[A landscape ecological approach for urban non-point source pollution control].

PubMed

Guo, Qinghai; Ma, Keming; Zhao, Jingzhu; Yang, Liu; Yin, Chengqing

2005-05-01

Urban non-point source pollution is a new problem appeared with the speeding development of urbanization. The particularity of urban land use and the increase of impervious surface area make urban non-point source pollution differ from agricultural non-point source pollution, and more difficult to control. Best Management Practices (BMPs) are the effective practices commonly applied in controlling urban non-point source pollution, mainly adopting local repairing practices to control the pollutants in surface runoff. Because of the close relationship between urban land use patterns and non-point source pollution, it would be rational to combine the landscape ecological planning with local BMPs to control the urban non-point source pollution, which needs, firstly, analyzing and evaluating the influence of landscape structure on water-bodies, pollution sources and pollutant removal processes to define the relationships between landscape spatial pattern and non-point source pollution and to decide the key polluted fields, and secondly, adjusting inherent landscape structures or/and joining new landscape factors to form new landscape pattern, and combining landscape planning and management through applying BMPs into planning to improve urban landscape heterogeneity and to control urban non-point source pollution.

Techniques for grid manipulation and adaptation. [computational fluid dynamics

NASA Technical Reports Server (NTRS)

Choo, Yung K.; Eisemann, Peter R.; Lee, Ki D.

1992-01-01

Two approaches have been taken to provide systematic grid manipulation for improved grid quality. One is the control point form (CPF) of algebraic grid generation. It provides explicit control of the physical grid shape and grid spacing through the movement of the control points. It works well in the interactive computer graphics environment and hence can be a good candidate for integration with other emerging technologies. The other approach is grid adaptation using a numerical mapping between the physical space and a parametric space. Grid adaptation is achieved by modifying the mapping functions through the effects of grid control sources. The adaptation process can be repeated in a cyclic manner if satisfactory results are not achieved after a single application.

Controlling organic chemical hazards in food manufacturing: a hazard analysis critical control points (HACCP) approach.

PubMed

Ropkins, K; Beck, A J

2002-08-01

Hazard analysis by critical control points (HACCP) is a systematic approach to the identification, assessment and control of hazards. Effective HACCP requires the consideration of all hazards, i.e., chemical, microbiological and physical. However, to-date most 'in-place' HACCP procedures have tended to focus on the control of microbiological and physical food hazards. In general, the chemical component of HACCP procedures is either ignored or limited to applied chemicals, e.g., food additives and pesticides. In this paper we discuss the application of HACCP to a broader range of chemical hazards, using organic chemical contaminants as examples, and the problems that are likely to arise in the food manufacturing sector. Chemical HACCP procedures are likely to result in many of the advantages previously identified for microbiological HACCP procedures: more effective, efficient and economical than conventional end-point-testing methods. However, the high costs of analytical monitoring of chemical contaminants and a limited understanding of formulation and process optimisation as means of controlling chemical contamination of foods are likely to prevent chemical HACCP becoming as effective as microbiological HACCP.

Non-invasive three-dimension control of light between turbid layers using a surface quasi-point light source for precorrection.

PubMed

Qiao, Mu; Liu, Honglin; Pang, Guanghui; Han, Shensheng

2017-08-29

Manipulating light non-invasively through inhomogeneous media is an attractive goal in many disciplines. Wavefront shaping and optical phase conjugation can focus light to a point. Transmission matrix method can control light on multiple output modes simultaneously. Here we report a non-invasive approach which enables three-dimension (3D) light control between two turbid layers. A digital optical phase conjugation mirror measured and conjugated the diffused wavefront, which originated from a quasi-point source on the front turbid layer and passed through the back turbid layer. And then, because of memory effect, the phase-conjugated wavefront could be used as a carrier wave to transport a pre-calculated wavefront through the back turbid layer. The pre-calculated wavefront could project a desired 3D light field inside the sample, which, in our experiments, consisted of two 220-grid ground glass plates spaced by a 20 mm distance. The controllable range of light, according to the memory effect, was calculated to be 80 mrad in solid angle and 16 mm on z-axis. Due to the 3D light control ability, our approach may find applications in photodynamic therapy and optogenetics. Besides, our approach can also be combined with ghost imaging or compressed sensing to achieve 3D imaging between turbid layers.

