-01

Laser beam heat the air on the optic path, Beam-deflection optical tomography is a non-intrusive method to measure the 2-dimension temperature distribution in the transect. By means of linear Hartmann Sensor at the rate of 27kHz, the optic path was heated by a 2.7μm HF laser, continuous and high time resolution gradients of optic phase were obtained. the result of analysing and calculation showed the temperament shift in the heated beam path was not higher than 50K when the HF laser power was 9W. The experiment showed that it is a practical non-intrusive temperature shift measurement method for a small area aero-optical medium.

Optimal control to modelling motorcycle rider steering: local versus global coordinate systems in rider preview

NASA Astrophysics Data System (ADS)

Rowell, S.; Popov, A. A.; Meijaard, J. P.

2010-04-01

The response of a motorcycle is heavily dependent on the rider's control actions, and consequently a means of replicating the rider's behaviour provides an important extension to motorcycle dynamics. The primary objective here is to develop effective path-following simulations and to understand how riders control motorcycles. Optimal control theory is applied to the tracking of roadway by a motorcycle, using a non-linear motorcycle model operating in free control by steering torque input. A path-following controller with road preview is designed by minimising tracking errors and control effort. Tight controls with high weightings on performance and loose controls with high weightings on control power are defined. Special attention is paid to the modelling of multipoint preview in local and global coordinate systems. The controller model is simulated over a standard single lane-change manoeuvre. It is argued that the local coordinates point of view is more representative of the way that a human rider operates and interprets information. The simulations suggest that for accurate path following, using optimal control, the problem must be solved by the local coordinates approach in order to achieve accurate results with short preview horizons. Furthermore, some weaknesses of the optimal control approach are highlighted here.

Virtual hybrid test control of sinuous crack

NASA Astrophysics Data System (ADS)

Jailin, Clément; Carpiuc, Andreea; Kazymyrenko, Kyrylo; Poncelet, Martin; Leclerc, Hugo; Hild, François; Roux, Stéphane

2017-05-01

The present study aims at proposing a new generation of experimental protocol for analysing crack propagation in quasi brittle materials. The boundary conditions are controlled in real-time to conform to a predefined crack path. Servo-control is achieved through a full-field measurement technique to determine the pre-set fracture path and a simple predictor model based on linear elastic fracture mechanics to prescribe the boundary conditions on the fly so that the actual crack path follows at best the predefined trajectory. The final goal is to identify, for instance, non-local damage models involving internal lengths. The validation of this novel procedure is performed via a virtual test-case based on an enriched damage model with an internal length scale, a prior chosen sinusoidal crack path and a concrete sample. Notwithstanding the fact that the predictor model selected for monitoring the test is a highly simplified picture of the targeted constitutive law, the proposed protocol exhibits a much improved sensitivity to the sought parameters such as internal lengths as assessed from the comparison with other available experimental tests.

Impact of Project P.A.T.H.S. on adolescent developmental outcomes in Hong Kong: findings based on seven waves of data.

PubMed

Shek, Daniel T L; Ma, Cecilia M S

2012-01-18

The present study examined the longitudinal impact of Project P.A.T.H.S. (Positive Adolescent Training through Holistic Social Programmes) on adolescent developmental outcomes in Hong Kong. Using a longitudinal randomized group design, seven waves of data were collected from 24 experimental schools (n=4049 at wave 1) in which students participated in the Tier 1 Program of Project P.A.T.H.S. and 24 control schools (n=3797 at wave 1). Results based on individual growth curve modeling generally showed that, relative to the control participants, participants in the experimental group had: (a) a higher level of positive development; (b) a lower level of substance abuse; and (c) a lower level of delinquent behavior. Participants who regarded the program to be beneficial also showed higher levels of positive development and lower levels of problem behavior than did the control school students. The present findings suggest that Project P.A.T.H.S. is effective in promoting positive development and preventing adolescent problem behavior in Chinese adolescents in Hong Kong.

76 FR 42029 - Airworthiness Directives; Airbus Model A300 B4-600, B4-600R, and F4-600R Series Airplanes, and...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-18

... load path, which would likely result in loss of control of the aeroplane. For the reasons explained... failure of the secondary load path, which would likely result in loss of control of the aeroplane... DEPARTMENT OF TRANSPORTATION Federal Aviation Administration 14 CFR Part 39 [Docket No. FAA-2011...

Cooperative organic mine avoidance path planning

NASA Astrophysics Data System (ADS)

McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David

2005-06-01

The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.

Nature of air pollution, emission sources, and management in the Indian cities

NASA Astrophysics Data System (ADS)

Guttikunda, Sarath K.; Goel, Rahul; Pant, Pallavi

2014-10-01

The global burden of disease study estimated 695,000 premature deaths in 2010 due to continued exposure to outdoor particulate matter and ozone pollution for India. By 2030, the expected growth in many of the sectors (industries, residential, transportation, power generation, and construction) will result in an increase in pollution related health impacts for most cities. The available information on urban air pollution, their sources, and the potential of various interventions to control pollution, should help us propose a cleaner path to 2030. In this paper, we present an overview of the emission sources and control options for better air quality in Indian cities, with a particular focus on interventions like urban public transportation facilities; travel demand management; emission regulations for power plants; clean technology for brick kilns; management of road dust; and waste management to control open waste burning. Also included is a broader discussion on key institutional measures, like public awareness and scientific studies, necessary for building an effective air quality management plan in Indian cities.

Attention control learning in the decision space using state estimation

NASA Astrophysics Data System (ADS)

Gharaee, Zahra; Fatehi, Alireza; Mirian, Maryam S.; Nili Ahmadabadi, Majid

2016-05-01

The main goal of this paper is modelling attention while using it in efficient path planning of mobile robots. The key challenge in concurrently aiming these two goals is how to make an optimal, or near-optimal, decision in spite of time and processing power limitations, which inherently exist in a typical multi-sensor real-world robotic application. To efficiently recognise the environment under these two limitations, attention of an intelligent agent is controlled by employing the reinforcement learning framework. We propose an estimation method using estimated mixture-of-experts task and attention learning in perceptual space. An agent learns how to employ its sensory resources, and when to stop observing, by estimating its perceptual space. In this paper, static estimation of the state space in a learning task problem, which is examined in the WebotsTM simulator, is performed. Simulation results show that a robot learns how to achieve an optimal policy with a controlled cost by estimating the state space instead of continually updating sensory information.

Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb

NASA Technical Reports Server (NTRS)

Dahl, Kristen P.; Thompson, David R.; McLaren, David; Chao, Yi; Chien, Steve

2011-01-01

This work investigates multi-agent path planning in strong, dynamic currents using thousands of highly under-actuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.

All-optical, thermo-optical path length modulation based on the vanadium-doped fibers.

PubMed

Matjasec, Ziga; Campelj, Stanislav; Donlagic, Denis

2013-05-20

This paper presents an all-fiber, fully-optically controlled, optical-path length modulator based on highly absorbing optical fiber. The modulator utilizes a high-power 980 nm pump diode and a short section of vanadium-co-doped single mode fiber that is heated through absorption and a non-radiative relaxation process. The achievable path length modulation range primarily depends on the pump's power and the convective heat-transfer coefficient of the surrounding gas, while the time response primarily depends on the heated fiber's diameter. An absolute optical length change in excess of 500 µm and a time-constant as short as 11 ms, were demonstrated experimentally. The all-fiber design allows for an electrically-passive and remote operation of the modulator. The presented modulator could find use within various fiber-optics systems that require optical (remote) path length control or modulation.

Noise-Assisted Concurrent Multipath Traffic Distribution in Ad Hoc Networks

PubMed Central

Murata, Masayuki

2013-01-01

The concept of biologically inspired networking has been introduced to tackle unpredictable and unstable situations in computer networks, especially in wireless ad hoc networks where network conditions are continuously changing, resulting in the need of robustness and adaptability of control methods. Unfortunately, existing methods often rely heavily on the detailed knowledge of each network component and the preconfigured, that is, fine-tuned, parameters. In this paper, we utilize a new concept, called attractor perturbation (AP), which enables controlling the network performance using only end-to-end information. Based on AP, we propose a concurrent multipath traffic distribution method, which aims at lowering the average end-to-end delay by only adjusting the transmission rate on each path. We demonstrate through simulations that, by utilizing the attractor perturbation relationship, the proposed method achieves a lower average end-to-end delay compared to other methods which do not take fluctuations into account. PMID:24319375

Experimental analysis of behavior in nanobubbles using echograms under ultrasound exposure

NASA Astrophysics Data System (ADS)

Wada, Hikaru; Koido, Jun; Miyazawa, Shinya; Mochizuki, Takashi; Masuda, Kohji; Unga, Johan; Oda, Yusuke; Suzuki, Ryo; Maruyama, Kazuo

2016-07-01

Although we have reported our attempts to actively control microbubbles in flow using acoustic radiation force for future drug delivery systems, the microbubbles we used are not applicable for in vivo experiments. Thus, we examined two types of nanobubble with a drug-retaining function. Because the nanobubbles are invisible in a conventional optical observation, we observed the behavior of nanobubbles using ultrasound images (echograms). First, we found the optimal settings of echography to guarantee the relationship between the brightness variation and lipid concentration of nanobubbles. Then, we derived the destructive coefficient using two types of path under continuous ultrasound exposure of 5 MHz. Results indicate that the controllability is related to the construction of nanobubbles and the spatial distribution of the ultrasound field. We realized that the design of the ultrasound field is important with Bubble A, whereas the frequency of ultrasound emission needs to be discussed with Bubble B.

High Electromechanical Response of Ionic Polymer Actuators with Controlled-Morphology Aligned Carbon Nanotube/Nafion Nanocomposite Electrodes

PubMed Central

Liu, Sheng; Liu, Yang; Cebeci, Hülya; de Villoria, Roberto Guzmán; Lin, Jun-Hong

2011-01-01

Recent advances in fabricating controlled-morphology vertically aligned carbon nanotubes (VA-CNTs) with ultrahigh volume fraction create unique opportunities for markedly improving the electromechanical performance of ionic polymer conductor network composite (IPCNC) actuators. Continuous paths through inter-VA-CNT channels allow fast ion transport, and high electrical conduction of the aligned CNTs in the composite electrodes lead to fast device actuation speed (>10% strain/second). One critical issue in developing advanced actuator materials is how to suppress the strain that does not contribute to the actuation (unwanted strain) thereby reducing actuation efficiency. Here our experiments demonstrate that the VA-CNTs give an anisotropic elastic response in the composite electrodes, which suppresses the unwanted strain and markedly enhances the actuation strain (>8% strain under 4 volts). The results reported here suggest pathways for optimizing the electrode morphology in IPCNCs using ultra-high volume fraction VA-CNTs to further enhanced performance. PMID:21765822

Compensation in the presence of deep turbulence using tiled-aperture architectures

NASA Astrophysics Data System (ADS)

Spencer, Mark F.; Brennan, Terry J.

2017-05-01

The presence of distributed-volume atmospheric aberrations or "deep turbulence" presents unique challenges for beam-control applications which look to sense and correct for disturbances found along the laser-propagation path. This paper explores the potential for branch-point-tolerant reconstruction algorithms and tiled-aperture architectures to correct for the branch cuts contained in the phase function due to deep-turbulence conditions. Using wave-optics simulations, the analysis aims to parameterize the fitting-error performance of tiled-aperture architectures operating in a null-seeking control loop with piston, tip, and tilt compensation of the individual optical beamlet trains. To evaluate fitting-error performance, the analysis plots normalized power in the bucket as a function of the Fried coherence diameter, the log-amplitude variance, and the number of subapertures for comparison purposes. Initial results show that tiled-aperture architectures with a large number of subapertures outperform filled-aperture architectures with continuous-face-sheet deformable mirrors.

Path perception during rotation: influence of instructions, depth range, and dot density

NASA Technical Reports Server (NTRS)

Li, Li; Warren, William H Jr

2004-01-01

How do observers perceive their direction of self-motion when traveling on a straight path while their eyes are rotating? Our previous findings suggest that information from retinal flow and extra-retinal information about eye movements are each sufficient to solve this problem for both perception and active control of self-motion [Vision Res. 40 (2000) 3873; Psych. Sci. 13 (2002) 485]. In this paper, using displays depicting translation with simulated eye rotation, we investigated how task variables such as instructions, depth range, and dot density influenced the visual system's reliance on retinal vs. extra-retinal information for path perception during rotation. We found that path errors were small when observers expected to travel on a straight path or with neutral instructions, but errors increased markedly when observers expected to travel on a curved path. Increasing depth range or dot density did not improve path judgments. We conclude that the expectation of the shape of an upcoming path can influence the interpretation of the ambiguous retinal flow. A large depth range and dense motion parallax are not essential for accurate path perception during rotation, but reference objects and a large field of view appear to improve path judgments.

Open Path Trace Gas Laser Sensors for UAV Deployment

NASA Astrophysics Data System (ADS)

Shadman, S.; Mchale, L.; Rose, C.; Yalin, A.

2015-12-01

Novel trace gas sensors based on open-path Cavity Ring-down Spectroscopy (CRDS) are being developed to enable remote and mobile deployments including on small unmanned aerial systems (UAS). Relative to established closed-path CRDS instruments, the use of open-path configurations allows removal of the bulky and power hungry vacuum and flow system, potentially enabling lightweight and low power instruments with high sensitivity. However, open path operation introduces new challenges including the need to maintain mirror cleanliness, mitigation of particle optical effects, and the need to measure spectral features that are relatively broad. The present submission details open-path CRDS instruments for ammonia and methane and their planned use in UAS studies. The ammonia sensor uses a quantum cascade laser at 10.3 mm in a configuration in which the laser frequency is continuously swept and a trigger circuit and acousto-optic modulator (AOM) extinguish the light when the laser is resonant with the cavity. Ring-down signals are measured with a two-stage thermoelectrically cooled MCT photodetector. The cavity mirrors have reflectivity of 0.9995 and a noise equivalent absorption of 1.5 ppb Hz-1/2 was demonstrated. A first version of the methane sensor operated at 1.7um with a telecom diode laser while the current version operates at 3.6 um with an interband cascade laser (stronger absorption). We have performed validation measurements against known standards for both sensors. Compact optical assemblies are being developed for UAS deployment. For example, the methane sensor head will have target mass of <4 kg and power draw <40 W. A compact single board computer and DAQ system is being designed for sensor control and signal processing with target mass <1 kg and power draw <10 W. The sensor size and power parameters are suitable for UAS deployment on both fixed wing and rotor style UAS. We plan to deploy the methane sensor to measure leakage and emission of methane from natural gas infrastructure, and to deploy both sensors together to study emissions from dairies and feedlots. The latter measurement campaign will also examine ammonia deposition to the ground, and bi-directional ammonia fluxes, using methane as a conservative tracer and examining the change in the ratio of ammonia to methane as a function of downwind position.

Energy-Aware Multipath Routing Scheme Based on Particle Swarm Optimization in Mobile Ad Hoc Networks

PubMed Central

Robinson, Y. Harold; Rajaram, M.

2015-01-01

Mobile ad hoc network (MANET) is a collection of autonomous mobile nodes forming an ad hoc network without fixed infrastructure. Dynamic topology property of MANET may degrade the performance of the network. However, multipath selection is a great challenging task to improve the network lifetime. We proposed an energy-aware multipath routing scheme based on particle swarm optimization (EMPSO) that uses continuous time recurrent neural network (CTRNN) to solve optimization problems. CTRNN finds the optimal loop-free paths to solve link disjoint paths in a MANET. The CTRNN is used as an optimum path selection technique that produces a set of optimal paths between source and destination. In CTRNN, particle swarm optimization (PSO) method is primly used for training the RNN. The proposed scheme uses the reliability measures such as transmission cost, energy factor, and the optimal traffic ratio between source and destination to increase routing performance. In this scheme, optimal loop-free paths can be found using PSO to seek better link quality nodes in route discovery phase. PSO optimizes a problem by iteratively trying to get a better solution with regard to a measure of quality. The proposed scheme discovers multiple loop-free paths by using PSO technique. PMID:26819966

Affairs of power: Restructuring California's electric utility industry, 1968-1998

NASA Astrophysics Data System (ADS)

Myers, William Allan

This dissertation studies the process of change in the political economy of electric utilities. Following two decades of continual growth during the nation's post-World War Two economic and population boom, the electric power industry confronted increasing challenges to its traditional operating practices and cultural values, nowhere with greater intensity than in California. Pressure for change came from outside forces who opposed utilities' business practices, assailed their traditional vertically-integrated structure, questioned the political assumptions that sustained their monopoly status, and ultimately wrested away access to the once tightly controlled technology of electric generation and transmission. Because managers of both investor-owned and publicly-owned utilities continued to rely upon long-standing economic and technical assumptions derived from deeply held cultural values sustained by decades of business success, they were rendered unable to comprehend and unwilling to accommodate change. Persistent mistrust between the publicly-owned and privately-owned sectors further weakened the industry's ability to work cooperatively in the face of crucial challenges. Thus encumbered by endemic structural jealousy, technological path dependency, and organizational stasis, the industry did not respond with sufficient innovation to new social values and altering economic conditions, ultimately resulting in the discarding of the old political economy of regulated monopolism. Five precepts of economic history are identified as crucial elements of the process of change. First, the tension between protection and entry, and the related issue of access to technology, contributes to creation and modification of the political economy in which economic institutions function. Second, submission to governmental regulatory powers allows certain industries to control entry, restrict access, and protect themselves from the dynamics of competitive change. Third, an unanticipated result of the regulatory process is to encourage organizational stasis and technological path dependency. Fourth, the mechanism of change to the political economy follows Kuhnian mechanics. Fifth, creative destruction, a central dynamic of capitalism, may be deferred but not eliminated by a regulatory political economy; modifications to technology, economics, or political power eventually force change upon protected institutions.

Littelmann path model for geometric crystals, Whittaker functions on Lie groups and Brownian motion

NASA Astrophysics Data System (ADS)

Chhaibi, Reda

2013-02-01

Generally speaking, this thesis focuses on the interplay between the representations of Lie groups and probability theory. It subdivides into essentially three parts. In a first rather algebraic part, we construct a path model for geometric crystals in the sense of Berenstein and Kazhdan, for complex semi-simple Lie groups. We will mainly describe the algebraic structure, its natural morphisms and parameterizations. The theory of total positivity will play a particularly important role. Then, we anticipate on the probabilistic part by exhibiting a canonical measure on geometric crystals. It uses as ingredients the superpotential for the flag manifold and a measure invariant under the crystal actions. The image measure under the weight map plays the role of Duistermaat-Heckman measure. Its Laplace transform defines Whittaker functions, providing an interesting formula for all Lie groups. Then it appears clearly that Whittaker functions are to geometric crystals, what characters are to combinatorial crystals. The Littlewood-Richardson rule is also exposed. Finally we present the probabilistic approach that allows to find the canonical measure. It is based on the fundamental idea that the Wiener measure will induce the adequate measure on the algebraic structures through the path model. In the last chapter, we show how our geometric model degenerates to the continuous classical Littelmann path model and thus recover known results. For example, the canonical measure on a geometric crystal of highest weight degenerates into a uniform measure on a polytope, and recovers the parameterizations of continuous crystals.