A Model of Risk Analysis in Analytical Methodology for Biopharmaceutical Quality Control.

PubMed

Andrade, Cleyton Lage; Herrera, Miguel Angel De La O; Lemes, Elezer Monte Blanco

2018-01-01

One key quality control parameter for biopharmaceutical products is the analysis of residual cellular DNA. To determine small amounts of DNA (around 100 pg) that may be in a biologically derived drug substance, an analytical method should be sensitive, robust, reliable, and accurate. In principle, three techniques have the ability to measure residual cellular DNA: radioactive dot-blot, a type of hybridization; threshold analysis; and quantitative polymerase chain reaction. Quality risk management is a systematic process for evaluating, controlling, and reporting of risks that may affects method capabilities and supports a scientific and practical approach to decision making. This paper evaluates, by quality risk management, an alternative approach to assessing the performance risks associated with quality control methods used with biopharmaceuticals, using the tool hazard analysis and critical control points. This tool provides the possibility to find the steps in an analytical procedure with higher impact on method performance. By applying these principles to DNA analysis methods, we conclude that the radioactive dot-blot assay has the largest number of critical control points, followed by quantitative polymerase chain reaction, and threshold analysis. From the analysis of hazards (i.e., points of method failure) and the associated method procedure critical control points, we conclude that the analytical methodology with the lowest risk for performance failure for residual cellular DNA testing is quantitative polymerase chain reaction. LAY ABSTRACT: In order to mitigate the risk of adverse events by residual cellular DNA that is not completely cleared from downstream production processes, regulatory agencies have required the industry to guarantee a very low level of DNA in biologically derived pharmaceutical products. The technique historically used was radioactive blot hybridization. However, the technique is a challenging method to implement in a quality control laboratory: It is laborious, time consuming, semi-quantitative, and requires a radioisotope. Along with dot-blot hybridization, two alternatives techniques were evaluated: threshold analysis and quantitative polymerase chain reaction. Quality risk management tools were applied to compare the techniques, taking into account the uncertainties, the possibility of circumstances or future events, and their effects upon method performance. By illustrating the application of these tools with DNA methods, we provide an example of how they can be used to support a scientific and practical approach to decision making and can assess and manage method performance risk using such tools. This paper discusses, considering the principles of quality risk management, an additional approach to the development and selection of analytical quality control methods using the risk analysis tool hazard analysis and critical control points. This tool provides the possibility to find the method procedural steps with higher impact on method reliability (called critical control points). Our model concluded that the radioactive dot-blot assay has the larger number of critical control points, followed by quantitative polymerase chain reaction and threshold analysis. Quantitative polymerase chain reaction is shown to be the better alternative analytical methodology in residual cellular DNA analysis. © PDA, Inc. 2018.

The Galileo scan platform pointing control system - A modern control theoretic viewpoint

NASA Technical Reports Server (NTRS)

Sevaston, G. E.; Macala, G. A.; Man, G. K.

1985-01-01

The current Galileo scan platform pointing control system (SPPCS) is described, and ways in which modern control concepts could serve to enhance it are considered. Of particular interest are: the multi-variable design model and overall control system architecture, command input filtering, feedback compensator and command input design, stability robustness constraint for both continuous time control systems and for sampled data control systems, and digital implementation of the control system. The proposed approach leads to the design of a system that is similar to current Galileo SPPCS configuration, but promises to be more systematic.

Constrained tracking control for nonlinear systems.

PubMed

Khani, Fatemeh; Haeri, Mohammad

2017-09-01

This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be estimated off-line for a range of set-point changes. The efficiencies of the proposed algorithm are illustrated via two example simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

MANAGING MICROBIAL CONTAMINATION IN URBAN WATERSHEDS

EPA Science Inventory

This paper presents different approaches for controlling pathogen contamination in urban watersheds for contamination resulting from point and diffuse sources. Point sources of pathogens can be treated by a disinfection technology of known effectiveness, and a desired reduction ...