Location Prediction Based on Transition Probability Matrices Constructing from Sequential Rules for Spatial-Temporal K-Anonymity Dataset

PubMed Central

Liu, Zhao; Zhu, Yunhong; Wu, Chenxue

2016-01-01

Spatial-temporal k-anonymity has become a mainstream approach among techniques for protection of users’ privacy in location-based services (LBS) applications, and has been applied to several variants such as LBS snapshot queries and continuous queries. Analyzing large-scale spatial-temporal anonymity sets may benefit several LBS applications. In this paper, we propose two location prediction methods based on transition probability matrices constructing from sequential rules for spatial-temporal k-anonymity dataset. First, we define single-step sequential rules mined from sequential spatial-temporal k-anonymity datasets generated from continuous LBS queries for multiple users. We then construct transition probability matrices from mined single-step sequential rules, and normalize the transition probabilities in the transition matrices. Next, we regard a mobility model for an LBS requester as a stationary stochastic process and compute the n-step transition probability matrices by raising the normalized transition probability matrices to the power n. Furthermore, we propose two location prediction methods: rough prediction and accurate prediction. The former achieves the probabilities of arriving at target locations along simple paths those include only current locations, target locations and transition steps. By iteratively combining the probabilities for simple paths with n steps and the probabilities for detailed paths with n-1 steps, the latter method calculates transition probabilities for detailed paths with n steps from current locations to target locations. Finally, we conduct extensive experiments, and correctness and flexibility of our proposed algorithm have been verified. PMID:27508502

PATHS in Croatia: A school-based randomised-controlled trial of a social and emotional learning curriculum.

PubMed

Novak, Miranda; Mihić, Josipa; Bašić, Josipa; Nix, Robert L

2017-04-01

This study represents the first rigorous evaluation of a social-emotional learning curriculum, PATHS (Promoting Alternative Thinking Strategies; Kusché & Greenberg, 1994), in elementary schools in Croatia. This study randomly assigned 29 schools to receive the universal preventive intervention or continue with usual practices. Within those schools, this study included 57 classrooms and 568 children. Teachers rated nine child behaviours in the middle of first grade (pre-intervention) and near the end of second grade (post-intervention). Hierarchical linear models, nesting children within classrooms, revealed few changes in behaviour across the sample as a whole or among higher risk children. However, there were changes on eight of the nine behaviours for lower risk children. The findings are considered in the context of the classroom culture and teachers' preparation and readiness to implement a social-emotional learning curriculum in Croatia. This study highlights the need to supplement universal preventive interventions with selective preventive interventions that can provide more intensive and targeted skill practice for higher risk children. This study also highlights the nuanced effects of a universal preventive intervention in helping different children in different ways. © 2016 International Union of Psychological Science.

Fast disk array for image storage

NASA Astrophysics Data System (ADS)

Feng, Dan; Zhu, Zhichun; Jin, Hai; Zhang, Jiangling

1997-01-01

A fast disk array is designed for the large continuous image storage. It includes a high speed data architecture and the technology of data striping and organization on the disk array. The high speed data path which is constructed by two dual port RAM and some control circuit is configured to transfer data between a host system and a plurality of disk drives. The bandwidth can be more than 100 MB/s if the data path based on PCI (peripheral component interconnect). The organization of data stored on the disk array is similar to RAID 4. Data are striped on a plurality of disk, and each striping unit is equal to a track. I/O instructions are performed in parallel on the disk drives. An independent disk is used to store the parity information in the fast disk array architecture. By placing the parity generation circuit directly on the SCSI (or SCSI 2) bus, the parity information can be generated on the fly. It will affect little on the data writing in parallel on the other disks. The fast disk array architecture designed in the paper can meet the demands of the image storage.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Prospective Associations between Religiousness/Spirituality and Depression and Mediating Effects of Forgiveness in a Nationally Representative Sample of United States Adults.

PubMed

Toussaint, Loren L; Marschall, Justin C; Williams, David R

2012-01-01

The present investigation examines the prospective associations of religiousness/spirituality with depression and the extent to which various dimensions of forgiveness act as mediating mechanisms of these associations. Data are from a nationally representative sample of United States adults who were first interviewed in 1998 and reinterviewed six months later. Measures of religiousness/spirituality, forgiveness, and various sociodemographics were collected. Depression was assessed using the Composite International Diagnostic Interview administered by trained interviewers. Results showed that religiousness/spirituality, forgiveness of oneself and others, and feeling forgiven by God were associated, both cross-sectionally and longitudinally, with depressive status. After controlling for initial depressive status, only forgiveness of oneself and others remained statistically significant predictors of depression. Path analyses revealed that religiousness/spirituality conveyed protective effects, prospectively, on depression by way of an indirect path through forgiveness of others but not forgiveness of oneself. Hence, forgiveness of others acts as a mechanism of the salutary effect of religiousness/spirituality, but forgiveness of oneself is an independent predictor. Conclusions regarding the continued development of this type of research and for the treatment of clients with depression are offered.

Prospective Associations between Religiousness/Spirituality and Depression and Mediating Effects of Forgiveness in a Nationally Representative Sample of United States Adults

PubMed Central

Toussaint, Loren L.; Marschall, Justin C.; Williams, David R.

2012-01-01

The present investigation examines the prospective associations of religiousness/spirituality with depression and the extent to which various dimensions of forgiveness act as mediating mechanisms of these associations. Data are from a nationally representative sample of United States adults who were first interviewed in 1998 and reinterviewed six months later. Measures of religiousness/spirituality, forgiveness, and various sociodemographics were collected. Depression was assessed using the Composite International Diagnostic Interview administered by trained interviewers. Results showed that religiousness/spirituality, forgiveness of oneself and others, and feeling forgiven by God were associated, both cross-sectionally and longitudinally, with depressive status. After controlling for initial depressive status, only forgiveness of oneself and others remained statistically significant predictors of depression. Path analyses revealed that religiousness/spirituality conveyed protective effects, prospectively, on depression by way of an indirect path through forgiveness of others but not forgiveness of oneself. Hence, forgiveness of others acts as a mechanism of the salutary effect of religiousness/spirituality, but forgiveness of oneself is an independent predictor. Conclusions regarding the continued development of this type of research and for the treatment of clients with depression are offered. PMID:22675623

Trends in Student Aid, 2015. Trends in Higher Education Series

ERIC Educational Resources Information Center

Baum, Sandy; Ma, Jennifer; Pender, Matea; Bell, D'Wayne

2015-01-01

As the nation slowly emerges from the Great Recession, the patterns of student aid are returning to the paths they were on before the economy crashed. The federal government, which dramatically stepped up its subsidies to students in 2009-10 and 2010-11, continues to play an expanded role, but not a growing role. Students continue to borrow at…

Investing in Education Powers U.S. Competitiveness: Education Funding Must Be Preserved

ERIC Educational Resources Information Center

Epstein, Diana

2012-01-01

Education is the key to American competitiveness and a strong economy, and continued federal investment in education is needed in order to support improvements in student achievement and put American economy on the path to sustained growth. The United States must continue to invest in education in order to create a system that is more equitable…

Sustaining Moore's law with 3D chips

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

DeBenedictis, Erik P.; Badaroglu, Mustafa; Chen, An

Here, rather than continue the expensive and time-consuming quest for transistor replacement, the authors argue that 3D chips coupled with new computer architectures can keep Moore's law on its traditional scaling path.

Sustaining Moore's law with 3D chips

DOE PAGES

DeBenedictis, Erik P.; Badaroglu, Mustafa; Chen, An; ...

2017-08-01

Here, rather than continue the expensive and time-consuming quest for transistor replacement, the authors argue that 3D chips coupled with new computer architectures can keep Moore's law on its traditional scaling path.

AEA Cell-Bypass-Switch Activation: An Update

NASA Technical Reports Server (NTRS)

Keys, Denney; Rao, Gopalakrishna M.; Wannemacher, Harry

2002-01-01

The objectives of this project included the following: (1) verify the performance of AEA cell bypass protection device (CBPD) under simulated EOS-Aqua/Aura flight hardware configuration; (2) assess the safety of the hardware under an inadvertent firing of CBPD switch, as well as the closing of CBPD; and (3) confirm that the mode of operation of CBPD switch is the formation of a continuous low impedance path (a homogeneous low melting point alloy). The nominal performance of AEA CBPD under flight operating conditions (vacuum except zero-G, and high impedance cell) has been demonstrated. There is no evidence of cell rupture or excessive heat production during or after CBPD switch activation under simulated high cell impedance (open-circuit cell failure mode). The formation of a continuous low impedance path (a homogeneous low melting point alloy) has been confirmed.

Dual-wavelength, continuous-wave Yb:YAG laser for high-resolution photothermal common-path interferometry.

PubMed

Zhuang, Fengjiang; Jungbluth, Bernd; Gronloh, Bastian; Hoffmann, Hans-Dieter; Zhang, Ge

2013-07-20

We present a continuous-wave (CW) intracavity frequency-doubled Yb:YAG laser providing 1030 and 515 nm output simultaneously. This laser system was designed for photothermal common-path interferometry to measure spatially resolved profiles of the linear absorption in dielectric media and coatings for visible or infrared light as well as of the nonlinear absorption for the combination of both. A Z-shape laser cavity was designed, providing a beam waist in which an LBO crystal was located for effective second-harmonic generation (SHG). Suitable frequency conversion parameters and cavity configurations were discussed to achieve the optimal performance of a diode-pumped CW SHG laser. A 12.4 W 1030 nm laser and 5.4 W 515 nm laser were developed simultaneously in our experiment.

Estimating Brownian motion dispersal rate, longevity and population density from spatially explicit mark-recapture data on tropical butterflies.

PubMed

Tufto, Jarle; Lande, Russell; Ringsby, Thor-Harald; Engen, Steinar; Saether, Bernt-Erik; Walla, Thomas R; DeVries, Philip J

2012-07-01

1. We develop a Bayesian method for analysing mark-recapture data in continuous habitat using a model in which individuals movement paths are Brownian motions, life spans are exponentially distributed and capture events occur at given instants in time if individuals are within a certain attractive distance of the traps. 2. The joint posterior distribution of the dispersal rate, longevity, trap attraction distances and a number of latent variables representing the unobserved movement paths and time of death of all individuals is computed using Gibbs sampling. 3. An estimate of absolute local population density is obtained simply by dividing the Poisson counts of individuals captured at given points in time by the estimated total attraction area of all traps. Our approach for estimating population density in continuous habitat avoids the need to define an arbitrary effective trapping area that characterized previous mark-recapture methods in continuous habitat. 4. We applied our method to estimate spatial demography parameters in nine species of neotropical butterflies. Path analysis of interspecific variation in demographic parameters and mean wing length revealed a simple network of strong causation. Larger wing length increases dispersal rate, which in turn increases trap attraction distance. However, higher dispersal rate also decreases longevity, thus explaining the surprising observation of a negative correlation between wing length and longevity. © 2012 The Authors. Journal of Animal Ecology © 2012 British Ecological Society.

Optimization of educational paths for higher education

NASA Astrophysics Data System (ADS)

Tarasyev, Alexandr A.; Agarkov, Gavriil; Medvedev, Aleksandr

2017-11-01

In our research, we combine the theory of economic behavior and the methodology of increasing efficiency of the human capital to estimate the optimal educational paths. We provide an optimization model for higher education process to analyze possible educational paths for each rational individual. The preferences of each rational individual are compared to the best economically possible educational path. The main factor of the individual choice, which is formed by the formation of optimal educational path, deals with higher salaries level in the chosen economic sector after graduation. Another factor that influences on the economic profit is the reduction of educational costs or the possibility of the budget support for the student. The main outcome of this research consists in correction of the governmental policy of investment in human capital based on the results of educational paths optimal control.

Neural Architectures for Control

NASA Technical Reports Server (NTRS)

Peterson, James K.

1991-01-01

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

NASA Technical Reports Server (NTRS)

Blackmore, Lars

2008-01-01

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

Short-Term Intervention Effects of the PATHS Curriculum in Young Low-Income Children: Capitalizing on Plasticity.

PubMed

Fishbein, Diana H; Domitrovich, Celene; Williams, Jason; Gitukui, Stephanie; Guthrie, Charles; Shapiro, Daniel; Greenberg, Mark

2016-12-01

Deficits in behavioral and cognitive regulation are prevalent in children reared in poverty relative to more affluent children due to the effects of adverse conditions on the developmental underpinnings of these skills. Despite evidence to suggest that these emergent processes are susceptible to environmental inputs, research documenting short-term intervention program influences on these regulatory domains in young impoverished children is limited. We sought to determine the proximal effects of a universal school-based intervention (the PATHS Curriculum) on social, emotional, relational, and cognitive outcomes in urban poor kindergarten children. Four schools in high-poverty neighborhoods with similar demographic characteristics were randomly assigned to either PATHS or an attentional control. Teacher-reported measures of behavior (e.g., attention, concentration, aggression), peer nominations (e.g., likability, aggression, acceptance), and tasks gauging inhibitory control were administered in the fall of kindergarten and again in the spring after one academic year (about 6 months) of PATHS. Children who received PATHS exhibited significantly greater improvements than control students across all teacher-rated behavioral measures of social competence (i.e., emotion regulation, prosocial behavior, peer relations) and behavioral problems (i.e., aggression, internalizing behaviors, impulsivity and hyperactivity) at post-test as well as improvements in motor inhibition. This line of research constitutes an important frontier for prevention research given the implications for improving ultimate outcomes for otherwise disadvantaged children.

Engineering of Genetically Arrested Parasites (GAPs) For a Precision Malaria Vaccine.

PubMed

Kreutzfeld, Oriana; Müller, Katja; Matuschewski, Kai

2017-01-01

Continuous stage conversion and swift changes in the antigenic repertoire in response to acquired immunity are hallmarks of complex eukaryotic pathogens, including Plasmodium species, the causative agents of malaria. Efficient elimination of Plasmodium liver stages prior to blood infection is one of the most promising malaria vaccine strategies. Here, we describe different genetically arrested parasites (GAPs) that have been engineered in Plasmodium berghei, P. yoelii and P. falciparum and compare their vaccine potential. A better understanding of the immunological mechanisms of prime and boost by arrested sporozoites and experimental strategies to enhance vaccine efficacy by further engineering existing GAPs into a more immunogenic form hold promise for continuous improvements of GAP-based vaccines. A critical hurdle for vaccines that elicit long-lasting protection against malaria, such as GAPs, is safety and efficacy in vulnerable populations. Vaccine research should focus on solutions toward turning malaria into a vaccine-preventable disease, which would offer an exciting new path of malaria control.

Compact CH{sub 4} sensor system based on a continuous-wave, low power consumption, room temperature interband cascade laser

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

Dong, Lei, E-mail: donglei@sxu.edu.cn; State Key Laboratory of Quantum Optics and Quantum Optics Devices, Institute of Laser Spectroscopy, Shanxi University, Taiyuan 030006; Li, Chunguang

A tunable diode laser absorption spectroscopy-based methane sensor, employing a dense-pattern multi-pass gas cell and a 3.3 μm, CW, DFB, room temperature interband cascade laser (ICL), is reported. The optical integration based on an advanced folded optical path design and an efficient ICL control system with appropriate electrical power management resulted in a CH{sub 4} sensor with a small footprint (32 × 20 × 17 cm{sup 3}) and low-power consumption (6 W). Polynomial and least-squares fit algorithms are employed to remove the baseline of the spectral scan and retrieve CH{sub 4} concentrations, respectively. An Allan-Werle deviation analysis shows that the measurement precision can reach 1.4 ppb for amore » 60 s averaging time. Continuous measurements covering a seven-day period were performed to demonstrate the stability and robustness of the reported CH{sub 4} sensor system.« less

An empirical typology of hospital nurses' individual learning paths.

PubMed

Poell, Rob F; Van der Krogt, Ferd J

2014-03-01

A relatively new theoretical concept is proposed in this paper, namely, the individual learning path. Learning paths are created by individual employees and comprise a set of learning-relevant activities that are both coherent as a whole and meaningful to them. To explore the empirical basis of this theoretical concept. A qualitative study involving semi-structured interviews. Two academic medical centers (university hospitals) and two general hospitals in the Netherlands. A total of 89 nurses were involved in the study. Semi-structured interviews were analyzed qualitatively; cluster analysis was then performed on quantified data from the interviews. Four types of learning path emerged, namely, the formal-external, self-directed, social-emotional, and information-oriented learning paths. The relatively new theoretical concept of an individual learning path can be observed in practice and a number of different learning-path types can be distinguished. Nurses were found to create their own learning paths, that is, select a theme that is relevant primarily to themselves, conduct a variety of learning activities around this theme, participate in social contexts that might help them, and mobilize learning facilities provided by their organization. These activities go way beyond the notion of employees as self-directed learners merely in a didactic sense (establishing learning goals, choosing the right learning activities for these goals, evaluating to what extent their goals have been met as a result). The findings can be interpreted as evidence of employees acting strategically when it comes to their professional development. Providers of continuing professional education/development need to take this into account. Copyright © 2013 Elsevier Ltd. All rights reserved.

The terminal area automated path generation problem

NASA Technical Reports Server (NTRS)

Hsin, C.-C.

1977-01-01

The automated terminal area path generation problem in the advanced Air Traffic Control System (ATC), has been studied. Definitions, input, output and the interrelationships with other ATC functions have been discussed. Alternatives in modeling the problem have been identified. Problem formulations and solution techniques are presented. In particular, the solution of a minimum effort path stretching problem (path generation on a given schedule) has been carried out using the Newton-Raphson trajectory optimization method. Discussions are presented on the effect of different delivery time, aircraft entry position, initial guess on the boundary conditions, etc. Recommendations are made on real-world implementations.

Toward a new task assignment and path evolution (TAPE) for missile defense system (MDS) using intelligent adaptive SOM with recurrent neural networks (RNNs).

PubMed

Wang, Chi-Hsu; Chen, Chun-Yao; Hung, Kun-Neng

2015-06-01

In this paper, a new adaptive self-organizing map (SOM) with recurrent neural network (RNN) controller is proposed for task assignment and path evolution of missile defense system (MDS). We address the problem of N agents (defending missiles) and D targets (incoming missiles) in MDS. A new RNN controller is designed to force an agent (or defending missile) toward a target (or incoming missile), and a monitoring controller is also designed to reduce the error between RNN controller and ideal controller. A new SOM with RNN controller is then designed to dispatch agents to their corresponding targets by minimizing total damaging cost. This is actually an important application of the multiagent system. The SOM with RNN controller is the main controller. After task assignment, the weighting factors of our new SOM with RNN controller are activated to dispatch the agents toward their corresponding targets. Using the Lyapunov constraints, the weighting factors for the proposed SOM with RNN controller are updated to guarantee the stability of the path evolution (or planning) system. Excellent simulations are obtained using this new approach for MDS, which show that our RNN has the lowest average miss distance among the several techniques.

Control devices and steering strategies in pathway surgery.

PubMed

Fan, Chunman; Jelínek, Filip; Dodou, Dimitra; Breedveld, Paul

2015-02-01

For pathway surgery, that is, minimally invasive procedures carried out transluminally or through instrument-created pathways, handheld maneuverable instruments are being developed. As the accompanying control interfaces of such instruments have not been optimized for intuitive manipulation, we investigated the effect of control mode (1DoF or 2DoF), and control device (joystick or handgrip) on human performance in a navigation task. The experiments were conducted using the Endo-PaC (Endoscopic-Path Controller), a simulator that emulates the shaft and handle of a maneuverable instrument, combined with custom-developed software animating pathway surgical scenarios. Participants were asked to guide a virtual instrument without collisions toward a target located at the end of a virtual curved tunnel. The performance was assessed in terms of task completion time, path length traveled by the virtual instrument, motion smoothness, collision metrics, subjective workload, and personal preference. The results indicate that 2DoF control leads to faster task completion and fewer collisions with the tunnel wall combined with a strong subjective preference compared with 1DoF control. Handgrip control appeared to be more intuitive to master than joystick control. However, the participants experienced greater physical demand and had longer path lengths with handgrip than joystick control. Copyright © 2015 Elsevier Inc. All rights reserved.

Energy Optimal Path Planning: Integrating Coastal Ocean Modelling with Optimal Control

NASA Astrophysics Data System (ADS)

Subramani, D. N.; Haley, P. J., Jr.; Lermusiaux, P. F. J.