MANAGING MICROBIAL CONTAMINATION IN URBAN WATERSHEDS

EPA Science Inventory

This paper presents different approaches for controlling pathogen contamination in urban watersheds for contamination resulting from point and diffuses sources. Point sources of pathogens can be treated by a disinfection technology of known effectiveness, and a desired reduction ...

Direct torque control method applied to the WECS based on the PMSG and controlled with backstepping approach

NASA Astrophysics Data System (ADS)

Errami, Youssef; Obbadi, Abdellatif; Sahnoun, Smail; Ouassaid, Mohammed; Maaroufi, Mohamed

2018-05-01

This paper proposes a Direct Torque Control (DTC) method for Wind Power System (WPS) based Permanent Magnet Synchronous Generator (PMSG) and Backstepping approach. In this work, generator side and grid-side converter with filter are used as the interface between the wind turbine and grid. Backstepping approach demonstrates great performance in complicated nonlinear systems control such as WPS. So, the control method combines the DTC to achieve Maximum Power Point Tracking (MPPT) and Backstepping approach to sustain the DC-bus voltage and to regulate the grid-side power factor. In addition, control strategy is developed in the sense of Lyapunov stability theorem for the WPS. Simulation results using MATLAB/Simulink validate the effectiveness of the proposed controllers.

Trajectory Design Strategies for the NGST L2 Libration Point Mission

NASA Technical Reports Server (NTRS)

Folta, David; Cooley, Steven; Howell, Kathleen; Bauer, Frank H.

2001-01-01

The Origins' Next Generation Space Telescope (NGST) trajectory design is addressed in light of improved methods for attaining constrained orbit parameters and their control at the exterior collinear libration point, L2. The use of a dynamical systems approach, state-space equations for initial libration orbit control, and optimization to achieve constrained orbit parameters are emphasized. The NGST trajectory design encompasses a direct transfer and orbit maintenance under a constant acceleration. A dynamical systems approach can be used to provide a biased orbit and stationkeeping maintenance method that incorporates the constraint of a single axis correction scheme.

Integrated Controls-Structures Design Methodology: Redesign of an Evolutionary Test Structure

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Gupta, Sandeep; Elliot, Kenny B.; Joshi, Suresh M.

1997-01-01

An optimization-based integrated controls-structures design methodology for a class of flexible space structures is described, and the phase-0 Controls-Structures-Integration evolutionary model, a laboratory testbed at NASA Langley, is redesigned using this integrated design methodology. The integrated controls-structures design is posed as a nonlinear programming problem to minimize the control effort required to maintain a specified line-of-sight pointing performance, under persistent white noise disturbance. Static and dynamic dissipative control strategies are employed for feedback control, and parameters of these controllers are considered as the control design variables. Sizes of strut elements in various sections of the CEM are used as the structural design variables. Design guides for the struts are developed and employed in the integrated design process, to ensure that the redesigned structure can be effectively fabricated. The superiority of the integrated design methodology over the conventional design approach is demonstrated analytically by observing a significant reduction in the average control power needed to maintain specified pointing performance with the integrated design approach.

Geometric correction of satellite data using curvilinear features and virtual control points

NASA Technical Reports Server (NTRS)

Algazi, V. R.; Ford, G. E.; Meyer, D. I.

1979-01-01

A simple, yet effective procedure for the geometric correction of partial Landsat scenes is described. The procedure is based on the acquisition of actual and virtual control points from the line printer output of enhanced curvilinear features. The accuracy of this method compares favorably with that of the conventional approach in which an interactive image display system is employed.

Compensation for positioning error of industrial robot for flexible vision measuring system

NASA Astrophysics Data System (ADS)

Guo, Lei; Liang, Yajun; Song, Jincheng; Sun, Zengyu; Zhu, Jigui

2013-01-01

Positioning error of robot is a main factor of accuracy of flexible coordinate measuring system which consists of universal industrial robot and visual sensor. Present compensation methods for positioning error based on kinematic model of robot have a significant limitation that it isn't effective in the whole measuring space. A new compensation method for positioning error of robot based on vision measuring technique is presented. One approach is setting global control points in measured field and attaching an orientation camera to vision sensor. Then global control points are measured by orientation camera to calculate the transformation relation from the current position of sensor system to global coordinate system and positioning error of robot is compensated. Another approach is setting control points on vision sensor and two large field cameras behind the sensor. Then the three dimensional coordinates of control points are measured and the pose and position of sensor is calculated real-timely. Experiment result shows the RMS of spatial positioning is 3.422mm by single camera and 0.031mm by dual cameras. Conclusion is arithmetic of single camera method needs to be improved for higher accuracy and accuracy of dual cameras method is applicable.

Velocity-based planning of rapid elbow movements expands the control scheme of the equilibrium point hypothesis.

PubMed

Suzuki, Masataka; Yamazaki, Yoshihiko

2005-01-01

According to the equilibrium point hypothesis of voluntary motor control, control action of muscles is not explicitly computed, but rather arises as a consequence of interaction between moving equilibrium position, current kinematics and stiffness of the joint. This approach is attractive as it obviates the need to explicitly specify the forces controlling limb movements. However, many debatable aspects of this hypothesis remain in the manner of specification of the equilibrium point trajectory and muscle activation (or its stiffness), which elicits a restoring force toward the planned equilibrium trajectory. In this study, we expanded the framework of this hypothesis by assuming that the control system uses the velocity measure as the origin of subordinate variables scaling descending commands. The velocity command is translated into muscle control inputs by second order pattern generators, which yield reciprocal command and coactivation commands, and create alternating activation of the antagonistic muscles during movement and coactivation in the post-movement phase, respectively. The velocity command is also integrated to give a position command specifying a moving equilibrium point. This model is purely kinematics-dependent, since the descending commands needed to modulate the visco-elasticity of muscles are implicitly given by simple parametric specifications of the velocity command alone. The simulated movements of fast elbow single-joint movements corresponded well with measured data performed over a wide range of movement distances, in terms of both muscle excitations and kinematics. Our proposal on a synthesis for the equilibrium point approach and velocity command, may offer some insights into the control scheme of the single-joint arm movements.

Woodchip bioreactors effectively treat aquaculture effluent

USDA-ARS?s Scientific Manuscript database

Nutrients, in particular nitrogen and phosphorus, can create eutrophication problems in any watershed. Preventing water quality impairment requires controlling nutrients from both point-source and non-point source discharges. Woodchip bioreactors are one relatively new approach that can be utilized ...

A Numerical Optimization Approach for Tuning Fuzzy Logic Controllers

NASA Technical Reports Server (NTRS)

Woodard, Stanley E.; Garg, Devendra P.

1998-01-01

This paper develops a method to tune fuzzy controllers using numerical optimization. The main attribute of this approach is that it allows fuzzy logic controllers to be tuned to achieve global performance requirements. Furthermore, this approach allows design constraints to be implemented during the tuning process. The method tunes the controller by parameterizing the membership functions for error, change-in-error and control output. The resulting parameters form a design vector which is iteratively changed to minimize an objective function. The minimal objective function results in an optimal performance of the system. A spacecraft mounted science instrument line-of-sight pointing control is used to demonstrate results.

A point-centered arbitrary Lagrangian Eulerian hydrodynamic approach for tetrahedral meshes

DOE PAGES

Morgan, Nathaniel R.; Waltz, Jacob I.; Burton, Donald E.; ...