2016-02-01

A stochastic optimization methodology is formulated for computing energy-optimal paths from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field. To set up the energy optimization, the relative vehicle speed and headings are considered to be stochastic, and new stochastic Dynamically Orthogonal (DO) level-set equations that govern their stochastic time-optimal reachability fronts are derived. Their solution provides the distribution of time-optimal reachability fronts and corresponding distribution of time-optimal paths. An optimization is then performed on the vehicle's energy-time joint distribution to select the energy-optimal paths for each arrival time, among all stochastic time-optimal paths for that arrival time. The accuracy and efficiency of the DO level-set equations for solving the governing stochastic level-set reachability fronts are quantitatively assessed, including comparisons with independent semi-analytical solutions. Energy-optimal missions are studied in wind-driven barotropic quasi-geostrophic double-gyre circulations, and in realistic data-assimilative re-analyses of multiscale coastal ocean flows. The latter re-analyses are obtained from multi-resolution 2-way nested primitive-equation simulations of tidal-to-mesoscale dynamics in the Middle Atlantic Bight and Shelbreak Front region. The effects of tidal currents, strong wind events, coastal jets, and shelfbreak fronts on the energy-optimal paths are illustrated and quantified. Results showcase the opportunities for longer-duration missions that intelligently utilize the ocean environment to save energy, rigorously integrating ocean forecasting with optimal control of autonomous vehicles.

Wavelength Locking to CO2 Absorption Line-Center for 2-Micron Pulsed IPDA Lidar Application

NASA Technical Reports Server (NTRS)

Refaat, Tamer F.; Petros, Mulugeta; Antill, Charles W.; Singh, Upendra N.; Yu, Jirong

2016-01-01

An airborne 2-micron triple-pulse integrated path differential absorption (IPDA) lidar is currently under development at NASA Langley Research Center (LaRC). This IPDA lidar system targets both atmospheric carbon dioxide (CO2) and water vapor (H2O) column measurements. Independent wavelength control of each of the transmitted laser pulses is a key feature for the success of this instrument. The wavelength control unit provides switching, tuning and locking for each pulse in reference to a 2-micron CW (Continuous Wave) laser source locked to CO2 line-center. Targeting the CO2 R30 line center, at 2050.967 nanometers, a wavelength locking unit has been integrated using semiconductor laser diode. The CO2 center-line locking unit includes a laser diode current driver, temperature controller, center-line locking controller and CO2 absorption cell. This paper presents the CO2 center-line locking unit architecture, characterization procedure and results. Assessment of wavelength jitter on the IPDA measurement error will also be addressed by comparison to the system design.

Receiver-Based Ad Hoc On Demand Multipath Routing Protocol for Mobile Ad Hoc Networks

PubMed Central

Al-Nahari, Abdulaziz; Mohamad, Mohd Murtadha

2016-01-01

Decreasing the route rediscovery time process in reactive routing protocols is challenging in mobile ad hoc networks. Links between nodes are continuously established and broken because of the characteristics of the network. Finding multiple routes to increase the reliability is also important but requires a fast update, especially in high traffic load and high mobility where paths can be broken as well. The sender node keeps re-establishing path discovery to find new paths, which makes for long time delay. In this paper we propose an improved multipath routing protocol, called Receiver-based ad hoc on demand multipath routing protocol (RB-AOMDV), which takes advantage of the reliability of the state of the art ad hoc on demand multipath distance vector (AOMDV) protocol with less re-established discovery time. The receiver node assumes the role of discovering paths when finding data packets that have not been received after a period of time. Simulation results show the delay and delivery ratio performances are improved compared with AOMDV. PMID:27258013

Receiver-Based Ad Hoc On Demand Multipath Routing Protocol for Mobile Ad Hoc Networks.

PubMed

Al-Nahari, Abdulaziz; Mohamad, Mohd Murtadha

2016-01-01

Decreasing the route rediscovery time process in reactive routing protocols is challenging in mobile ad hoc networks. Links between nodes are continuously established and broken because of the characteristics of the network. Finding multiple routes to increase the reliability is also important but requires a fast update, especially in high traffic load and high mobility where paths can be broken as well. The sender node keeps re-establishing path discovery to find new paths, which makes for long time delay. In this paper we propose an improved multipath routing protocol, called Receiver-based ad hoc on demand multipath routing protocol (RB-AOMDV), which takes advantage of the reliability of the state of the art ad hoc on demand multipath distance vector (AOMDV) protocol with less re-established discovery time. The receiver node assumes the role of discovering paths when finding data packets that have not been received after a period of time. Simulation results show the delay and delivery ratio performances are improved compared with AOMDV.

Monitoring trace gases in downtown Toronto using open-path Fourier transform infrared spectroscopy

NASA Astrophysics Data System (ADS)

Byrne, B.; Strong, K.; Colebatch, O.; Fogal, P.; Mittermeier, R. L.; Wunch, D.; Jones, D. B. A.

2017-12-01

Emissions of greenhouse gases (GHGs) in urban environments can be highly heterogeneous. For example, vehicles produce point source emissions which can result in heterogeneous GHG concentrations on scales <10 m. The highly localized scale of these emissions can make it difficult to measure mean GHG concentrations on scales of 100-1000 m. Open-Path Fourier Transform Infrared Spectroscopy (OP-FTIR) measurements offer spatial averaging and continuous measurements of several trace gases simultaneously in the same airmass. We have set up an open-path system in downtown Toronto to monitor trace gases in the urban boundary layer. Concentrations of CO2, CO, CH4, and N2O are derived from atmospheric absorption spectra recorded over a two-way atmospheric open path of 320 m using non-linear least squares fitting. Using a simple box model and co-located boundary layer height measurements, we estimate surface fluxes of these gases in downtown Toronto from our OP-FTIR observations.

Automated generation of weld path trajectories.

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

Sizemore, John M.; Hinman-Sweeney, Elaine Marie; Ames, Arlo Leroy

2003-06-01

AUTOmated GENeration of Control Programs for Robotic Welding of Ship Structure (AUTOGEN) is software that automates the planning and compiling of control programs for robotic welding of ship structure. The software works by evaluating computer representations of the ship design and the manufacturing plan. Based on this evaluation, AUTOGEN internally identifies and appropriately characterizes each weld. Then it constructs the robot motions necessary to accomplish the welds and determines for each the correct assignment of process control values. AUTOGEN generates these robot control programs completely without manual intervention or edits except to correct wrong or missing input data. Most shipmore » structure assemblies are unique or at best manufactured only a few times. Accordingly, the high cost inherent in all previous methods of preparing complex control programs has made robot welding of ship structures economically unattractive to the U.S. shipbuilding industry. AUTOGEN eliminates the cost of creating robot control programs. With programming costs eliminated, capitalization of robots to weld ship structures becomes economically viable. Robot welding of ship structures will result in reduced ship costs, uniform product quality, and enhanced worker safety. Sandia National Laboratories and Northrop Grumman Ship Systems worked with the National Shipbuilding Research Program to develop a means of automated path and process generation for robotic welding. This effort resulted in the AUTOGEN program, which has successfully demonstrated automated path generation and robot control. Although the current implementation of AUTOGEN is optimized for welding applications, the path and process planning capability has applicability to a number of industrial applications, including painting, riveting, and adhesive delivery.« less

Near-Simultaneous Measurement of Ground Level Carbon Dioxide and Methane Concentrations with an Open-Path Tunable Diode Laser Sensor at the Bonanza Creek Long Term Ecological Research site near Fairbanks, Alaska

NASA Astrophysics Data System (ADS)

Bailey, D. M.; Miller, J. H. H.

2017-12-01

Beyond anthropogenic carbon emissions, the increase in atmospheric carbon from natural feedbacks such as thawing permafrost poses a risk to the global climate as global temperatures continue to increase. Permafrost is formally defined as soil that is continuously frozen for 24 consecutive months. These soils comprise nearly twenty-five percent of the Earth's terrestrial surface and possess twice the amount of carbon currently in the atmosphere. Continuous collection of carbon dioxide (CO2) and methane (CH4) concentrations is imperative in understanding seasonal and inter-annual variability of carbon feedbacks above thawing permafrost. A multi-year collaborative effort with the University of Alaska - Fairbanks, NASA Goddard Space Flight Center, and our group at George Washington University is underway to monitor these feedbacks near Fairbanks, Alaska. In June 2017, we deployed two open-path tunable diode laser sensors at the Bonanza Long Term Ecological Research Site for measurement of CO2 and CH4 concentrations. The open-path instrument (OPI) is an inexpensive, low-power sensor that collects spatially-integrated measurements of target molecules approximately 1.5 meters above ground level. With a total power burden of 18 W, the sensors ran exclusively on solar power for 15 days in a young thermokarst bog and 3.5 days at a rich fen site. Here we report on initial retrieval of diurnal cycles from each field site and compare our spatially-integrated measurements of CO2 and CH4. For CO2, the magnitude of the diurnal cycles show a strong dependence on daily weather at both field sites. These laser measurements are complemented by point measurements of CO2, temperature, pressure, and humidity made along the laser's optical path by non-dispersive infrared (NDIR) sensors.

Simulator evaluation of display concepts for pilot monitoring and control of space shuttle approach and landing. Phase 2: Manual flight control

NASA Technical Reports Server (NTRS)

Gartner, W. B.; Baldwin, K. M.

1973-01-01

A study of the display requirements for final approach management of the space shuttle orbiter vehicle is presented. An experimental display concept, providing a more direct, pictorial representation of the vehicle's movement relative to the selected approach path and aiming points, was developed and assessed as an aid to manual flight path control. Both head-up, windshield projections and head-down, panel mounted presentations of the experimental display were evaluated in a series of simulated orbiter approach sequence. Data obtained indicate that the experimental display would enable orbiter pilots to exercise greater flexibility in implementing alternative final approach control strategies. Touchdown position and airspeed dispersion criteria were satisfied on 91 percent of the approach sequences, representing various profile and wind effect conditions. Flight path control and airspeed management satisfied operationally-relevant criteria for the two-segment, power-off orbiter approach and were consistently more accurate and less variable when the full set of experimental display elements was available to the pilot. Approach control tended to be more precise when the head-up display was used; however, the data also indicate that the head-down display would provide adequate support for the manual control task.

Visual search in scenes involves selective and non-selective pathways

PubMed Central

Wolfe, Jeremy M; Vo, Melissa L-H; Evans, Karla K; Greene, Michelle R

2010-01-01

How do we find objects in scenes? For decades, visual search models have been built on experiments in which observers search for targets, presented among distractor items, isolated and randomly arranged on blank backgrounds. Are these models relevant to search in continuous scenes? This paper argues that the mechanisms that govern artificial, laboratory search tasks do play a role in visual search in scenes. However, scene-based information is used to guide search in ways that had no place in earlier models. Search in scenes may be best explained by a dual-path model: A “selective” path in which candidate objects must be individually selected for recognition and a “non-selective” path in which information can be extracted from global / statistical information. PMID:21227734

Guidance and Control for Tactical Guided Weapons with Emphasis on Simulation and Testing

DTIC Science & Technology

1979-05-01

VELOCITY TARGET TRAJECTORY NA MORE DIRECT MISSILE PATH NOTE: IN THE DIRECT PATH. LINE OF SIGHT RATE IS POSITIVE BEFORE BURNOUT AND NEGATIVE...FOLLOWING BURNOUT FIGURE 3-1 PROPORTIONAL NAVIGATION GUIDANCE AND A MORE DIRECT APPROACH PATH In thi Studie small two, b Becaus the ga for ot...During the tests, the missile was suspended in low- frequency slings, and both launch and burnout flight conditions were tested. An active

The assessment of postural control and the influence of a secondary task in people with anterior cruciate ligament reconstructed knees using a Nintendo Wii Balance Board.

PubMed

Howells, Brooke E; Clark, Ross A; Ardern, Clare L; Bryant, Adam L; Feller, Julian A; Whitehead, Timothy S; Webster, Kate E

2013-09-01

Postural control impairments may persist following anterior cruciate ligament (ACL) reconstruction. The effect of a secondary task on postural control has, however, not been determined. The purpose of this case-control study was to compare postural control in patients following ACL reconstruction with healthy individuals with and without a secondary task. 45 patients (30 men and 15 women) participated at least 6 months following primary ACL reconstruction surgery. Participants were individually matched by age, gender and sports activity to healthy controls. Postural control was measured using a Nintendo Wii Balance Board and customised software during static single-leg stance and with the addition of a secondary task. The secondary task required participants to match the movement of an oscillating marker by adducting and abducting their arm. Centre of pressure (CoP) path length in both medial-lateral and anterior-posterior directions, and CoP total path length. When compared with the control group, the anterior-posterior path length significantly increased in the ACL reconstruction patients' operated (12.3%, p=0.02) and non-operated limbs (12.8%, p=0.02) for the single-task condition, and the non-operated limb (11.5%, p=0.006) for the secondary task condition. The addition of a secondary task significantly increased CoP path lengths in all measures (p<0.001), although the magnitude of the increase was similar in both the ACL reconstruction and control groups. ACL reconstruction patients showed a reduced ability in both limbs to control the movement of the body in the anterior-posterior direction. The secondary task affected postural control by comparable amounts in patients after ACL reconstruction and healthy controls. Devices for the objective measurement of postural control, such as the one used in this study, may help clinicians to more accurately identify patients with deficits who may benefit from targeted neuromuscular training programs.

Adolescent-parent attachment as a mediator of relations between parenting and adolescent social behavior and wellbeing in China.

PubMed

Cai, Mengfei; Hardy, Sam A; Olsen, Joseph A; Nelson, David A; Yamawaki, Niwako

2013-01-01

The purpose of this study was to examine links between parenting dimensions (authoritative parenting, psychological control, and parental authority) and adolescent wellbeing (self-esteem, autonomy, and peer attachments) as mediated by parent-teen attachment, among Chinese families. The sample included 298 Chinese adolescents, ages 15-18 years (M(age) = 16.36, SD = .68; 60% female). The mediation model was examined using path analyses (one model with parental authority as overprotection, and one with it as perceived behavioral control). To improve model fit a direct path was added from authoritative parenting to autonomy. Authoritative parenting was positively predictive of attachment, while psychological control and overprotection (but not behavioral control) were negative predictors. In turn, adolescent-parent attachment was positively related to the three outcomes. Lastly, the model paths did not differ by adolescent gender. These findings suggest that parenting behaviors may play a crucial role in adolescent social behaviors and wellbeing via adolescent-parent attachment.

Validation of double-pulse 1572 nm integrated path differential absorption lidar measurement of carbon dioxide

NASA Astrophysics Data System (ADS)

Du, Juan; Liu, Jiqiao; Bi, Decang; Ma, Xiuhua; Hou, Xia; Zhu, Xiaolei; Chen, Weibiao

2018-04-01

A ground-based double-pulse 1572 nm integrated path differential absorption (IPDA) lidar was developed for carbon dioxide (CO2) column concentrations measurement. The lidar measured the CO2 concentrations continuously by receiving the scattered echo signal from a building about 1300 m away. The other two instruments of TDLAS and in-situ CO2 analyzer measured the CO2 concentrations on the same time. A CO2 concentration measurement of 430 ppm with 1.637 ppm standard error was achieved.

Dynamic Programming Algorithms for Planning and Robotics in Continuous Domains and the Hamilton-Jacobi Equation

DTIC Science & Technology

2008-09-22

provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently...CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT Same as Report (SAR) 18. NUMBER OF PAGES 72 19a. NAME OF RESPONSIBLE PERSON a . REPORT unclassified b...2008 Ian Mitchell, University of British Columbia 3 Basic Path Planning • Find the optimal path p(s) to a target (or from a source) • Inputs – Cost c

Global paths of time-periodic solutions of the Benjamin-Ono equation connecting arbitrary traveling waves

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

Ambrose, David M.; Wilkening, Jon

2008-12-11

We classify all bifurcations from traveling waves to non-trivial time-periodic solutions of the Benjamin-Ono equation that are predicted by linearization. We use a spectrally accurate numerical continuation method to study several paths of non-trivial solutions beyond the realm of linear theory. These paths are found to either re-connect with a different traveling wave or to blow up. In the latter case, as the bifurcation parameter approaches a critical value, the amplitude of the initial condition grows without bound and the period approaches zero. We propose a conjecture that gives the mapping from one bifurcation to its counterpart on the othermore » side of the path of non-trivial solutions. By experimentation with data fitting, we identify the form of the exact solutions on the path connecting two traveling waves, which represents the Fourier coefficients of the solution as power sums of a finite number of particle positions whose elementary symmetric functions execute simple orbits in the complex plane (circles or epicycles). We then solve a system of algebraic equations to express the unknown constants in the new representation in terms of the mean, a spatial phase, a temporal phase, four integers (enumerating the bifurcation at each end of the path) and one additional bifurcation parameter. We also find examples of interior bifurcations from these paths of already non-trivial solutions, but we do not attempt to analyze their algebraic structure.« less

Predictive Sea State Estimation for Automated Ride Control and Handling - PSSEARCH

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.; Howard, Andrew B.; Aghazarian, Hrand; Rankin, Arturo L.

2012-01-01

PSSEARCH provides predictive sea state estimation, coupled with closed-loop feedback control for automated ride control. It enables a manned or unmanned watercraft to determine the 3D map and sea state conditions in its vicinity in real time. Adaptive path-planning/ replanning software and a control surface management system will then use this information to choose the best settings and heading relative to the seas for the watercraft. PSSEARCH looks ahead and anticipates potential impact of waves on the boat and is used in a tight control loop to adjust trim tabs, course, and throttle settings. The software uses sensory inputs including IMU (Inertial Measurement Unit), stereo, radar, etc. to determine the sea state and wave conditions (wave height, frequency, wave direction) in the vicinity of a rapidly moving boat. This information can then be used to plot a safe path through the oncoming waves. The main issues in determining a safe path for sea surface navigation are: (1) deriving a 3D map of the surrounding environment, (2) extracting hazards and sea state surface state from the imaging sensors/map, and (3) planning a path and control surface settings that avoid the hazards, accomplish the mission navigation goals, and mitigate crew injuries from excessive heave, pitch, and roll accelerations while taking into account the dynamics of the sea surface state. The first part is solved using a wide baseline stereo system, where 3D structure is determined from two calibrated pairs of visual imagers. Once the 3D map is derived, anything above the sea surface is classified as a potential hazard and a surface analysis gives a static snapshot of the waves. Dynamics of the wave features are obtained from a frequency analysis of motion vectors derived from the orientation of the waves during a sequence of inputs. Fusion of the dynamic wave patterns with the 3D maps and the IMU outputs is used for efficient safe path planning.

Simulation in production of open rotor propellers: from optimal surface geometry to automated control of mechanical treatment

NASA Astrophysics Data System (ADS)

Grinyok, A.; Boychuk, I.; Perelygin, D.; Dantsevich, I.

2018-03-01

A complex method of the simulation and production design of open rotor propellers was studied. An end-to-end diagram was proposed for the evaluating, designing and experimental testing the optimal geometry of the propeller surface, for the machine control path generation as well as for simulating the cutting zone force condition and its relationship with the treatment accuracy which was defined by the propeller elastic deformation. The simulation data provided the realization of the combined automated path control of the cutting tool.

Differential-Evolution Control Parameter Optimization for Unmanned Aerial Vehicle Path Planning

PubMed Central

Kok, Kai Yit; Rajendran, Parvathy

2016-01-01

The differential evolution algorithm has been widely applied on unmanned aerial vehicle (UAV) path planning. At present, four random tuning parameters exist for differential evolution algorithm, namely, population size, differential weight, crossover, and generation number. These tuning parameters are required, together with user setting on path and computational cost weightage. However, the optimum settings of these tuning parameters vary according to application. Instead of trial and error, this paper presents an optimization method of differential evolution algorithm for tuning the parameters of UAV path planning. The parameters that this research focuses on are population size, differential weight, crossover, and generation number. The developed algorithm enables the user to simply define the weightage desired between the path and computational cost to converge with the minimum generation required based on user requirement. In conclusion, the proposed optimization of tuning parameters in differential evolution algorithm for UAV path planning expedites and improves the final output path and computational cost. PMID:26943630

Puzzles in modern biology. V. Why are genomes overwired?