2015-02-24

We present a three dimensional (3D) arbitrary Lagrangian Eulerian (ALE) hydrodynamic scheme suitable for modeling complex compressible flows on tetrahedral meshes. The new approach stores the conserved variables (mass, momentum, and total energy) at the nodes of the mesh and solves the conservation equations on a control volume surrounding the point. This type of an approach is termed a point-centered hydrodynamic (PCH) method. The conservation equations are discretized using an edge-based finite element (FE) approach with linear basis functions. All fluxes in the new approach are calculated at the center of each tetrahedron. A multidirectional Riemann-like problem is solved atmore » the center of the tetrahedron. The advective fluxes are calculated by solving a 1D Riemann problem on each face of the nodal control volume. A 2-stage Runge–Kutta method is used to evolve the solution forward in time, where the advective fluxes are part of the temporal integration. The mesh velocity is smoothed by solving a Laplacian equation. The details of the new ALE hydrodynamic scheme are discussed. Results from a range of numerical test problems are presented.« less

An interactive modular design for computerized photometry in spectrochemical analysis

NASA Technical Reports Server (NTRS)

Bair, V. L.

1980-01-01

A general functional description of totally automatic photometry of emission spectra is not available for an operating environment in which the sample compositions and analysis procedures are low-volume and non-routine. The advantages of using an interactive approach to computer control in such an operating environment are demonstrated. This approach includes modular subroutines selected at multiple-option, menu-style decision points. This style of programming is used to trace elemental determinations, including the automated reading of spectrographic plates produced by a 3.4 m Ebert mount spectrograph using a dc-arc in an argon atmosphere. The simplified control logic and modular subroutine approach facilitates innovative research and program development, yet is easily adapted to routine tasks. Operator confidence and control are increased by the built-in options including degree of automation, amount of intermediate data printed out, amount of user prompting, and multidirectional decision points.

Parametric motion control of robotic arms: A biologically based approach using neural networks

NASA Technical Reports Server (NTRS)

Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

1993-01-01

A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

Pneumatic Variable Series Elastic Actuator.

PubMed

Zheng, Hao; Wu, Molei; Shen, Xiangrong

2016-08-01

Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on-off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.

Pneumatic Variable Series Elastic Actuator

PubMed Central

Zheng, Hao; Wu, Molei; Shen, Xiangrong

2016-01-01

Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on–off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator. PMID:27354755

Resilience of Greek Youth at an Educational Transition Point: The Role of Locus of Control and Coping Strategies as Resources

ERIC Educational Resources Information Center

Leontopoulou, Sophia

2006-01-01

Variable--and person--focused approaches were applied to study the resilient outcomes of 326 Greek male and female 1st year university students at a major educational transition point. Results indicated that resilience was related to both cognitive and behavioural psychosocial resources in late adolescence. Locus of control emerged as an important…

a New Approach for Subway Tunnel Deformation Monitoring: High-Resolution Terrestrial Laser Scanning

NASA Astrophysics Data System (ADS)

Li, J.; Wan, Y.; Gao, X.

2012-07-01

With the improvement of the accuracy and efficiency of laser scanning technology, high-resolution terrestrial laser scanning (TLS) technology can obtain high precise points-cloud and density distribution and can be applied to high-precision deformation monitoring of subway tunnels and high-speed railway bridges and other fields. In this paper, a new approach using a points-cloud segmentation method based on vectors of neighbor points and surface fitting method based on moving least squares was proposed and applied to subway tunnel deformation monitoring in Tianjin combined with a new high-resolution terrestrial laser scanner (Riegl VZ-400). There were three main procedures. Firstly, a points-cloud consisted of several scanning was registered by linearized iterative least squares approach to improve the accuracy of registration, and several control points were acquired by total stations (TS) and then adjusted. Secondly, the registered points-cloud was resampled and segmented based on vectors of neighbor points to select suitable points. Thirdly, the selected points were used to fit the subway tunnel surface with moving least squares algorithm. Then a series of parallel sections obtained from temporal series of fitting tunnel surfaces were compared to analysis the deformation. Finally, the results of the approach in z direction were compared with the fiber optical displacement sensor approach and the results in x, y directions were compared with TS respectively, and comparison results showed the accuracy errors of x, y, z directions were respectively about 1.5 mm, 2 mm, 1 mm. Therefore the new approach using high-resolution TLS can meet the demand of subway tunnel deformation monitoring.

Formation Flying With Decentralized Control in Libration Point Orbits

NASA Technical Reports Server (NTRS)

Folta, David; Carpenter, J. Russell; Wagner, Christoph

2000-01-01

A decentralized control framework is investigated for applicability of formation flying control in libration orbits. The decentralized approach, being non-hierarchical, processes only direct measurement data, in parallel with the other spacecraft. Control is accomplished via linearization about a reference libration orbit with standard control using a Linear Quadratic Regulator (LQR) or the GSFC control algorithm. Both are linearized about the current state estimate as with the extended Kalman filter. Based on this preliminary work, the decentralized approach appears to be feasible for upcoming libration missions using distributed spacecraft.

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

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Jayasuriya, Suhada

1990-01-01

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

Graph-based geometric-iconic guide-wire tracking.

PubMed

Honnorat, Nicolas; Vaillant, Régis; Paragios, Nikos

2011-01-01

In this paper we introduce a novel hybrid graph-based approach for Guide-wire tracking. The image support is captured by steerable filters and improved through tensor voting. Then, a graphical model is considered that represents guide-wire extraction/tracking through a B-spline control-point model. Points with strong geometric interest (landmarks) are automatically determined and anchored to such a representation. Tracking is then performed through discrete MRFs that optimize the spatio-temporal positions of the control points while establishing landmark temporal correspondences. Promising results demonstrate the potentials of our method.

Control of asteroid retrieval trajectories to libration point orbits

NASA Astrophysics Data System (ADS)

Ceriotti, Matteo; Sanchez, Joan Pau

2016-09-01

The fascinating idea of shepherding asteroids for science and resource utilization is being considered as a credible concept in a not too distant future. Past studies identified asteroids which could be efficiently injected into manifolds which wind onto periodic orbits around collinear Lagrangian points of the Sun-Earth system. However, the trajectories are unstable, and errors in the capture maneuver would lead to complete mission failure, with potential danger of collision with the Earth, if uncontrolled. This paper investigates the controllability of some asteroids along the transfers and the periodic orbits, assuming the use of a solar-electric low-thrust system shepherding the asteroid. Firstly, an analytical approach is introduced to estimate the stability of the trajectories from a dynamical point of view; then, a numerical control scheme based on a linear quadratic regulator is proposed, where the gains are optimized for each trajectory through a genetic algorithm. A stochastic simulation with a Monte Carlo approach is used to account for different perturbed initial conditions and the epistemic uncertainty on the asteroid mass. Results show that only a small subset of the considered combinations of trajectories/asteroids are reliably controllable, and therefore controllability must be taken into account in the selection of potential targets.

CR-Calculus and adaptive array theory applied to MIMO random vibration control tests

NASA Astrophysics Data System (ADS)

Musella, U.; Manzato, S.; Peeters, B.; Guillaume, P.

2016-09-01

Performing Multiple-Input Multiple-Output (MIMO) tests to reproduce the vibration environment in a user-defined number of control points of a unit under test is necessary in applications where a realistic environment replication has to be achieved. MIMO tests require vibration control strategies to calculate the required drive signal vector that gives an acceptable replication of the target. This target is a (complex) vector with magnitude and phase information at the control points for MIMO Sine Control tests while in MIMO Random Control tests, in the most general case, the target is a complete spectral density matrix. The idea behind this work is to tailor a MIMO random vibration control approach that can be generalized to other MIMO tests, e.g. MIMO Sine and MIMO Time Waveform Replication. In this work the approach is to use gradient-based procedures over the complex space, applying the so called CR-Calculus and the adaptive array theory. With this approach it is possible to better control the process performances allowing the step-by-step Jacobian Matrix update. The theoretical bases behind the work are followed by an application of the developed method to a two-exciter two-axis system and by performance comparisons with standard methods.