PubMed

Frank, Steven A

2017-01-01

Many factors affect eukaryotic gene expression. Transcription factors, histone codes, DNA folding, and noncoding RNA modulate expression. Those factors interact in large, broadly connected regulatory control networks. An engineer following classical principles of control theory would design a simpler regulatory network. Why are genomes overwired? Neutrality or enhanced robustness may lead to the accumulation of additional factors that complicate network architecture. Dynamics progresses like a ratchet. New factors get added. Genomes adapt to the additional complexity. The newly added factors can no longer be removed without significant loss of fitness. Alternatively, highly wired genomes may be more malleable. In large networks, most genomic variants tend to have a relatively small effect on gene expression and trait values. Many small effects lead to a smooth gradient, in which traits may change steadily with respect to underlying regulatory changes. A smooth gradient may provide a continuous path from a starting point up to the highest peak of performance. A potential path of increasing performance promotes adaptability and learning. Genomes gain by the inductive process of natural selection, a trial and error learning algorithm that discovers general solutions for adapting to environmental challenge. Similarly, deeply and densely connected computational networks gain by various inductive trial and error learning procedures, in which the networks learn to reduce the errors in sequential trials. Overwiring alters the geometry of induction by smoothing the gradient along the inductive pathways of improving performance. Those overwiring benefits for induction apply to both natural biological networks and artificial deep learning networks.

Development of a Mirror Pointing Mechanism for an Atmospheric Gas Measurement Instrument

NASA Technical Reports Server (NTRS)

Graham, Michael; Belous, Adel; Brown, Jeffrey; Podolske, James

1998-01-01

Development of the Open Path Tunable Infrared Monitor of the Atmosphere (OPTIMA) instrument involved designing a pair of motion systems that could maintain a precise alignment and spatial distance between two mirrors installed on the NASA DC-8 research laboratory aircraft. This is the first airborne optical instrument that allows direct measurement of the gases in the freestream airflow on the exterior of the aircraft. One mirror is mounted within a specially constructed open port cavity in the cabin of the aircraft and the second is mounted 6 meters away on top of the inboard port side (number 2) engine pylon. Three co-aligned laser beams are reflected between the two mirrors 64 times in a Herriott pattern. The resulting sample path length of 384 meters is used to perform a spectral absorption analysis of the airflow between the mirrors. To compensate for normal wing movement and engine oscillations both mirrors were designed as continuously driven mechanisms to maintain alignment within allowable limits. The motion systems of the two mirror assemblies provide five degrees of freedom and are designed to maintain a pointing accuracy within seven arc-sec with a response frequency in 6xcess of 10 Hz. The pylon motion system incorporates controlled pitch and yaw movement. The fuselage motion system compensates for pitch variation as well as linear translation for focal length and vertical aiming of the laser beam via a controlled beam guidance mechanism.

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †

PubMed Central

Zhang, Meiyan; Zheng, Yahong Rosa

2017-01-01

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X−Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem. PMID:28696377

Role of Aquaporins in a Composite Model of Water Transport in the Leaf.

PubMed

Yaaran, Adi; Moshelion, Menachem

2016-06-30

Water-transport pathways through the leaf are complex and include several checkpoints. Some of these checkpoints exhibit dynamic behavior that may be regulated by aquaporins (AQPs). To date, neither the relative weight of the different water pathways nor their molecular mechanisms are well understood. Here, we have collected evidence to support a putative composite model of water pathways in the leaf and the distribution of water across those pathways. We describe how water moves along a single transcellular path through the parenchyma and continues toward the mesophyll and stomata along transcellular, symplastic and apoplastic paths. We present evidence that points to a role for AQPs in regulating the relative weight of each path in the overall leaf water-transport system and the movement of water between these paths as a result of the integration of multiple signals, including transpiration demand, water potential and turgor. We also present a new theory, the hydraulic fuse theory, to explain effects of the leaf turgor-loss-point on water paths alternation and the subsequent reduction in leaf hydraulic conductivity. An improved understating of leaf water-balance management may lead to the development of crops that use water more efficiently, and responds better to environmental changes.

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †.

PubMed

Cai, Wenyu; Zhang, Meiyan; Zheng, Yahong Rosa

2017-07-11

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X - Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

Development of a digital automatic control law for steep glideslope capture and flare

NASA Technical Reports Server (NTRS)

Halyo, N.

1977-01-01

A longitudinal digital guidance and control law for steep glideslopes using MLS (Microwave Landing System) data is developed for CTOL aircraft using modern estimation and control techniques. The control law covers the final approach phases of glideslope capture, glideslope tracking, and flare to touchdown for automatic landings under adverse weather conditions. The control law uses a constant gain Kalman filter to process MLS and body-mounted accelerometer data to form estimates of flight path errors and wind velocities including wind shear. The flight path error estimates and wind estimates are used for feedback in generating control surface commands. Results of a digital simulation of the aircraft dynamics and the guidance and control law are presented for various wind conditions.

STS-99 Flight Day Highlights and Crew Activities Report

NASA Technical Reports Server (NTRS)

2000-01-01

Live footage shows the Blue Team (second of the dual shift crew), Dominic L. Pudwill Gorie, Janice E. Voss and Mamoru Mohri, beginning the first mapping swath covering a 140-mile-wide path. While Mohri conducts mapping operations, Voss and Gorie are seen participating in a news conference with correspondents from NBC and CNN. The Red Team (first of the dual shift crew), Kevin R. Kregel, Janet L. Kavandi and Gerhard P.J. Thiele, relieves the Blue Team and are seen continuing the mapping operations for this around the clock Shuttle Radar Topography Mission (SRTM). Commander Kregel is shown performing boom (mass) durability tests, calibrating the EarthCam Payload, and speaking with the Launch Control Center (LCC) about trouble shooting a bracket for better camera angle.

Auxiliary Propulsion Activities in Support of NASA's Exploration Initiative

NASA Technical Reports Server (NTRS)

Best, Philip J.; Unger, Ronald J.; Waits, David A.

2005-01-01

The Space Launch Initiative (SLI) procurement mechanism NRA8-30 initiated the Auxiliary Propulsion System/Main Propulsion System (APS/MPS) Project in 2001 to address technology gaps and development risks for non-toxic and cryogenic propellants for auxiliary propulsion applications. These applications include reaction control and orbital maneuvering engines, and storage, pressure control, and transfer technologies associated with on-orbit maintenance of cryogens. The project has successfully evolved over several years in response to changing requirements for re-usable launch vehicle technologies, general launch technology improvements, and, most recently, exploration technologies. Lessons learned based on actual hardware performance have also played a part in the project evolution to focus now on those technologies deemed specifically relevant to the Exploration Initiative. Formal relevance reviews held in the spring of 2004 resulted in authority for continuation of the Auxiliary Propulsion Project through Fiscal Year 2005 (FY05), and provided for a direct reporting path to the Exploration Systems Mission Directorate. The tasks determined to be relevant under the project were: continuation of the development, fabrication, and delivery of three 870 lbf thrust prototype LOX/ethanol reaction control engines; the fabrication, assembly, engine integration and testing of the Auxiliary Propulsion Test Bed at White Sands Test Facility; and the completion of FY04 cryogenic fluid management component and subsystem development tasks (mass gauging, pressure control, and liquid acquisition elements). This paper presents an overview of those tasks, their scope, expectations, and results to-date as carried forward into the Exploration Initiative.

Methane fluxes above the Hainich forest by True Eddy Accumulation and Eddy Covariance

NASA Astrophysics Data System (ADS)

Siebicke, Lukas; Gentsch, Lydia; Knohl, Alexander

2016-04-01

Understanding the role of forests for the global methane cycle requires quantifying vegetation-atmosphere exchange of methane, however observations of turbulent methane fluxes remain scarce. Here we measured turbulent fluxes of methane (CH4) above a beech-dominated old-growth forest in the Hainich National Park, Germany, and validated three different measurement approaches: True Eddy Accumulation (TEA, closed-path laser spectroscopy), and eddy covariance (EC, open-path and closed-path laser spectroscopy, respectively). The Hainich flux tower is a long-term Fluxnet and ICOS site with turbulent fluxes and ecosystem observations spanning more than 15 years. The current study is likely the first application of True Eddy Accumulation (TEA) for the measurement of turbulent exchange of methane and one of the very few studies comparing open-path and closed-path eddy covariance (EC) setups side-by-side. We observed uptake of methane by the forest during the day (a methane sink with a maximum rate of 0.03 μmol m-2 s-1 at noon) and no or small fluxes of methane from the forest to the atmosphere at night (a methane source of typically less than 0.01 μmol m-2 s-1) based on continuous True Eddy Accumulation measurements in September 2015. First results comparing TEA to EC CO2 fluxes suggest that True Eddy Accumulation is a valid option for turbulent flux quantifications using slow response gas analysers (here CRDS laser spectroscopy, other potential techniques include mass spectroscopy). The TEA system was one order of magnitude more energy efficient compared to closed-path eddy covariance. The open-path eddy covariance setup required the least amount of user interaction but is often constrained by low signal-to-noise ratios obtained when measuring methane fluxes over forests. Closed-path eddy covariance showed good signal-to-noise ratios in the lab, however in the field it required significant amounts of user intervention in addition to a high power consumption. We conclude, based on preliminary evidence, that the Hainich forest acted as a moderate net sink for methane during the investigation. This supports earlier findings from chamber measurements at the Hainich forest site and is similar to findings from other forest sites. Our observations will be continued through 2016 and beyond to provide longer-term methane flux time series spanning entire seasons. However, the current data set already provides a basis for further consolidating methods of measurements and analysis of turbulent methane fluxes using eddy covariance and true eddy accumulation.

Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning.

PubMed

Trinh, Lan Anh; Ekström, Mikael; Cürüklü, Baran

2018-01-01

Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta * algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta * algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of these two fields results in a safe path planning algorithm, with a deterministic outcome, to navigate agents to their desired goals.

Alternations in burial and exhumation along the Selimiye (Kayabükü) shear zone in the Menderes Massif from detailed garnet pressure-temperature paths

NASA Astrophysics Data System (ADS)

Kelly, E. D.; Atakturk, K. R.; Catlos, E. J.; Lizzadro-McPherson, D. J.; Cemen, I.; Lovera, O. M.

2015-12-01

Pressure-temperature (P-T) paths derived from garnet chemical zoning and supported by thermal modeling record alternating burial and exhumation during Main Menderes Metamorphism in western Turkey. We studied six rocks along the Selimiye (Kayabükü) shear zone, three from the footwall (Çine nappe) and three from the hanging wall (Selimiye nappe). The shear zone bounds the southern Menderes Massif metamorphic core complex and has been suggested to record compression followed by extension. The rocks are lower-amphibolite facies garnet-bearing metapelites with nearly identical mineral suites. Retrograde overprinting hinders classical thermobarometry; to overcome this, preserved chemical zoning in garnet combined with a G-minimization approach was used to construct detailed P-T paths (e.g., 50 points in some paths). During continuous temperature increase, the Çine nappe paths show increasing, decreasing, and then increasing pressure (an N-shaped path) ending at 7-8 kbar and ~565-590 °C. The Selimiye nappe paths show a single increase in P-T ending at ~7.3 kbar and ~580 °C. Similar bulk-rock compositions in all samples and the separation by the shear zone suggest that garnets grew during distinct events in each nappe. The timing of garnet growth, and thus the P-T paths, is currently undetermined, as monazite inclusions in garnet appear secondary and complicated by excess common Pb. The Çine nappe N-shaped path describes alternations in burial and exhumation, possibly due to thrust motion along the shear zone. To demonstrate the physical plausibility of the P-T paths, a 2-D finite difference solution to the diffusion-advection equation was applied. The results of the thermal modeling suggest that thrusting, denudation, and renewed thrusting would produce similar changes in P-T to the N-shaped path. Thus, the Çine nappe N-shaped P-T path appears to record a gap in thrust motion along the Selimiye (Kayabükü) shear zone prior to ultimate unroofing of the massif.

Vision-based obstacle avoidance

DOEpatents

Galbraith, John [Los Alamos, NM

2006-07-18

A method for allowing a robot to avoid objects along a programmed path: first, a field of view for an electronic imager of the robot is established along a path where the electronic imager obtains the object location information within the field of view; second, a population coded control signal is then derived from the object location information and is transmitted to the robot; finally, the robot then responds to the control signal and avoids the detected object.

Autonomous search and surveillance with small fixed wing aircraft

NASA Astrophysics Data System (ADS)

McGee, Timothy Garland

Small unmanned aerial vehicles (UAVs) have the potential to act as low cost tools in a variety of both civilian and military applications including traffic monitoring, border patrol, and search and rescue. While most current operational UAV systems require human operators, advances in autonomy will allow these systems to reach their full potential as sensor platforms. This dissertation specifically focuses on developing advanced control, path planning, search, and image processing techniques that allow small fixed wing aircraft to autonomously collect data. The problems explored were motivated by experience with the development and experimental flight testing of a fleet of small autonomous fixed wing aircraft. These issues, which have not been fully addressed in past work done on ground vehicles or autonomous helicopters, include the influence of wind and turning rate constraints, the non-negligible velocity of ground targets relative to the aircraft velocity, and limitations on sensor size and processing power on small vehicles. Several contributions for the autonomous operation of small fixed wing aircraft are presented. Several sliding surface controllers are designed which extend previous techniques to include variable sliding surface coefficients and the use of spatial vehicle dynamics. These advances eliminate potential singularities in the control laws to follow spatially defined paths and allow smooth transition between controllers. The optimal solution for the problem of path planning through an ordered set of points for an aircraft with a bounded turning rate in the presence of a constant wind is then discussed. Path planning strategies are also explored to guarantee that a searcher will travel within sensing distance of a mobile ground target. This work assumes only a maximum velocity of the target and is designed to succeed for any possible path of the target. Closed-loop approximations of both the path planning and search techniques, using the sliding surface controllers already discussed, are also studied. Finally, a novel method is presented to detect obstacles by segmenting an image into sky and non-sky regions. The feasibility of this method is demonstrated experimentally on an aircraft test bed.

Toward the Active Control of Heat Transfer in the Hot Gas Path of Gas Turbines

NASA Technical Reports Server (NTRS)

Oertling, Jeremiah E.

2003-01-01

The work at NASA this summer has focused on assisting the Professor's project, namely "Toward the Active Control of Heat Transfer in the Hot Gas Path of Gas Turbines." The mode of controlling the Heat Transfer that the project focuses on is film cooling. Film cooling is used in high temperature regions of a gas turbine and extends the life of the components exposed to these extreme temperatures. A "cool" jet of air is injected along the surface of the blade and this layer of cool air shields the blade from the high temperatures. Cool is a relative term. The hot gas path temperatures reach on the order of 1500 to 2000 K. The "coo" air is on the order of 700 to 1000 K. This cooler air is bled off of an appropriate compressor stage. The next parameter of interest is the jet s position and orientation in the flow-field.

Fuel cell generator with fuel electrodes that control on-cell fuel reformation

DOEpatents

Ruka, Roswell J [Pittsburgh, PA; Basel, Richard A [Pittsburgh, PA; Zhang, Gong [Murrysville, PA

2011-10-25

A fuel cell for a fuel cell generator including a housing including a gas flow path for receiving a fuel from a fuel source and directing the fuel across the fuel cell. The fuel cell includes an elongate member including opposing first and second ends and defining an interior cathode portion and an exterior anode portion. The interior cathode portion includes an electrode in contact with an oxidant flow path. The exterior anode portion includes an electrode in contact with the fuel in the gas flow path. The anode portion includes a catalyst material for effecting fuel reformation along the fuel cell between the opposing ends. A fuel reformation control layer is applied over the catalyst material for reducing a rate of fuel reformation on the fuel cell. The control layer effects a variable reformation rate along the length of the fuel cell.

Lateral position detection and control for friction stir systems

DOEpatents

Fleming, Paul; Lammlein, David H.; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David R.; Hartman, Daniel A.

2012-06-05

An apparatus and computer program are disclosed for processing at least one workpiece using a rotary tool with rotating member for contacting and processing the workpiece. The methods include oscillating the rotary tool laterally with respect to a selected propagation path for the rotating member with respect to the workpiece to define an oscillation path for the rotating member. The methods further include obtaining force signals or parameters related to the force experienced by the rotary tool at least while the rotating member is disposed at the extremes of the oscillation. The force signals or parameters associated with the extremes can then be analyzed to determine a lateral position of the selected path with respect to a target path and a lateral offset value can be determined based on the lateral position. The lateral distance between the selected path and the target path can be decreased based on the lateral offset value.

Lateral position detection and control for friction stir systems

DOEpatents

Fleming, Paul [Boulder, CO; Lammlein, David H [Houston, TX; Cook, George E [Brentwood, TN; Wilkes, Don Mitchell [Nashville, TN; Strauss, Alvin M [Nashville, TN; Delapp, David R [Ashland City, TN; Hartman, Daniel A [Fairhope, AL

2011-11-08

Friction stir methods are disclosed for processing at least one workpiece using a rotary tool with rotating member for contacting and processing the workpiece. The methods include oscillating the rotary tool laterally with respect to a selected propagation path for the rotating member with respect to the workpiece to define an oscillation path for the rotating member. The methods further include obtaining force signals or parameters related to the force experienced by the rotary tool at least while the rotating member is disposed at the extremes of the oscillation. The force signals or parameters associated with the extremes can then be analyzed to determine a lateral position of the selected path with respect to a target path and a lateral offset value can be determined based on the lateral position. The lateral distance between the selected path and the target path can be decreased based on the lateral offset value.

Trajectory generation for an on-road autonomous vehicle

NASA Astrophysics Data System (ADS)

Horst, John; Barbera, Anthony

2006-05-01

We describe an algorithm that generates a smooth trajectory (position, velocity, and acceleration at uniformly sampled instants of time) for a car-like vehicle autonomously navigating within the constraints of lanes in a road. The technique models both vehicle paths and lane segments as straight line segments and circular arcs for mathematical simplicity and elegance, which we contrast with cubic spline approaches. We develop the path in an idealized space, warp the path into real space and compute path length, generate a one-dimensional trajectory along the path length that achieves target speeds and positions, and finally, warp, translate, and rotate the one-dimensional trajectory points onto the path in real space. The algorithm moves a vehicle in lane safely and efficiently within speed and acceleration maximums. The algorithm functions in the context of other autonomous driving functions within a carefully designed vehicle control hierarchy.

Twenty-Five Years of Continuing Professional Development of Teachers in the Post-Communist Era in Slovakia: The Story of Paths Not Taken

ERIC Educational Resources Information Center

Kubalíková, Andrea; Kacian, Adrian

2016-01-01

This article analyzes the present status of continuing professional development of teachers (CPD) in Slovakia in the post-communist era. During 25 years of democracy in Slovak society, the system of education has undergone several formal reforms, mainly in the area of legislation. As the analysis demonstrates, CPD in Slovakia still follows the…

Prevention of adolescent problem behavior: longitudinal impact of the Project P.A.T.H.S. in Hong Kong.