Design Considerations for Miniaturized Control Moment Gyroscopes for Rapid Retargeting and Precision Pointing of Small Satellites

NASA Technical Reports Server (NTRS)

Patankar, Kunal; Fitz-Coy, Norman; Roithmayr, Carlos M.

2014-01-01

This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kilogram mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is more suitable for COTS based moment exchange actuators; a mode that uses the torque amplification of CMGs for rapid retargeting and direct torque capabilities of the flywheel motors for precision pointing. A simulation is provided to demonstrate on-orbit slew and pointing performance.

Chaos control in delayed phase space constructed by the Takens embedding theory

NASA Astrophysics Data System (ADS)

Hajiloo, R.; Salarieh, H.; Alasty, A.

2018-01-01

In this paper, the problem of chaos control in discrete-time chaotic systems with unknown governing equations and limited measurable states is investigated. Using the time-series of only one measurable state, an algorithm is proposed to stabilize unstable fixed points. The approach consists of three steps: first, using Takens embedding theory, a delayed phase space preserving the topological characteristics of the unknown system is reconstructed. Second, a dynamic model is identified by recursive least squares method to estimate the time-series data in the delayed phase space. Finally, based on the reconstructed model, an appropriate linear delayed feedback controller is obtained for stabilizing unstable fixed points of the system. Controller gains are computed using a systematic approach. The effectiveness of the proposed algorithm is examined by applying it to the generalized hyperchaotic Henon system, prey-predator population map, and the discrete-time Lorenz system.

Design and FPGA Implementation of a Universal Chaotic Signal Generator Based on the Verilog HDL Fixed-Point Algorithm and State Machine Control

NASA Astrophysics Data System (ADS)

Qiu, Mo; Yu, Simin; Wen, Yuqiong; Lü, Jinhu; He, Jianbin; Lin, Zhuosheng

In this paper, a novel design methodology and its FPGA hardware implementation for a universal chaotic signal generator is proposed via the Verilog HDL fixed-point algorithm and state machine control. According to continuous-time or discrete-time chaotic equations, a Verilog HDL fixed-point algorithm and its corresponding digital system are first designed. In the FPGA hardware platform, each operation step of Verilog HDL fixed-point algorithm is then controlled by a state machine. The generality of this method is that, for any given chaotic equation, it can be decomposed into four basic operation procedures, i.e. nonlinear function calculation, iterative sequence operation, iterative values right shifting and ceiling, and chaotic iterative sequences output, each of which corresponds to only a state via state machine control. Compared with the Verilog HDL floating-point algorithm, the Verilog HDL fixed-point algorithm can save the FPGA hardware resources and improve the operation efficiency. FPGA-based hardware experimental results validate the feasibility and reliability of the proposed approach.

A Dynamic Neural Network Approach to CBM

DTIC Science & Technology

2011-03-15

high efficiency water cooled heat exchanger positioned on the side of the engine. The air temperature was controlled at the desired set-point by...regulating the inlet water flow in the heat exchanger. The temperature of the cooling water was not regulated. The typical set-point for the air charge...temperature was 127 degF, as used in other durability tests carried out in these facilities. Because the heat exchanger controller was optimized for

Two Archetypes of Motor Control Research.

PubMed

Latash, Mark L

2010-07-01

This reply to the Commentaries is focused on two archetypes of motor control research, one based on physics and physiology and the other based on control theory and ideas of neural computations. The former approach, represented by the equilibrium-point hypothesis, strives to discover the physical laws and salient physiological variables that make purposeful coordinated movements possible. The latter approach, represented by the ideas of internal models and optimal control, tries to apply methods of control developed for man-made inanimate systems to the human body. Specific issues related to control with subthreshold membrane depolarization, motor redundancy, and the idea of synergies are briefly discussed.

Dynamic performance of maximum power point tracking circuits using sinusoidal extremum seeking control for photovoltaic generation

NASA Astrophysics Data System (ADS)

Leyva, R.; Artillan, P.; Cabal, C.; Estibals, B.; Alonso, C.