PubMed

Shek, Daniel T L; Yu, Lu

2011-03-07

The present study attempts to examine the longitudinal impact of a curriculum-based positive youth development program, entitled the Project P.A.T.H.S. (Positive Adolescent Training through Holistic Social Programmes), on adolescent problem behavior in Hong Kong. Using a longitudinal randomized group design, six waves of data were collected from 19 experimental schools (n = 3,797 at Wave 1) in which students participated in the Project P.A.T.H.S. and 24 control schools (n = 4,049 at Wave 1). At each wave, students responded to questions asking about their current problem behaviors, including delinquency and use of different types of drugs, and their intentions of engaging in such behaviors in the future. Results based on individual growth curve modeling generally showed that the participants displayed lower levels of substance abuse and delinquent behavior than did the control students. Participants who regarded the program to be helpful also showed lower levels of problem behavior than did the control students. The present findings suggest that the Project P.A.T.H.S. is effective in preventing adolescent problem behavior in the junior secondary school years.

Stability of simulated flight path control at +3 Gz in a human centrifuge.

PubMed

Guardiera, Simon; Dalecki, Marc; Bock, Otmar

2010-04-01

Earlier studies have shown that naïve subjects and experienced jet pilots produce exaggerated manual forces when exposed to increased acceleration (+Gz). This study was designed to evaluate whether this exaggeration affects the stability of simulated flight path control. We evaluated naïve subjects' performance in a flight simulator which either remained stationary (+1 Gz), or rotated to induce an acceleration in accordance to the simulated flight path with a mean acceleration of about +3 Gz. In either case, subjects were requested to produce a series of altitude changes in pursuit of a visual target airplane. Resulting flight paths were analyzed to determine the largest oscillation after an altitude change (Oscillation) and the mean deviation between subject and target flight path (Tracking Error). Flight stability after an altitude change was degraded in +3 Gz compared to +1 Gz, as evidenced by larger Oscillations (+11%) and increased Tracking Errors (+80%). These deficits correlated significantly with subjects' +3 Gz deficits in a manual-force production task. We conclude that force exaggeration in +3 Gz may impair flight stability during simulated jet maneuvers in naïve subjects, most likely as a consequence of vestibular stimulation.

Simulation based optimized beam velocity in additive manufacturing

NASA Astrophysics Data System (ADS)

Vignat, Frédéric; Béraud, Nicolas; Villeneuve, François

2017-08-01

Manufacturing good parts with additive technologies rely on melt pool dimension and temperature and are controlled by manufacturing strategies often decided on machine side. Strategies are built on beam path and variable energy input. Beam path are often a mix of contour and hatching strategies filling the contours at each slice. Energy input depend on beam intensity and speed and is determined from simple thermal models to control melt pool dimensions and temperature and ensure porosity free material. These models take into account variation in thermal environment such as overhanging surfaces or back and forth hatching path. However not all the situations are correctly handled and precision is limited. This paper proposes new method to determine energy input from full built chamber 3D thermal simulation. Using the results of the simulation, energy is modified to keep melt pool temperature in a predetermined range. The paper present first an experimental method to determine the optimal range of temperature. In a second part the method to optimize the beam speed from the simulation results is presented. Finally, the optimized beam path is tested in the EBM machine and built part are compared with part built with ordinary beam path.

Context Aware TCP for Intelligence, Surveillance and Reconnaissance Missions on Autonomous Platforms

DTIC Science & Technology

2014-10-08

under the Unmanned Vehicle Experimental Communications Testbed (UVECT) flight test plan and were done over the Stockbridge Research Facility in the...sure the payload did not interfere with the command and control systems of the aircraft several flight paths were selected to exert the link and the...throughput from data source to destination. Figure 1 shows the flight path of a small RPA in a PoL flight path scenario. The change of SNR

Working conditions, socioeconomic factors and low birth weight: path analysis.

PubMed

Mahmoodi, Zohreh; Karimlou, Masoud; Sajjadi, Homeira; Dejman, Masoumeh; Vameghi, Meroe; Dolatian, Mahrokh

2013-09-01

In recent years, with socioeconomic changes in the society, the presence of women in the workplace is inevitable. The differences in working condition, especially for pregnant women, has adverse consequences like low birth weight. This study was conducted with the aim to model the relationship between working conditions, socioeconomic factors, and birth weight. This study was conducted in case-control design. The control group consisted of 500 women with normal weight babies, and the case group, 250 women with low weight babies from selected hospitals in Tehran. Data were collected using a researcher-made questionnaire to determine mothers' lifestyle during pregnancy with low birth weight with health-affecting social determinants approach. This questionnaire investigated women's occupational lifestyle in terms of working conditions, activities, and job satisfaction. Data were analyzed with SPSS-16 and Lisrel-8.8 software using statistical path analysis. The final path model fitted well (CFI =1, RMSEA=0.00) and showed that among direct paths, working condition (β=-0.032), among indirect paths, household income (β=-0.42), and in the overall effect, unemployed spouse (β=-0.1828) had the most effects on the low birth weight. Negative coefficients indicate decreasing effect on birth weight. Based on the path analysis model, working condition and socioeconomic status directly and indirectly influence birth weight. Thus, as well as attention to treatment and health care (biological aspect), special attention must also be paid to mothers' socioeconomic factors.

Coriolis-force-induced trajectory and endpoint deviations in the reaching movements of labyrinthine-defective subjects

NASA Technical Reports Server (NTRS)

DiZio, P.; Lackner, J. R.

2001-01-01

When reaching movements are made during passive constant velocity body rotation, inertial Coriolis accelerations are generated that displace both movement paths and endpoints in their direction. These findings directly contradict equilibrium point theories of movement control. However, it has been argued that these movement errors relate to subjects sensing their body rotation through continuing vestibular activity and making corrective movements. In the present study, we evaluated the reaching movements of five labyrinthine-defective subjects (lacking both semicircular canal and otolith function) who cannot sense passive body rotation in the dark and five age-matched, normal control subjects. Each pointed 40 times in complete darkness to the location of a just extinguished visual target before, during, and after constant velocity rotation at 10 rpm in the center of a fully enclosed slow rotation room. All subjects, including the normal controls, always felt completely stationary when making their movements. During rotation, both groups initially showed large deviations of their movement paths and endpoints in the direction of the transient Coriolis forces generated by their movements. With additional per-rotation movements, both groups showed complete adaptation of movement curvature (restoration of straight-line reaches) during rotation. The labyrinthine-defective subjects, however, failed to regain fully accurate movement endpoints after 40 reaches, unlike the control subjects who did so within 11 reaches. Postrotation, both groups' movements initially had mirror image curvatures to their initial per-rotation reaches; the endpoint aftereffects were significantly different from prerotation baseline for the control subjects but not for the labyrinthine-defective subjects reflecting the smaller amount of endpoint adaptation they achieved during rotation. The labyrinthine-defective subjects' movements had significantly lower peak velocity, higher peak elevation, lower terminal velocity, and a more vertical touchdown than those of the control subjects. Thus the way their reaches terminated denied them the somatosensory contact cues necessary for full endpoint adaptation. These findings fully contradict equilibrium point theories of movement control. They emphasize the importance of contact cues in adaptive movement control and indicate that movement errors generated by Coriolis perturbations of limb movements reveal characteristics of motor planning and adaptation in both healthy and clinical populations.

Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach

DTIC Science & Technology

2015-03-01

in the framework of probabilistic finite state automata (PFSA) and language measure from a control-theoretic perspective. The proposed concept has been...DOI: 10.1115/1.4027876] Keywords: path planning, language measure, probabilistic finite state automata 1 Motivation and Introduction In general

EPA Science Matters Newsletter: Volume 2, Number 2

EPA Pesticide Factsheets

In order to support our growing planet and meet the needs of the current generation while preserving the ability of future generations to meet their needs, we must continue on the path toward sustainability through innovation.

Improving young children's social and emotional competence: a randomized trial of the preschool "PATHS" curriculum.

PubMed

Domitrovich, Celene E; Cortes, Rebecca C; Greenberg, Mark T

2007-03-01

This paper reports the results from a randomized clinical trial evaluating an adaptation of the Promoting Alternative Thinking Strategies curriculum (PATHS) for preschool-age children in Head Start. PATHS is a universal, teacher-taught social-emotional curriculum that is designed to improve children's social competence and reduce problem behavior. Twenty classrooms in two Pennsylvania communities participated in the study. Teachers in the 10 intervention classrooms implemented weekly lessons and extension activities across a 9-month period. Child assessments and teacher and parent reports of child behavior assessments were collected at the beginning and end of the school year. Analysis of covariance was used to control for baseline differences between the groups and pretest scores on each of the outcome measures. The results suggest that after exposure to PATHS, intervention children had higher emotion knowledge skills and were rated by parents and teachers as more socially competent compared to peers. Further, teachers rated intervention children as less socially withdrawn at the end of the school year compared to controls.

Development of Thin-Walled Magnesium Alloy Extrusions for Improved Crash Performance Based Upon Texture Control

NASA Astrophysics Data System (ADS)

Williams, Bruce W.; Agnew, Sean R.; Klein, Robert W.; McKinley, Jonathan

Recent investigations suggest that it is possible to achieve dramatic modifications to both strength and ductility of magnesium alloys through a combination of alloying, grain refinement, and texture control. The current work explores the possibility of altering the texture in extruded thin-walled magnesium alloy tubes for improved ductility during axial crush in which energy is absorbed through progressive buckling. The texture evolution was predicted using the viscoplastic self-consistent (VPSC) crystal plasticity model, with strain path input from continuum-based finite element simulations of extrusion. A limited diversity of textures can be induced by altering the strain path through the extrusion die design. In some cases, such as for simple bar extrusion, the textures predicted can be connected with simple shape change. In other cases, a subtle influence of strain path involving shear-reverse-shear is predicted. The most promising textures predicted for a variety of strain paths are selected for subsequent experimental study.

Testing and Results of Vacuum Swing Adsorption Units for Spacesuit Carbon Dioxide and Humidity Control

NASA Technical Reports Server (NTRS)

McMillin, Summer D.; Broerman, Craig D.; Swickrath, Michael; Anderson, Molly

2011-01-01

A principal concern for extravehicular activity (EVA) spacesuits is the capability to control carbon dioxide (CO2) and humidity (H2O) for the crewmember. The release of CO2 in a confined or unventilated area is dangerous for human health and leads to asphyxiation; therefore, CO2 and H2O control become leading factors in the design and development of the spacesuit. An amine-based CO2 and H2O vapor sorbent for use in pressure-swing regenerable beds has been developed by Hamilton Sundstrand. The application of solidamine materials with vacuum swing adsorption technology has shown the capacity to concurrently manage CO2 and H2O levels through a fully regenerative cycle eliminating mission constraints imposed with nonregenerative technologies. Two prototype solid amine-based systems, known as rapid cycle amine (RCA), were designed to continuously remove CO2 and H2O vapor from a flowing ventilation stream through the use of a two-bed amine based, vacuum-swing adsorption system. The Engineering and Science Contract Group (ESCG) RCA implements radial flow paths, whereas the Hamilton Sundstrand RCA was designed with linear flow paths. Testing was performed in a sea-level pressure environment and a reduced-pressure environment with simulated human metabolic loads in a closed-loop configuration. This paper presents the experimental results of laboratory testing for a full-size and a sub-scale test article. The testing described here characterized and evaluated the performance of each RCA unit at the required Portable Life Support Subsystem (PLSS) operating conditions. The test points simulated a range of crewmember metabolic rates. The experimental results demonstrated the ability of each RCA unit to sufficiently remove CO2 and H2O from a closed loop ambient or sub-ambient atmosphere.

The navigation system of the JPL robot

NASA Technical Reports Server (NTRS)

Thompson, A. M.

1977-01-01

The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

Local and global dynamics of Ramsey model: From continuous to discrete time.

PubMed

Guzowska, Malgorzata; Michetti, Elisabetta

2018-05-01

The choice of time as a discrete or continuous variable may radically affect equilibrium stability in an endogenous growth model with durable consumption. In the continuous-time Ramsey model [F. P. Ramsey, Econ. J. 38(152), 543-559 (1928)], the steady state is locally saddle-path stable with monotonic convergence. However, in the discrete-time version, the steady state may be unstable or saddle-path stable with monotonic or oscillatory convergence or periodic solutions [see R.-A. Dana et al., Handbook on Optimal Growth 1 (Springer, 2006) and G. Sorger, Working Paper No. 1505 (2015)]. When this occurs, the discrete-time counterpart of the continuous-time model is not consistent with the initial framework. In order to obtain a discrete-time Ramsey model preserving the main properties of the continuous-time counterpart, we use a general backward and forward discretisation as initially proposed by Bosi and Ragot [Theor. Econ. Lett. 2(1), 10-15 (2012)]. The main result of the study here presented is that, with this hybrid discretisation method, fixed points and local dynamics do not change. For what it concerns global dynamics, i.e., long-run behavior for initial conditions taken on the state space, we mainly perform numerical analysis with the main scope of comparing both qualitative and quantitative evolution of the two systems, also varying some parameters of interest.

Local and global dynamics of Ramsey model: From continuous to discrete time

NASA Astrophysics Data System (ADS)

Guzowska, Malgorzata; Michetti, Elisabetta

2018-05-01

The choice of time as a discrete or continuous variable may radically affect equilibrium stability in an endogenous growth model with durable consumption. In the continuous-time Ramsey model [F. P. Ramsey, Econ. J. 38(152), 543-559 (1928)], the steady state is locally saddle-path stable with monotonic convergence. However, in the discrete-time version, the steady state may be unstable or saddle-path stable with monotonic or oscillatory convergence or periodic solutions [see R.-A. Dana et al., Handbook on Optimal Growth 1 (Springer, 2006) and G. Sorger, Working Paper No. 1505 (2015)]. When this occurs, the discrete-time counterpart of the continuous-time model is not consistent with the initial framework. In order to obtain a discrete-time Ramsey model preserving the main properties of the continuous-time counterpart, we use a general backward and forward discretisation as initially proposed by Bosi and Ragot [Theor. Econ. Lett. 2(1), 10-15 (2012)]. The main result of the study here presented is that, with this hybrid discretisation method, fixed points and local dynamics do not change. For what it concerns global dynamics, i.e., long-run behavior for initial conditions taken on the state space, we mainly perform numerical analysis with the main scope of comparing both qualitative and quantitative evolution of the two systems, also varying some parameters of interest.

Using GIS and Google Earth for the creation of the Going-to-the-Sun Road Avalanche Atlas, Glacier National Park, Montana, USA

USGS Publications Warehouse

Peitzsch, Erich H.; Fagre, Daniel B.; Dundas, Mark

2010-01-01

Snow avalanche paths are key geomorphologic features in Glacier National Park, Montana, and an important component of mountain ecosystems: they are isolated within a larger ecosystem, they are continuously disturbed, and they contain unique physical characteristics (Malanson and Butler, 1984). Avalanches impact subalpine forest structure and function, as well as overall biodiversity (Bebi et al., 2009). Because avalanches are dynamic phenomena, avalanche path geometry and spatial extent depend upon climatic regimes. The USGS/GNP Avalanche Program formally began in 2003 as an avalanche forecasting program for the spring opening of the ever-popular Going-to-the-Sun Road (GTSR), which crosses through 37 identified avalanche paths. Avalanche safety and forecasting is a necessary part of the GTSR spring opening procedures. An avalanche atlas detailing topographic parameters and oblique photographs was completed for the GTSR corridor in response to a request from GNP personnel for planning and resource management. Using ArcMap 9.2 GIS software, polygons were created for every avalanche path affecting the GTSR using aerial imagery, field-based observations, and GPS measurements of sub-meter accuracy. Spatial attributes for each path were derived within the GIS. Resulting products include an avalanche atlas book for operational use, a geoPDF of the atlas, and a Google Earth flyover illustrating each path and associated photographs. The avalanche atlas aids park management in worker safety, infrastructure planning, and natural resource protection by identifying avalanche path patterns and location. The atlas was created for operational and planning purposes and is also used as a foundation for research such as avalanche ecology projects and avalanche path runout modeling.

Thermal Stability of Al2O3/Silicone Composites as High-Temperature Encapsulants

NASA Astrophysics Data System (ADS)

Yao, Yiying

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

The study of optimization on process parameters of high-accuracy computerized numerical control polishing

NASA Astrophysics Data System (ADS)

Huang, Wei-Ren; Huang, Shih-Pu; Tsai, Tsung-Yueh; Lin, Yi-Jyun; Yu, Zong-Ru; Kuo, Ching-Hsiang; Hsu, Wei-Yao; Young, Hong-Tsu

2017-09-01

Spherical lenses lead to forming spherical aberration and reduced optical performance. Consequently, in practice optical system shall apply a combination of spherical lenses for aberration correction. Thus, the volume of the optical system increased. In modern optical systems, aspherical lenses have been widely used because of their high optical performance with less optical components. However, aspherical surfaces cannot be fabricated by traditional full aperture polishing process due to their varying curvature. Sub-aperture computer numerical control (CNC) polishing is adopted for aspherical surface fabrication in recent years. By using CNC polishing process, mid-spatial frequency (MSF) error is normally accompanied during this process. And the MSF surface texture of optics decreases the optical performance for high precision optical system, especially for short-wavelength applications. Based on a bonnet polishing CNC machine, this study focuses on the relationship between MSF surface texture and CNC polishing parameters, which include feed rate, head speed, track spacing and path direction. The power spectral density (PSD) analysis is used to judge the MSF level caused by those polishing parameters. The test results show that controlling the removal depth of single polishing path, through the feed rate, and without same direction polishing path for higher total removal depth can efficiently reduce the MSF error. To verify the optical polishing parameters, we divided a correction polishing process to several polishing runs with different direction polishing paths. Compare to one shot polishing run, multi-direction path polishing plan could produce better surface quality on the optics.

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

NASA Technical Reports Server (NTRS)

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

1986-01-01

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

Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

DTIC Science & Technology

2016-04-28

Contract # N00014-14-C-0004 Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States Progress Report...Aviation (ONR BAA12-SN-0028). This project addresses the Sea Based Aviation (SBA) initiative in Advanced Handling Qualities for Rotorcraft. Landing a...and a degraded visual environment, workload during the landing task begins to approach the limits of a human pilot’s capability. It is a similarly

High power regenerative laser amplifier

DOEpatents

Miller, John L.; Hackel, Lloyd A.; Dane, Clifford B.; Zapata, Luis E.

1994-01-01

A regenerative amplifier design capable of operating at high energy per pulse, for instance, from 20-100 Joules, at moderate repetition rates, for instance from 5-20 Hertz is provided. The laser amplifier comprises a gain medium and source of pump energy coupled with the gain medium; a Pockels cell, which rotates an incident beam in response to application of a control signal; an optical relay system defining a first relay plane near the gain medium and a second relay plane near the rotator; and a plurality of reflectors configured to define an optical path through the gain medium, optical relay and Pockels cell, such that each transit of the optical path includes at least one pass through the gain medium and only one pass through the Pockels cell. An input coupler, and an output coupler are provided, implemented by a single polarizer. A control circuit coupled to the Pockels cell generates the control signal in timed relationship with the input pulse so that the input pulse is captured by the input coupler and proceeds through at least one transit of the optical path, and then the control signal is applied to cause rotation of the pulse to a polarization reflected by the polarizer, after which the captured pulse passes through the gain medium at least once more and is reflected out of the optical path by the polarizer before passing through the rotator again to provide an amplified pulse.

High power regenerative laser amplifier

DOEpatents

Miller, J.L.; Hackel, L.A.; Dane, C.B.; Zapata, L.E.

1994-02-08

A regenerative amplifier design capable of operating at high energy per pulse, for instance, from 20-100 Joules, at moderate repetition rates, for instance from 5-20 Hertz is provided. The laser amplifier comprises a gain medium and source of pump energy coupled with the gain medium; a Pockels cell, which rotates an incident beam in response to application of a control signal; an optical relay system defining a first relay plane near the gain medium and a second relay plane near the rotator; and a plurality of reflectors configured to define an optical path through the gain medium, optical relay and Pockels cell, such that each transit of the optical path includes at least one pass through the gain medium and only one pass through the Pockels cell. An input coupler, and an output coupler are provided, implemented by a single polarizer. A control circuit coupled to the Pockels cell generates the control signal in timed relationship with the input pulse so that the input pulse is captured by the input coupler and proceeds through at least one transit of the optical path, and then the control signal is applied to cause rotation of the pulse to a polarization reflected by the polarizer, after which the captured pulse passes through the gain medium at least once more and is reflected out of the optical path by the polarizer before passing through the rotator again to provide an amplified pulse. 7 figures.

Mechanisms of postural control in alcoholic men and women: biomechanical analysis of musculoskeletal coordination during quiet standing.

PubMed

Sullivan, Edith V; Rose, Jessica; Pfefferbaum, Adolf

2010-03-01

Excessive sway during quiet standing is a common sequela of chronic alcoholism even with prolonged sobriety. Whether alcoholic men and women who have remained abstinent from alcohol for weeks to months differ from each other in the degree of residual postural instability and biomechanical control mechanisms has not been directly tested. We used a force platform to characterize center-of-pressure biomechanical features of postural sway, with and without stabilizing conditions from touch, vision, and stance, in 34 alcoholic men, 15 alcoholic women, 22 control men, and 29 control women. Groups were matched in age (49.4 years), general intelligence, socioeconomic status, and handedness. Each alcoholic group was sober for an average of 75 days. Analysis of postural sway when using all 3 stabilizing conditions versus none revealed diagnosis and sex differences in ability to balance. Alcoholics had significantly longer sway paths, especially in the anterior-posterior direction, than controls when maintaining erect posture without balance aids. With stabilizing conditions the sway paths of all groups shortened significantly, especially those of alcoholic men, who demonstrated a 3.1-fold improvement in sway path difference between the easiest and most challenging conditions; the remaining 3 groups, each showed a approximately 2.4-fold improvement. Application of a mechanical model to partition sway paths into open-loop and closed-loop postural control systems revealed that the sway paths of the alcoholic men but not alcoholic women were characterized by greater short-term (open-loop) diffusion coefficients without aids, often associated with muscle stiffening response. With stabilizing factors, all 4 groups showed similar long-term (closed loop) postural control. Correlations between cognitive abilities and closed-loop sway indices were more robust in alcoholic men than alcoholic women. Reduction in sway and closed-loop activity during quiet standing with stabilizing factors shows some differential expression in men and women with histories of alcohol dependence. Nonetheless, enduring deficits in postural instability of both alcoholic men and alcoholic women suggest persisting liability for falling.

The MSFC Program Control Development Program

NASA Technical Reports Server (NTRS)

1994-01-01

It is the policy of the Marshall Space Flight Center (MSFC) that employees be given the opportunity to develop their individual skills and realize their full potential consistent with their selected career path and with the overall Center's needs and objectives. The MSFC Program Control Development Program has been designed to assist individuals who have selected Program Control or Program Analyst Program Control as a career path to achieve their ultimate career goals. Individuals selected to participate in the MSFC Program Control Development Program will be provided with development training in the various Program Control functional areas identified in the NASA Program Control Model. The purpose of the MSFC Program Control Development Program is to develop individual skills in the various Program Control functions by on-the-job and classroom instructional training on the various systems, tools, techniques, and processes utilized in these areas.

High bandwidth underwater optical communication.

PubMed

Hanson, Frank; Radic, Stojan

2008-01-10

We report error-free underwater optical transmission measurements at 1 Gbit/s (10(9) bits/s) over a 2 m path in a laboratory water pipe with up to 36 dB of extinction. The source at 532 nm was derived from a 1064 nm continuous-wave laser diode that was intensity modulated, amplified, and frequency doubled in periodically poled lithium niobate. Measurements were made over a range of extinction by the addition of a Mg(OH)(2) and Al(OH)(3) suspension to the water path, and we were not able to observe any evidence of temporal pulse broadening. Results of Monte Carlo simulations over ocean water paths of several tens of meters indicate that optical communication data rates >1 Gbit/s can be supported and are compatible with high-capacity data transfer applications that require no physical contact.

Three-tier multi-granularity switching system based on PCE

NASA Astrophysics Data System (ADS)

Wang, Yubao; Sun, Hao; Liu, Yanfei

2017-10-01

With the growing demand for business communications, electrical signal processing optical path switching can't meet the demand. The multi-granularity switch system that can improve node routing and switching capabilities came into being. In the traditional network, each node is responsible for calculating the path; synchronize the whole network state, which will increase the burden on the network, so the concept of path calculation element (PCE) is proposed. The PCE is responsible for routing and allocating resources in the network1. In the traditional band-switched optical network, the wavelength is used as the basic routing unit, resulting in relatively low wavelength utilization. Due to the limitation of wavelength continuity, the routing design of the band technology becomes complicated, which directly affects the utilization of the system. In this paper, optical code granularity is adopted. There is no continuity of the optical code, and the number of optical codes is more flexible than the wavelength. For the introduction of optical code switching, we propose a Code Group Routing Entity (CGRE) algorithm. In short, the combination of three-tier multi-granularity optical switching system and PCE can simplify the network structure, reduce the node load, and enhance the network scalability and survivability. Realize the intelligentization of optical network.

Why Does Mptcp Have To Make Things So Complicated : Cross Path Nids Evasion And Countermeasures

DTIC Science & Technology

2016-09-01

previously only establish communication channels over single network paths to communicate over multiple network paths. MPTCP is an enhancement toTCP that...the attacker would fail to create a Command and Control (C2) channel unless the attacker had created a new mapping to the target on the splicing...machine. This would allow the attacker to conduct C2 over a spliced channel . This may even make the attacker’s C2 more evasive. In fact, the effect

Structural control on volcanoes and magma paths from local- to orogen-scale: The central Andes case

NASA Astrophysics Data System (ADS)

Tibaldi, A.; Bonali, F. L.; Corazzato, C.

2017-03-01

Assessing the parameters that control the location and geometry of magma paths is of paramount importance for the comprehension of volcanic plumbing systems and geo-hazards. We analyse the distribution of 1518 monogenic and polygenic volcanoes of Miocene-Quaternary age of the Central Volcanic Zone of the Andes (Chile-Bolivia-Argentina), and reconstruct the magma paths at 315 edifices by analysing the morphostructural characteristics of craters and cones. Then we compare these data with outcropping dykes, tectonic structures and state of stress. Most magma paths trend N-S, NW-SE, and NE-SW, in decreasing order of frequency. The N-S and NW-SE paths coexist in the northern and southern part of the study area, whereas N-S paths dominate east of the Salar de Atacama. Outcropping dykes show the same trends. The regional Holocene stress state is given by an E-W greatest horizontal principal stress. N-S and NNE-SSW reverse faults and folds affect deposits of 4.8, 3.2 and 1.3 Ma BP, especially in the central and southern study areas. A few NW-SE left-lateral strike-slip faults are present in the interior of the volcanic arc, part of which belong to the Calama-Olacapato-El Toro fault. The volcanic chain is also affected by several N-S- and NW-SE-striking normal faults that offset Pliocene and Quaternary deposits. The results indicate different scenarios of magma-tectonic interaction, given by N-S normal and reverse faults and N-S fold hinges that guide volcano emplacement and magma paths. Magma paths are also guided by strike-slip and normal NW-SE faults, especially in the northern part of the study area. Zones with verticalized strata, with bedding striking NE-SW, also acted as preferential magma paths. These data suggest that at convergence zones with continental crust, shallow magma paths can be more sensitive to the presence and geometry of upper crustal weakness zones than to the regional state of stress.

On the efficacy of spatial sampling using manual scanning paths to determine the spatial average sound pressure level in rooms.

PubMed

Hopkins, Carl

2011-05-01

In architectural acoustics, noise control and environmental noise, there are often steady-state signals for which it is necessary to measure the spatial average, sound pressure level inside rooms. This requires using fixed microphone positions, mechanical scanning devices, or manual scanning. In comparison with mechanical scanning devices, the human body allows manual scanning to trace out complex geometrical paths in three-dimensional space. To determine the efficacy of manual scanning paths in terms of an equivalent number of uncorrelated samples, an analytical approach is solved numerically. The benchmark used to assess these paths is a minimum of five uncorrelated fixed microphone positions at frequencies above 200 Hz. For paths involving an operator walking across the room, potential problems exist with walking noise and non-uniform scanning speeds. Hence, paths are considered based on a fixed standing position or rotation of the body about a fixed point. In empty rooms, it is shown that a circle, helix, or cylindrical-type path satisfy the benchmark requirement with the latter two paths being highly efficient at generating large number of uncorrelated samples. In furnished rooms where there is limited space for the operator to move, an efficient path comprises three semicircles with 45°-60° separations.

Interferometric rotation sensor

NASA Technical Reports Server (NTRS)

Walsh, T. M. (Inventor)

1973-01-01

An interferometric rotation sensor and control system is provided which includes a compound prism interferometer and an associated direction control system. Light entering the interferometer is split into two paths with the light in the respective paths being reflected an unequal number of times, and then being recombined at an exit aperture in phase differing relationships. Incoming light is deviated from the optical axis of the device by an angle, alpha. The angle causes a similar displacement of the two component images at the exit aperture which results in a fringe pattern. Fringe numbers are directly related to angle alpha. Various control systems of the interferometer are given.

47 CFR 101.1407 - Permissible operations for MVDDS.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 47 Telecommunication 5 2010-10-01 2010-10-01 false Permissible operations for MVDDS. 101.1407 Section 101.1407 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) SAFETY AND SPECIAL RADIO... using other spectrum or media for the return or upstream path. ...

A Comparison of Risk Sensitive Path Planning Methods for Aircraft Emergency Landing

NASA Technical Reports Server (NTRS)

Meuleau, Nicolas; Plaunt, Christian; Smith, David E.; Smith, Tristan

2009-01-01

Determining the best site to land a damaged aircraft presents some interesting challenges for standard path planning techniques. There are multiple possible locations to consider, the space is 3-dimensional with dynamics, the criteria for a good path is determined by overall risk rather than distance or time, and optimization really matters, since an improved path corresponds to greater expected survival rate. We have investigated a number of different path planning methods for solving this problem, including cell decomposition, visibility graphs, probabilistic road maps (PRMs), and local search techniques. In their pure form, none of these techniques have proven to be entirely satisfactory - some are too slow or unpredictable, some produce highly non-optimal paths or do not find certain types of paths, and some do not cope well with the dynamic constraints when controllability is limited. In the end, we are converging towards a hybrid technique that involves seeding a roadmap with a layered visibility graph, using PRM to extend that roadmap, and using local search to further optimize the resulting paths. We describe the techniques we have investigated, report on our experiments with these techniques, and discuss when and why various techniques were unsatisfactory.

CAE for Injection Molding — Past, Present and the Future

NASA Astrophysics Data System (ADS)

Wang, Kuo K.

2004-06-01

It is well known that injection molding is the most effective process for mass-producing discrete plastic parts of complex shape to the highest precision at the lowest cost. However, due to the complex property of polymeric materials undergoing a transient non-isothermal process, it is equally well recognized that the quality of final products is often difficult to be assured. This is particularly true when a new mold or material is encountered. As a result, injection molding has often been viewed as an art than a science. During the past few decades, numerical simulation of injection molding process based on analytic models has become feasible for practical use as computers became faster and cheaper continually. A research effort was initiated at the Cornell Injection Molding Program (CIMP) in 1974 under a grant from the National Science Foundation. Over a quarter of the century, CIMP has established some scientific bases ranging from materials characterization, flow analysis, to prediction of part quality. Use of such CAE tools has become common place today in industry. Present effort has been primarily aimed at refinements of many aspects of the process. Computational efficiency and user-interface have been main thrusts by commercial software developers. Extension to 3-dimensional flow analysis for certain parts has drawn some attention. Research activities are continuing on molding of fiber-filled materials and reactive polymers. Expanded molding processes such as gas-assisted, co-injection, micro-molding and many others are continually being investigated. In the future, improvements in simulation accuracy and efficiency will continue. This will include in-depth studies on materials characterization. Intelligent on-line process control may draw more attention in order to achieve higher degree of automation. As Internet technology continues to evolve, Web-based CAE tools for design, production, remote process monitoring and control can come to path. The CAE tools will eventually be integrated into an Enterprise Resources Planning (ERP) system as the trend of enterprise globalization continues.

Optimal Propellant Maneuver Flight Demonstrations on ISS

NASA Technical Reports Server (NTRS)

Bhatt, Sagar; Bedrossian, Nazareth; Longacre, Kenneth; Nguyen, Louis

2013-01-01

In this paper, first ever flight demonstrations of Optimal Propellant Maneuver (OPM), a method of propulsive rotational state transition for spacecraft controlled using thrusters, is presented for the International Space Station (ISS). On August 1, 2012, two ISS reorientations of about 180deg each were performed using OPMs. These maneuvers were in preparation for the same-day launch and rendezvous of a Progress vehicle, also a first for ISS visiting vehicles. The first maneuver used 9.7 kg of propellant, whereas the second used 10.2 kg. Identical maneuvers performed without using OPMs would have used approximately 151.1kg and 150.9kg respectively. The OPM method is to use a pre-planned attitude command trajectory to accomplish a rotational state transition. The trajectory is designed to take advantage of the complete nonlinear system dynamics. The trajectory choice directly influences the cost of the maneuver, in this case, propellant. For example, while an eigenaxis maneuver is kinematically the shortest path between two orientations, following that path requires overcoming the nonlinear system dynamics, thereby increasing the cost of the maneuver. The eigenaxis path is used for ISS maneuvers using thrusters. By considering a longer angular path, the path dependence of the system dynamics can be exploited to reduce the cost. The benefits of OPM for the ISS include not only reduced lifetime propellant use, but also reduced loads, erosion, and contamination from thrusters due to fewer firings. Another advantage of the OPM is that it does not require ISS flight software modifications since it is a set of commands tailored to the specific attitude control architecture. The OPM takes advantage of the existing ISS control system architecture for propulsive rotation called USTO control mode1. USTO was originally developed to provide ISS Orbiter stack attitude control capability for a contingency tile-repair scenario, where the Orbiter is maneuvered using its robotic manipulator relative to the ISS. Since 2005 USTO has been used for nominal ISS operations.

ISS method for coordination control of nonlinear dynamical agents under directed topology.

PubMed

Wang, Xiangke; Qin, Jiahu; Yu, Changbin

2014-10-01

The problems of coordination of multiagent systems with second-order locally Lipschitz continuous nonlinear dynamics under directed interaction topology are investigated in this paper. A completely nonlinear input-to-state stability (ISS)-based framework, drawing on ISS methods, with the aid of results from graph theory, matrix theory, and the ISS cyclic-small-gain theorem, is proposed for the coordination problem under directed topology, which can effectively tackle the technical challenges caused by locally Lipschitz continuous dynamics. Two coordination problems, i.e., flocking with a virtual leader and containment control, are considered. For both problems, it is assumed that only a portion of the agents can obtain the information from the leader(s). For the first problem, the proposed strategy is shown effective in driving a group of nonlinear dynamical agents reach the prespecified geometric pattern under the condition that at least one agent in each strongly connected component of the information-interconnection digraph with zero in-degree has access to the state information of the virtual leader; and the strategy proposed for the second problem can guarantee the nonlinear dynamical agents moving to the convex hull spanned by the positions of multiple leaders under the condition that for each agent there exists at least one leader that has a directed path to this agent.

Pilots strategically compensate for display enlargements in surveillance and flight control tasks.

PubMed

Stelzer, Emily Muthard; Wickens, Christopher D

2006-01-01

Experiments were conducted to assess the impact of display size on flight control, airspace surveillance, and goal-directed target search. Research of 3-D displays has shown that display scale compression influences the perception of flight path deviation, though less is known about the causes that drive this effect. In addition, research on attention-based tasks has shown that information displaced to significant eccentricities can amplify effort, but it is unclear whether the effect generates a performance difference in complex displays. In Experiment 1, 16 pilots completed a low-fidelity flight control task under single- and dual-axis control. In Experiment 2, the control task from Experiment 1 was scaled up to a more realistic flight environment, and pilots performed hazard surveillance and target search tasks. For flight control, pilots exhibited less path error and greater stick activity with a large display, which was attributed both to greater enhanced resolution and to the fact that larger depictions of error lead to greater urgency in correcting deviations. Size did not affect hazard surveillance or search, as pilots were adaptive in altering scanning patterns in response to the enlargement of the displays. Although pilots were adaptive to display changes in search and surveillance, display size reduction diminished estimates of flight path deviation and control performance because of lowered resolution and control urgency. Care should be taken when manipulating display size, as size reduction can diminish control performance.

The Effect of Illustration on Improving Text Comprehension in Dyslexic Adults

PubMed Central

Wennås Brante, Eva; Nyström, Marcus

2016-01-01

This study analyses the effect of pictures in reading materials on the viewing patterns of dyslexic adults. By analysing viewing patterns using eye‐tracking, we captured differences in eye movements between young adults with dyslexia and controls based on the influence of reading skill as a continuous variable of the total sample. Both types of participants were assigned randomly to view either text‐only or a text + picture stimuli. The results show that the controls made an early global overview of the material and (when a picture was present) rapid transitions between text and picture. Having text illustrated with a picture decreased scores on questions about the learning material among participants with dyslexia. Controls spent 1.7% and dyslexic participants 1% of their time on the picture. Controls had 24% fewer total fixations; however, 29% more of the control group's fixations than the dyslexic group's fixations were on the picture. We also looked for effects of different types of pictures. Dyslexic subjects exhibited a comparable viewing pattern to controls when scenes were complex, but fewer fixations when scenes were neutral/simple. Individual scan paths are presented as examples of atypical viewing patterns for individuals with dyslexia as compared with controls. © 2016 The Authors. Dyslexia published by John Wiley & Sons Ltd. PMID:27892641

Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

NASA Astrophysics Data System (ADS)

Cowlagi, Raghvendra V.

Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematical model. We propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. The main contributions of this thesis are: 1. A motion planning framework based on history-dependent costs (H-costs) in cell decomposition graphs for incorporating vehicle dynamical constraints: this framework offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning, 2. An efficient and flexible algorithm for finding optimal H-cost paths, 3. A precise and general formulation of a local trajectory problem (the tile motion planning problem) that allows independent development of the discrete planner and the trajectory planner, while maintaining "compatibility" between the two planners, 4. A local trajectory generation algorithm using mpc, and the application of the concept of effective target sets for a significant simplification of the local trajectory generation problem, 5. The geometric analysis of curvature-bounded traversal of rectangular channels, leading to less conservative results in comparison with a result reported in the literature, and also to the efficient construction of effective target sets for the solution of the tile motion planning problem, 6. A wavelet-based multi-resolution path planning scheme, and a proof of completeness of the proposed scheme: such proofs are altogether absent from other works on multi-resolution path planning, 7. A technique for extracting all information about cells---namely, the locations, the sizes, and the associated image intensities---directly from the set of significant detail coefficients considered for path planning at a given iteration, and 8. The extension of the multi-resolution path planning scheme to include vehicle dynamical constraints using the aforementioned history-dependent costs approach. The future work includes an implementation of the proposed framework involving a discrete planner that solves classical planning problems more general than the single-query path planning problem considered thus far, and involving trajectory generation schemes for realistic vehicle dynamical models such as the bicycle model.

Application of Calspan pitch rate control system to the Space Shuttle for approach and landing

NASA Technical Reports Server (NTRS)

Weingarten, N. C.; Chalk, C. R.

1983-01-01

A pitch rate control system designed for use in the shuttle during approach and landing was analyzed and compared with a revised control system developed by NASA and the existing OFT control system. The design concept control system uses filtered pitch rate feedback with proportional plus integral paths in the forward loop. Control system parameters were designed as a function of flight configuration. Analysis included time and frequency domain techniques. Results indicate that both the Calspan and NASA systems significantly improve the flying qualities of the shuttle over the OFT. Better attitude and flight path control and less time delay are the primary reasons. The Calspan system is preferred because of reduced time delay and simpler mechanization. Further testing of the improved flight control systems in an in-flight simulator is recommended.

THE CRITICAL-PATH METHOD OF CONSTRUCTION CONTROL.

ERIC Educational Resources Information Center

DOMBROW, RODGER T.; MAUCHLY, JOHN

THIS DISCUSSION PRESENTS A DEFINITION AND BRIEF DESCRIPTION OF THE CRITICAL-PATH METHOD AS APPLIED TO BUILDING CONSTRUCTION. INTRODUCING REMARKS CONSIDER THE MOST PERTINENT QUESTIONS PERTAINING TO CPM AND THE NEEDS ASSOCIATED WITH MINIMIZING TIME AND COST ON CONSTRUCTION PROJECTS. SPECIFIC DISCUSSION INCLUDES--(1) ADVANTAGES OF NETWORK TECHNIQUES,…

OPEN PATH AMBIENT MEASUREMENTS OF POLLUTANTS WITH A DOAS SYSTEM

EPA Science Inventory

A differential optical absorption spectrometer (DOAS) has been in operation since August 1991 at the U.S. EPA in RTP, NC. he analyzer unit is located in an environmentally-controlled shelter in the EPA parking lot. our separate open optical paths have been established, ranging fr...

32. ISOMETRIC VIEW OF PIPING PLAN, SHOWING PATH OF CONDUIT ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

32. ISOMETRIC VIEW OF PIPING PLAN, SHOWING PATH OF CONDUIT FROM CONTROL BUNKER TO SHIELDING TANK. F.C. TORKELSON DRAWING NUMBER 842-ARVFS-701-P-1. INEL INDEX CODE NUMBER: 075 0701 60 851 151977. - Idaho National Engineering Laboratory, Advanced Reentry Vehicle Fusing System, Scoville, Butte County, ID

The 1976 Helios and Pioneer solar conjunctions-continuing corroboration of the link between Doppler noise and integrated signal path electron density

NASA Technical Reports Server (NTRS)

Berman, A. L.; Wackley, J. A.; Rockwell, S. T.

1976-01-01

Observed Doppler noise (rms phase jitter) from the 1976 solar conjunctions of the Helios 1 and 2 and the Pioneer 10 and 11 spacecraft was processed with a recently developed Doppler noise model ISEDB. Good agreement is obtained between the observed data and the model. Correlation is shown between deviations from the ISEDB model and sunspot activity, but it is insufficient to be modeled. Correlation is also shown between ISEDB model deviations for (spacecraft) signal paths on the same side of the sun.

Newberry EGS Seismic Velocity Model

DOE Data Explorer

Templeton, Dennise

2013-10-01

We use ambient noise correlation (ANC) to create a detailed image of the subsurface seismic velocity at the Newberry EGS site down to 5 km. We collected continuous data for the 22 stations in the Newberry network, together with 12 additional stations from the nearby CC, UO and UW networks. The data were instrument corrected, whitened and converted to single bit traces before cross correlation according to the methodology in Benson (2007). There are 231 unique paths connecting the 22 stations of the Newberry network. The additional networks extended that to 402 unique paths crossing beneath the Newberry site.

An Open-path Laser Transmissometer for Atmospheric Extinction Measurements

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

Chandran, P. M. Satheesh; Krishnakumar, C. P.; Varma, Ravi

2011-10-20

A transmissometer is an optical instrument which measures transmitted intensity of monochromatic light over a fixed pathlength. Prototype of a simple laser transmissometer has been developed for transmission (or extinction) measurements through suspended absorbers and scatterers in the atmosphere over tens of meters. Instrument consists of a continuous green diode pumped solid state laser, transmission optics, photodiode detectors and A/D data acquisition components. A modulated laser beam is transmitted and subsequently reflected and returned to the unit by a retroreflecting mirror assembly placed several tens of meters away. Results from an open-path field measurement of the instrument are described.

Optical properties and bioavailability of dissolved organic matter along a flow-path continuum from soil pore waters to the Kolyma River mainstem, East Siberia

NASA Astrophysics Data System (ADS)

Frey, Karen E.; Sobczak, William V.; Mann, Paul J.; Holmes, Robert M.

2016-04-01

The Kolyma River in northeast Siberia is among the six largest Arctic rivers and drains a region underlain by vast deposits of Holocene-aged peat and Pleistocene-aged loess known as yedoma, most of which is currently stored in ice-rich permafrost throughout the region. These peat and yedoma deposits are important sources of dissolved organic matter (DOM) to inland waters that in turn play a significant role in the transport and ultimate remineralization of organic carbon to CO2 and CH4 along the terrestrial flow-path continuum. The turnover and fate of terrigenous DOM during offshore transport largely depends upon the composition and amount of carbon released to inland and coastal waters. Here, we measured the ultraviolet-visible optical properties of chromophoric DOM (CDOM) from a geographically extensive collection of waters spanning soil pore waters, streams, rivers, and the Kolyma River mainstem throughout a ˜ 250 km transect of the northern Kolyma River basin. During the period of study, CDOM absorption coefficients were found to be robust proxies for the concentration of DOM, whereas additional CDOM parameters such as spectral slopes (S) were found to be useful indicators of DOM quality along the flow path. In particular, the spectral slope ratio (SR) of CDOM demonstrated statistically significant differences between all four water types and tracked changes in the concentration of bioavailable DOC, suggesting that this parameter may be suitable for clearly discriminating shifts in organic matter characteristics among water types along the full flow-path continuum across this landscape. However, despite our observations of downstream shifts in DOM composition, we found a relatively constant proportion of DOC that was bioavailable ( ˜ 3-6 % of total DOC) regardless of relative water residence time along the flow path. This may be a consequence of two potential scenarios allowing for continual processing of organic material within the system, namely (a) aquatic microorganisms are acclimating to a downstream shift in DOM composition and/or (b) photodegradation is continually generating labile DOM for continued microbial processing of DOM along the flow-path continuum. Without such processes, we would otherwise expect to see a declining fraction of bioavailable DOC downstream with increasing residence time of water in the system. With ongoing and future permafrost degradation, peat and yedoma deposits throughout the northeast Siberian region will become more hydrologically active, providing greater amounts of DOM to fluvial networks and ultimately to the Arctic Ocean. The ability to rapidly and comprehensively monitor shifts in the quantity and quality of DOM across the landscape is therefore critical for understanding potential future feedbacks within the Arctic carbon cycle.

Radiant energy receiver having improved coolant flow control means

DOEpatents

Hinterberger, H.

1980-10-29

An improved coolant flow control for use in radiant energy receivers of the type having parallel flow paths is disclosed. A coolant performs as a temperature dependent valve means, increasing flow in the warmer flow paths of the receiver, and impeding flow in the cooler paths of the receiver. The coolant has a negative temperature coefficient of viscosity which is high enough such that only an insignificant flow through the receiver is experienced at the minimum operating temperature of the receiver, and such that a maximum flow is experienced at the maximum operating temperature of the receiver. The valving is accomplished by changes in viscosity of the coolant in response to the coolant being heated and cooled. No remotely operated valves, comparators or the like are needed.

Computer-Aided Remote Driving

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

1994-01-01

System for remote control of robotic land vehicle requires only small radio-communication bandwidth. Twin video cameras on vehicle create stereoscopic images. Operator views cross-polarized images on two cathode-ray tubes through correspondingly polarized spectacles. By use of cursor on frozen image, remote operator designates path. Vehicle proceeds to follow path, by use of limited degree of autonomous control to cope with unexpected conditions. System concept, called "computer-aided remote driving" (CARD), potentially useful in exploration of other planets, military surveillance, firefighting, and clean-up of hazardous materials.

Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

DTIC Science & Technology

2016-08-12

Performing Organization: The Pennsylvania State University Department of Aerospace Engineering 231C Hammond Building University Park, PA 16802 Attn...Plant Models Used in the Study The H-60 class model was developed and distributed by ART to both NAVAIR and Penn State research teams. The model...To) 07 109 I 201 4 tD 07 I 08 12016 ’t TITLE AND SUBTITLE Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

A Lyapunov-based Approach for Time-Coordinated 3D Path-Following of Multiple Quadrotors in SO(3)

DTIC Science & Technology

2012-12-10

January 2006. [22] T. Lee, “ Robust adaptive geometric tracking controls on so(3) with an application to the attitude dynamicsof a quadrotor uav,” 2011...in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable n Quadrotors to track prede?ned...developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple Quadrotor UAVs in the presence of time-varying communication

Passive chevron replicator

NASA Technical Reports Server (NTRS)

Oeffinger, Thomas R. (Inventor); Tocci, Leonard R. (Inventor)

1977-01-01

There is described a passive replicator device to be used in magnetic bubble domain systems. The replicator is passive, i.e., does not require an active element such as a current source or the like, and both propagates and replicates bubble domains. In a preferred embodiment, the replicator uses chevron type elements arranged in an appropriate pattern so as to interact with a pair of propagation paths wherein bubble domains are propagated. A bubble in one propagation path is routinely transferred therealong and, concurrently, replicated by the instant device into another propagation path. A plurality of elements arranged in juxtaposition to the chevrons assists in controlling the propagation of the bubbles through the respective propagation paths and, at the appropriate time, provides a cutting action wherein a bubble which is elongated between the chevrons of the two propagation paths is split into two separate bubbles.

Feedforward hysteresis compensation in trajectory control of piezoelectrically-driven nanostagers

NASA Astrophysics Data System (ADS)

Bashash, Saeid; Jalili, Nader

2006-03-01

Complex structural nonlinearities of piezoelectric materials drastically degrade their performance in variety of micro- and nano-positioning applications. From the precision positioning and control perspective, the multi-path time-history dependent hysteresis phenomenon is the most concerned nonlinearity in piezoelectric actuators to be analyzed. To realize the underlying physics of this phenomenon and to develop an efficient compensation strategy, the intelligent properties of hysteresis with the effects of non-local memories are discussed. Through performing a set of experiments on a piezoelectrically-driven nanostager with high resolution capacitive position sensor, it is shown that for the precise prediction of hysteresis path, certain memory units are required to store the previous hysteresis trajectory data. Based on the experimental observations, a constitutive memory-based mathematical modeling framework is developed and trained for the precise prediction of hysteresis path for arbitrarily assigned input profiles. Using the inverse hysteresis model, a feedforward control strategy is then developed and implemented on the nanostager to compensate for the system everpresent nonlinearity. Experimental results demonstrate that the controller remarkably eliminates the nonlinear effect if memory units are sufficiently chosen for the inverse model.

Explore Stochastic Instabilities of Periodic Points by Transition Path Theory

NASA Astrophysics Data System (ADS)

Cao, Yu; Lin, Ling; Zhou, Xiang

2016-06-01

We consider the noise-induced transitions from a linearly stable periodic orbit consisting of T periodic points in randomly perturbed discrete logistic map. Traditional large deviation theory and asymptotic analysis at small noise limit cannot distinguish the quantitative difference in noise-induced stochastic instabilities among the T periodic points. To attack this problem, we generalize the transition path theory to the discrete-time continuous-space stochastic process. In our first criterion to quantify the relative instability among T periodic points, we use the distribution of the last passage location related to the transitions from the whole periodic orbit to a prescribed disjoint set. This distribution is related to individual contributions to the transition rate from each periodic points. The second criterion is based on the competency of the transition paths associated with each periodic point. Both criteria utilize the reactive probability current in the transition path theory. Our numerical results for the logistic map reveal the transition mechanism of escaping from the stable periodic orbit and identify which periodic point is more prone to lose stability so as to make successful transitions under random perturbations.

Trajectory specification for high capacity air traffic control

NASA Technical Reports Server (NTRS)

Paielli, Russell A. (Inventor)

2010-01-01

Method and system for analyzing and processing information on one or more aircraft flight paths, using a four-dimensional coordinate system including three Cartesian or equivalent coordinates (x, y, z) and a fourth coordinate .delta. that corresponds to a distance estimated along a reference flight path to a nearest reference path location corresponding to a present location of the aircraft. Use of the coordinate .delta., rather than elapsed time t, avoids coupling of along-track error into aircraft altitude and reduces effects of errors on an aircraft landing site. Along-track, cross-track and/or altitude errors are estimated and compared with a permitted error bounding space surrounding the reference flight path.

Developing a Model of Advanced Training to Promote Career Advancement for Certified Genetic Counselors: An Investigation of Expanded Skills, Advanced Training Paths, and Professional Opportunities.

PubMed

Baty, Bonnie J; Trepanier, Angela; Bennett, Robin L; Davis, Claire; Erby, Lori; Hippman, Catriona; Lerner, Barbara; Matthews, Anne; Myers, Melanie F; Robbins, Carol B; Singletary, Claire N

2016-08-01

There are currently multiple paths through which genetic counselors can acquire advanced knowledge and skills. However, outside of continuing education opportunities, there are few formal training programs designed specifically for the advanced training of genetic counselors. In the genetic counseling profession, there is currently considerable debate about the paths that should be available to attain advanced skills, as well as the skills that might be needed for practice in the future. The Association of Genetic Counseling Program Directors (AGCPD) convened a national committee, the Committee on Advanced Training for Certified Genetic Counselors (CATCGC), to investigate varied paths to post-master's training and career development. The committee began its work by developing three related grids that view career advancement from the viewpoints of the skills needed to advance (skills), ways to obtain these skills (paths), and existing genetic counselor positions that offer career change or advancement (positions). Here we describe previous work related to genetic counselor career advancement, the charge of the CATCGC, our preliminary work in developing a model through which to view genetic counselor advanced training and career advancement opportunities, and our next steps in further developing and disseminating the model.

An axisymmetric single-path model for gas transport in the conducting airways.

PubMed

Madasu, Srinath; Borhan, All; Ultman, James S

2006-02-01

In conventional one-dimensional single-path models, radially averaged concentration is calculated as a function of time and longitudinal position in the lungs, and coupled convection and diffusion are accounted for with a dispersion coefficient. The axisymmetric single-path model developed in this paper is a two-dimensional model that incorporates convective-diffusion processes in a more fundamental manner by simultaneously solving the Navier-Stokes and continuity equations with the convection-diffusion equation. A single airway path was represented by a series of straight tube segments interconnected by leaky transition regions that provide for flow loss at the airway bifurcations. As a sample application, the model equations were solved by a finite element method to predict the unsteady state dispersion of an inhaled pulse of inert gas along an airway path having dimensions consistent with Weibel's symmetric airway geometry. Assuming steady, incompressible, and laminar flow, a finite element analysis was used to solve for the axisymmetric pressure, velocity and concentration fields. The dispersion calculated from these numerical solutions exhibited good qualitative agreement with the experimental values, but quantitatively was in error by 20%-30% due to the assumption of axial symmetry and the inability of the model to capture the complex recirculatory flows near bifurcations.

Drift-Induced Selection Between Male and Female Heterogamety.

PubMed

Veller, Carl; Muralidhar, Pavitra; Constable, George W A; Nowak, Martin A

2017-10-01

Evolutionary transitions between male and female heterogamety are common in both vertebrates and invertebrates. Theoretical studies of these transitions have found that, when all genotypes are equally fit, continuous paths of intermediate equilibria link the two sex chromosome systems. This observation has led to a belief that neutral evolution along these paths can drive transitions, and that arbitrarily small fitness differences among sex chromosome genotypes can determine the system to which evolution leads. Here, we study stochastic evolutionary dynamics along these equilibrium paths. We find non-neutrality, both in transitions retaining the ancestral pair of sex chromosomes, and in those creating a new pair. In fact, substitution rates are biased in favor of dominant sex determining chromosomes, which fix with higher probabilities than mutations of no effect. Using diffusion approximations, we show that this non-neutrality is a result of "drift-induced selection" operating at every point along the equilibrium paths: stochastic jumps off the paths return with, on average, a directional bias in favor of the dominant segregating sex chromosome. Our results offer a novel explanation for the observed preponderance of dominant sex determining genes, and hint that drift-induced selection may be a common force in standard population genetic systems. Copyright © 2017 by the Genetics Society of America.

Functional Itô versus Banach space stochastic calculus and strict solutions of semilinear path-dependent equations

NASA Astrophysics Data System (ADS)

Cosso, Andrea; Russo, Francesco

2016-11-01

Functional Itô calculus was introduced in order to expand a functional F(t,Xṡ+t,Xt) depending on time t, past and present values of the process X. Another possibility to expand F(t,Xṡ+t,Xt) consists in considering the path Xṡ+t = {Xx+t,x ∈ [-T, 0]} as an element of the Banach space of continuous functions on C([-T, 0]) and to use Banach space stochastic calculus. The aim of this paper is threefold. (1) To reformulate functional Itô calculus, separating time and past, making use of the regularization procedures which match more naturally the notion of horizontal derivative which is one of the tools of that calculus. (2) To exploit this reformulation in order to discuss the (not obvious) relation between the functional and the Banach space approaches. (3) To study existence and uniqueness of smooth solutions to path-dependent partial differential equations which naturally arise in the study of functional Itô calculus. More precisely, we study a path-dependent equation of Kolmogorov type which is related to the window process of the solution to an Itô stochastic differential equation with path-dependent coefficients. We also study a semilinear version of that equation.

Covariant path integrals on hyperbolic surfaces

NASA Astrophysics Data System (ADS)

Schaefer, Joe

1997-11-01

DeWitt's covariant formulation of path integration [B. De Witt, "Dynamical theory in curved spaces. I. A review of the classical and quantum action principles," Rev. Mod. Phys. 29, 377-397 (1957)] has two practical advantages over the traditional methods of "lattice approximations;" there is no ordering problem, and classical symmetries are manifestly preserved at the quantum level. Applying the spectral theorem for unbounded self-adjoint operators, we provide a rigorous proof of the convergence of certain path integrals on Riemann surfaces of constant curvature -1. The Pauli-DeWitt curvature correction term arises, as in DeWitt's work. Introducing a Fuchsian group Γ of the first kind, and a continuous, bounded, Γ-automorphic potential V, we obtain a Feynman-Kac formula for the automorphic Schrödinger equation on the Riemann surface ΓH. We analyze the Wick rotation and prove the strong convergence of the so-called Feynman maps [K. D. Elworthy, Path Integration on Manifolds, Mathematical Aspects of Superspace, edited by Seifert, Clarke, and Rosenblum (Reidel, Boston, 1983), pp. 47-90] on a dense set of states. Finally, we give a new proof of some results in C. Grosche and F. Steiner, "The path integral on the Poincare upper half plane and for Liouville quantum mechanics," Phys. Lett. A 123, 319-328 (1987).

Control system and method for a universal power conditioning system

DOEpatents

Lai, Jih-Sheng; Park, Sung Yeul; Chen, Chien-Liang

2014-09-02

A new current loop control system method is proposed for a single-phase grid-tie power conditioning system that can be used under a standalone or a grid-tie mode. This type of inverter utilizes an inductor-capacitor-inductor (LCL) filter as the interface in between inverter and the utility grid. The first set of inductor-capacitor (LC) can be used in the standalone mode, and the complete LCL can be used for the grid-tie mode. A new admittance compensation technique is proposed for the controller design to avoid low stability margin while maintaining sufficient gain at the fundamental frequency. The proposed current loop controller system and admittance compensation technique have been simulated and tested. Simulation results indicate that without the admittance path compensation, the current loop controller output duty cycle is largely offset by an undesired admittance path. At the initial simulation cycle, the power flow may be erratically fed back to the inverter causing catastrophic failure. With admittance path compensation, the output power shows a steady-state offset that matches the design value. Experimental results show that the inverter is capable of both a standalone and a grid-tie connection mode using the LCL filter configuration.

Toward a nuclear weapons free world?

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

Maaranen, S.A.

Doubts about the wisdom of relying on nuclear weapons are as old as nuclear weapons themselves. But despite this questioning, nuclear weapons came to be seen as the indispensable element of American (indeed Western) security during the Cold War. By the 1970s and 1980s, however, discontent was growing about the intense US-Soviet nuclear arms competition, as it failed to provide any enduring improvement in security; rather, it was seen as creating ever greater risks and dangers. Arms control negotiations and limitations, adopted as a means to regulate the technical competition, may also have relieved some of the political pressures andmore » dangers. But the balance of terror, and the fears of it, continued. The Strategic Defense Initiative (SDI) under President Reagan was a very different approach to escaping from the precarious protection of nuclear weapons, in that it sought a way to continue to defend the US and the West, but without the catastrophic risks of mutual deterrence. As such, SDI connoted unhappiness with the precarious nuclear balance and, for many, with nuclear weapons in general. The disappearance of the Warsaw Pact, the disintegration of the Soviet Union, and the sudden end of the Cold War seemed to offer a unique opportunity to fashion a new, more peaceful world order that might allow for fading away of nuclear weapons. Scholars have foreseen two different paths to a nuclear free world. The first is a fundamental improvement in the relationships between states such that nuclear weapons are no longer needed. The second path is through technological development, e.g., missile defenses which could provide effective protection against nuclear attacks. The paper discusses nuclear weapon policy in the US, views of other nuclear states, the future of nuclear weapons, and issues in a less-nuclear world.« less

Fugitive coke oven gas emission profile by continuous line averaged open-path Fourier transform infrared monitoring.

PubMed

Lin, Chitsan; Liou, Naiwei; Chang, Pao-Erh; Yang, Jen-Chin; Sun, Endy

2007-04-01

Although most coke oven research is focused on the emission of polycyclic aromatic hydrocarbons, well-known carcinogens, little has been done on the emission of volatile organic compounds, some of which are also thought to be hazardous to workers and the environment. To profile coke oven gas (COG) emissions, we set up an open-path Fourier transform infrared (OP-FTIR) system on top of a battery of coke ovens at a steel mill located in Southern Taiwan and monitored average emissions in a coke processing area for 16.5 hr. Nine COGs were identified, including ammonia, CO, methane, ethane, ethylene, acetylene, propylene, cyclohexane, and O-xylene. Time series plots indicated that the type of pollutants differed over time, suggesting that different emission sources (e.g., coke pushing, quench tower, etc.) were involved at different times over the study period. This observation was confirmed by the low cross-correlation coefficients of the COGs. It was also found that, with the help of meteorological analysis, the data collected by the OP-FTIR system could be analyzed effectively to characterize differences in the location of sources. Although the traditional single-point samplings of emissions involves sampling various sources in a coke processing area at several different times and is a credible profiling of emissions, our findings strongly suggest that they are not nearly as efficient or as cost-effective as the continuous line average method used in this study. This method would make it easier and cheaper for engineers and health risk assessors to identify and to control fugitive volatile organic compound emissions and to improve environmental health.

Quality of service routing in wireless ad hoc networks

NASA Astrophysics Data System (ADS)

Sane, Sachin J.; Patcha, Animesh; Mishra, Amitabh

2003-08-01

An efficient routing protocol is essential to guarantee application level quality of service running on wireless ad hoc networks. In this paper we propose a novel routing algorithm that computes a path between a source and a destination by considering several important constraints such as path-life, availability of sufficient energy as well as buffer space in each of the nodes on the path between the source and destination. The algorithm chooses the best path from among the multiples paths that it computes between two endpoints. We consider the use of control packets that run at a priority higher than the data packets in determining the multiple paths. The paper also examines the impact of different schedulers such as weighted fair queuing, and weighted random early detection among others in preserving the QoS level guarantees. Our extensive simulation results indicate that the algorithm improves the overall lifetime of a network, reduces the number of dropped packets, and decreases the end-to-end delay for real-time voice application.

Working Conditions, Socioeconomic Factors and Low Birth Weight: Path Analysis

PubMed Central

Mahmoodi, Zohreh; Karimlou, Masoud; Sajjadi, Homeira; Dejman, Masoumeh; Vameghi, Meroe; Dolatian, Mahrokh

2013-01-01

Background In recent years, with socioeconomic changes in the society, the presence of women in the workplace is inevitable. The differences in working condition, especially for pregnant women, has adverse consequences like low birth weight. Objectives This study was conducted with the aim to model the relationship between working conditions, socioeconomic factors, and birth weight. Patients and Methods This study was conducted in case-control design. The control group consisted of 500 women with normal weight babies, and the case group, 250 women with low weight babies from selected hospitals in Tehran. Data were collected using a researcher-made questionnaire to determine mothers’ lifestyle during pregnancy with low birth weight with health-affecting social determinants approach. This questionnaire investigated women’s occupational lifestyle in terms of working conditions, activities, and job satisfaction. Data were analyzed with SPSS-16 and Lisrel-8.8 software using statistical path analysis. Results The final path model fitted well (CFI =1, RMSEA=0.00) and showed that among direct paths, working condition (β=-0.032), among indirect paths, household income (β=-0.42), and in the overall effect, unemployed spouse (β=-0.1828) had the most effects on the low birth weight. Negative coefficients indicate decreasing effect on birth weight. Conclusions Based on the path analysis model, working condition and socioeconomic status directly and indirectly influence birth weight. Thus, as well as attention to treatment and health care (biological aspect), special attention must also be paid to mothers’ socioeconomic factors. PMID:24616796

Combustion Sensors: Gas Turbine Applications

NASA Technical Reports Server (NTRS)

Human, Mel

2002-01-01

This report documents efforts to survey the current research directions in sensor technology for gas turbine systems. The work is driven by the current and future requirements on system performance and optimization. Accurate real time measurements of velocities, pressure, temperatures, and species concentrations will be required for objectives such as combustion instability attenuation, pollutant reduction, engine health management, exhaust profile control via active control, etc. Changing combustor conditions - engine aging, flow path slagging, or rapid maneuvering - will require adaptive responses; the effectiveness of such will be only as good as the dynamic information available for processing. All of these issues point toward the importance of continued sensor development. For adequate control of the combustion process, sensor data must include information about the above mentioned quantities along with equivalence ratios and radical concentrations, and also include both temporal and spatial velocity resolution. Ultimately these devices must transfer from the laboratory to field installations, and thus must become low weight and cost, reliable and maintainable. A primary conclusion from this study is that the optics-based sensor science will be the primary diagnostic in future gas turbine technologies.

A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

NASA Astrophysics Data System (ADS)

Ikeda, Fujio; Toyama, Shigehiro; Ishiduki, Souta; Seta, Hiroaki

2016-09-01

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points.

Nonlinear feedback control for high alpha flight

NASA Technical Reports Server (NTRS)

Stalford, Harold

1990-01-01

Analytical aerodynamic models are derived from a high alpha 6 DOF wind tunnel model. One detail model requires some interpolation between nonlinear functions of alpha. One analytical model requires no interpolation and as such is a completely continuous model. Flight path optimization is conducted on the basic maneuvers: half-loop, 90 degree pitch-up, and level turn. The optimal control analysis uses the derived analytical model in the equations of motion and is based on both moment and force equations. The maximum principle solution for the half-loop is poststall trajectory performing the half-loop in 13.6 seconds. The agility induced by thrust vectoring capability provided a minimum effect on reducing the maneuver time. By means of thrust vectoring control the 90 degrees pitch-up maneuver can be executed in a small place over a short time interval. The agility capability of thrust vectoring is quite beneficial for pitch-up maneuvers. The level turn results are based currently on only outer layer solutions of singular perturbation. Poststall solutions provide high turn rates but generate higher losses of energy than that of classical sustained solutions.

Expanding Hardware-in-the-Loop Formation Navigation and Control with Radio Frequency Crosslink Ranging

NASA Technical Reports Server (NTRS)

Mitchell, Jason W.; Barbee, Brent W.; Baldwin, Philip J.; Luquette, Richard J.

2007-01-01

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility continues to evolve as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation, and control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, are reviewed with a focus on recent improvements. With the most recent improvement, in support of Technology Readiness Level (TRL) 6 testing of the Inter-spacecraft Ranging and Alarm System (IRAS) for the Magnetospheric Multiscale (MMS) mission, the FFTB has significantly expanded its ability to perform realistic simulations that require Radio Frequency (RF) ranging sensors for relative navigation with the Path Emulator for RF Signals (PERFS). The PERFS, currently under development at NASA GSFC, modulates RF signals exchanged between spacecraft. The RF signals are modified to accurately reflect the dynamic environment through which they travel, including the effects of medium, moving platforms, and radiated power.

Planification de trajectoires pour une flotte d'UAVs

NASA Astrophysics Data System (ADS)

Ait El Cadi, Abdessamad

In this thesis we address the problem of coordinating and controlling a fleet of Unmanned Aerial Vehicles (UAVs) during a surveillance mission in a dynamic context. The problem is vast and is related to several scientific domains. We have studied three important parts of this problem: • modeling the ground with all its constraints; • computing a shortest non-holonomic continuous path in a risky environment with a presence of obstacles; • planning a surveillance mission for a fleet of UAVs in a real context. While investigating the scientific literature related to these topics, we have detected deficiencies in the modeling of the ground and in the computation of the shortest continuous path, two critical aspects for the planning of a mission. So after the literature review, we have proposed answers to these two aspects and have applied our developments to the planning of a mission of a fleet of UAVs in a risky environment with the presence of obstacles. Obstacles could be natural like mountain or any non flyable zone. We have first modeled the ground as a directed graph. However, instead of using a classic mesh, we opted for an intelligent modeling that reduces the computing time on the graph without losing accuracy. The proposed model is based on the concept of visibility graph, and it also takes into account the obstacles, the danger areas and the constraint of non-holonomy of the UAVs- the kinematic constraint of the planes that imposes a maximum steering angle. The graph is then cleaned to keep only the minimum information needed for the calculation of trajectories. The generation of this graph possibly requires a lot of computation time, but it is done only once before the planning and will not affect the performance of trajectory calculations. We have also developed another simpler graph that does not take into account the constraint of non-holonomy. The advantage of this second graph is that it reduces the computation time. However, it requires the use of a correction procedure to make the resulting trajectory non-holonomic. This correction is possible within the context of our missions, but not for all types of autonomous vehicles. Once the directed graph is generated, we propose the use of a procedure for calculating the shortest continuous non-holonomic path in a risky environment with the presence of obstacles. The directed graph already incorporates all the constraints, which makes it possible to model the problem as a shortest path problem with resource a resource constraint (the resource here is the amount of permitted risk). The results are very satisfactory since the resulting routes are non-holonomic paths that meet all constraints. Moreover, the computing time is very short. For cases based on the simpler graph, we have created a procedure for correcting the trajectory to make it non-holonomic. All calculations of non-holonomy are based on Dubins curves (1957). We have finally applied our results to the planning of a mission of a fleet of UAVs in a risky environment with the presence of obstacles. For this purpose, we have developed a directed multi-graph where, for each pair of targets (points of departure and return of the mission included), we calculate a series of shorter trajectories with different limits of risk -- from the risk-free path to the riskiest path. We then use a Tabu Search with two tabu lists. Using these procedures, we have been able to produce routes for a fleet of UAVs that minimize the cost of the mission while respecting the limit of risk and avoiding obstacles. Tests are conducted on examples created on the basis of descriptions given by the Canadian Defense and, also on some instances of the CVRP (Capacitated Vehicle Routing Problem), those described by Christofides et Elion and those described by Christofides, Mingozzi et Toth. The results are of very satisfactory since all trajectories are non-holonomic and the improvement of the objective, when compared to a simple constructive method, achieves in some cases between 10 % and 43 %. We have even obtained an improvement of 69 %, but on a poor solution generated by a greedy algorithm. (Abstract shortened by UMI.)

Pressure-Letdown Plates for Coal Gasifiers

NASA Technical Reports Server (NTRS)

Collins, E. R., Jr.

1985-01-01

Variation of pseudoporous plates used with coal gasifiers in pressure letdown stage of processing minimize clogging. Rotating plates containing variable gap annuli continually change flow path to enable erosionless reduction of gas pressure. Particles that otherwise clog porous plugs pass through gaps.

47 CFR 27.60 - TV/DTV interference protection criteria.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the radio path horizon will be calculated assuming smooth earth. If the distance so determined equals... Section 27.60 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES MISCELLANEOUS WIRELESS COMMUNICATIONS SERVICES Technical Standards § 27.60 TV/DTV interference protection...

47 CFR 27.60 - TV/DTV interference protection criteria.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the radio path horizon will be calculated assuming smooth earth. If the distance so determined equals... Section 27.60 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES MISCELLANEOUS WIRELESS COMMUNICATIONS SERVICES Technical Standards § 27.60 TV/DTV interference protection...

47 CFR 27.60 - TV/DTV interference protection criteria.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the radio path horizon will be calculated assuming smooth earth. If the distance so determined equals... Section 27.60 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES MISCELLANEOUS WIRELESS COMMUNICATIONS SERVICES Technical Standards § 27.60 TV/DTV interference protection...

47 CFR 27.60 - TV/DTV interference protection criteria.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the radio path horizon will be calculated assuming smooth earth. If the distance so determined equals... Section 27.60 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES MISCELLANEOUS WIRELESS COMMUNICATIONS SERVICES Technical Standards § 27.60 TV/DTV interference protection...

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

NASA Astrophysics Data System (ADS)

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

1998-08-01

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

Apparatus and process for active pulse intensity control of laser beam

DOEpatents

Wilcox, Russell B.

1992-01-01

An optically controlled laser pulse energy control apparatus and process is disclosed wherein variations in the energy of a portion of the laser beam are used to vary the resistance of a photodetector such as a photoresistor through which a control voltage is fed to a light intensity controlling device through which a second portion of the laser beam passes. Light attenuation means are provided to vary the intensity of the laser light used to control the resistance of the photodetector. An optical delay path is provided through which the second portion of the beam travels before reaching the light intensity controlling device. The control voltage is supplied by a variable power supply. The apparatus may be tuned to properly attenuate the laser beam passing through the intensity controlling device by adjusting the power supply, the optical delay path, or the light attenuating means.

Quasiperiodic instability and chaos in the bad-cavity laser with modulated inversion: Numerical analysis of a Toda oscillator system

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

Ogawa, T.

The exact equivalence between a bad-cavity laser with modulated inversion and a nonlinear oscillator in a Toda potential driven by an external modulation is presented. The dynamical properties of the laser system are investigated in detail by analyzing a Toda oscillator system. The temporal characteristics of the bad-cavity laser under strong modulation are analyzed extensively by numerically investigating the simpler Toda system as a function of two control parameters: the dc component of the population inversion and the modulation amplitude. The system exhibits two kinds of optical chaos: One is the quasiperiodic chaos in the region of the intermediate modulationmore » amplitude and the other is the intermittent kicked chaos in the region of strong modulation and large dc component of the pumping. The former is well described by a one-dimensional discrete map with a singular invariant probability measure. There are two types of onset of the chaos: quasiperiodic instability (continuous path to chaos) and catastrophic crisis (discontinuous path). The period-doubling cascade of bifurcation is also observed. The simple discrete model of the Toda system is presented to obtain analytically the one-dimensional map function and to understand the effect of the asymmetric potential curvature on yielding chaos.« less

Comparison of Path Length and Ranges of Movement of the Center of Pressure and Reaction Time and Between Paired-Play and Solo-Play of a Virtual Reality Game.

PubMed

Portnoy, Sigal; Hersch, Ayelet; Sofer, Tal; Tresser, Sarit

2017-06-01

To test whether paired-play will induce longer path length and ranges of movement of the center of pressure (COP), which reflects on balance performance and stability, compared to solo-play and to test the difference in the path length and ranges of movement of the COP while playing the virtual reality (VR) game with the dominant hand compared to playing it with the nondominant hand. In this cross-sectional study 20 children (age 6.1 ± 0.7 years old) played an arm movement controlled VR game alone and with a peer while each of them stood on a pressure measuring pad to track the path length and ranges of movement of the COP. The total COP path was significantly higher during the paired-play (median 295.8 cm) compared to the COP path during the solo-play (median 189.2 cm). No significant differences were found in the reaction time and the mediolateral and anterior-posterior COP ranges between solo-play and paired-play. No significant differences were found between the parameters extracted during paired-play with the dominant or nondominant hand. Our findings imply that the paired-play is advantageous compared to solo-play since it induces a greater movement for the child, during which, higher COP velocities are reached that may contribute to improving the balance control of the child. Apart from the positive social benefits of paired-play, this positive effect on the COP path length is a noteworthy added value in the clinical setting when treating children with balance disorder.

New Polyazine-Bridged RuII,RhIII and RuII,RhI Supramolecular Photocatalysts for Water Reduction to Hydrogen Applicable for Solar Energy Conversion and Mechanistic Investigation of the Photocatalytic Cycle

NASA Astrophysics Data System (ADS)

Zhou, Rongwei

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

A novel integrated approach for path following and directional stability control of road vehicles after a tire blow-out

NASA Astrophysics Data System (ADS)

Wang, Fei; Chen, Hong; Guo, Konghui; Cao, Dongpu

2017-09-01

The path following and directional stability are two crucial problems when a road vehicle experiences a tire blow-out or sudden tire failure. Considering the requirement of rapid road vehicle motion control during a tire blow-out, this article proposes a novel linearized decoupling control procedure with three design steps for a class of second order multi-input-multi-output non-affine system. The evaluating indicators for controller performance are presented and a performance related control parameter distribution map is obtained based on the stochastic algorithm which is an innovation for non-blind parameter adjustment in engineering implementation. The analysis on the robustness of the proposed integrated controller is also performed. The simulation studies for a range of driving conditions are conducted, to demonstrate the effectiveness of the proposed controller.

Accurate on line measurements of low fluences of charged particles

NASA Astrophysics Data System (ADS)

Palla, L.; Czelusniak, C.; Taccetti, F.; Carraresi, L.; Castelli, L.; Fedi, M. E.; Giuntini, L.; Maurenzig, P. R.; Sottili, L.; Taccetti, N.

2015-03-01

Ion beams supplied by the 3MV Tandem accelerator of LABEC laboratory (INFN-Firenze), have been used to study the feasibility of irradiating materials with ion fluences reproducible to about 1%. Test measurements have been made with 7.5 MeV 7Li2+ beams of different intensities. The fluence control is based on counting ions contained in short bursts generated by chopping the continuous beam with an electrostatic deflector followed by a couple of adjustable slits. Ions are counted by means of a micro-channel plate (MCP) detecting the electrons emitted from a thin layer of Al inserted along the beam path in between the pulse defining slits and the target. Calibration of the MCP electron detector is obtained by comparison with the response of a Si detector.

Adapting End Host Congestion Control for Mobility

NASA Technical Reports Server (NTRS)

Eddy, Wesley M.; Swami, Yogesh P.

2005-01-01

Network layer mobility allows transport protocols to maintain connection state, despite changes in a node's physical location and point of network connectivity. However, some congestion-controlled transport protocols are not designed to deal with these rapid and potentially significant path changes. In this paper we demonstrate several distinct problems that mobility-induced path changes can create for TCP performance. Our premise is that mobility events indicate path changes that require re-initialization of congestion control state at both connection end points. We present the application of this idea to TCP in the form of a simple solution (the Lightweight Mobility Detection and Response algorithm, that has been proposed in the IETF), and examine its effectiveness. In general, we find that the deficiencies presented are both relatively easily and painlessly fixed using this solution. We also find that this solution has the counter-intuitive property of being both more friendly to competing traffic, and simultaneously more aggressive in utilizing newly available capacity than unmodified TCP.