2011-04-01

The article studies the dynamic performance of a family of maximum power point tracking circuits used for photovoltaic generation. It revisits the sinusoidal extremum seeking control (ESC) technique which can be considered as a particular subgroup of the Perturb and Observe algorithms. The sinusoidal ESC technique consists of adding a small sinusoidal disturbance to the input and processing the perturbed output to drive the operating point at its maximum. The output processing involves a synchronous multiplication and a filtering stage. The filter instance determines the dynamic performance of the MPPT based on sinusoidal ESC principle. The approach uses the well-known root-locus method to give insight about damping degree and settlement time of maximum-seeking waveforms. This article shows the transient waveforms in three different filter instances to illustrate the approach. Finally, an experimental prototype corroborates the dynamic analysis.

Null boundary controllability of a one-dimensional heat equation with an internal point mass and variable coefficients

NASA Astrophysics Data System (ADS)

Ben Amara, Jamel; Bouzidi, Hedi

2018-01-01

In this paper, we consider a linear hybrid system which is composed by two non-homogeneous rods connected by a point mass with Dirichlet boundary conditions on the left end and a boundary control acts on the right end. We prove that this system is null controllable with Dirichlet or Neumann boundary controls. Our approach is mainly based on a detailed spectral analysis together with the moment method. In particular, we show that the associated spectral gap in both cases (Dirichlet or Neumann boundary controls) is positive without further conditions on the coefficients other than the regularities.

Stationkeeping of Lissajous Trajectories in the Earth-Moon System with Applications to ARTEMIS

NASA Technical Reports Server (NTRS)

Folta, D. C.; Pavlak, T. A.; Howell, K. C.; Woodard, M. A.; Woodfork, D. W.

2010-01-01

In the last few decades, several missions have successfully exploited trajectories near the.Sun-Earth L1 and L2 libration points. Recently, the collinear libration points in the Earth-Moon system have emerged as locations with immediate application. Most libration point orbits, in any system, are inherently unstable. and must be controlled. To this end, several stationkeeping strategies are considered for application to ARTEMIS. Two approaches are examined to investigate the stationkeeping problem in this regime and the specific options. available for ARTEMIS given the mission and vehicle constraints. (I) A baseline orbit-targeting approach controls the vehicle to remain near a nominal trajectory; a related global optimum search method searches all possible maneuver angles to determine an optimal angle and magnitude; and (2) an orbit continuation method, with various formulations determines maneuver locations and minimizes costs. Initial results indicate that consistent stationkeeping costs can be achieved with both approaches and the costs are reasonable. These methods are then applied to Lissajous trajectories representing a baseline ARTEMIS libration orbit trajectory.

Robust set-point regulation for ecological models with multiple management goals.

PubMed

Guiver, Chris; Mueller, Markus; Hodgson, Dave; Townley, Stuart

2016-05-01

Population managers will often have to deal with problems of meeting multiple goals, for example, keeping at specific levels both the total population and population abundances in given stage-classes of a stratified population. In control engineering, such set-point regulation problems are commonly tackled using multi-input, multi-output proportional and integral (PI) feedback controllers. Building on our recent results for population management with single goals, we develop a PI control approach in a context of multi-objective population management. We show that robust set-point regulation is achieved by using a modified PI controller with saturation and anti-windup elements, both described in the paper, and illustrate the theory with examples. Our results apply more generally to linear control systems with positive state variables, including a class of infinite-dimensional systems, and thus have broader appeal.

Instrument Attitude Precision Control

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan

2004-01-01

A novel approach is presented in this paper to analyze attitude precision and control for an instrument gimbaled to a spacecraft subject to an internal disturbance caused by a moving component inside the instrument. Nonlinear differential equations of motion for some sample cases are derived and solved analytically to gain insight into the influence of the disturbance on the attitude pointing error. A simple control law is developed to eliminate the instrument pointing error caused by the internal disturbance. Several cases are presented to demonstrate and verify the concept presented in this paper.

A variable-gain output feedback control design approach

NASA Technical Reports Server (NTRS)

Haylo, Nesim

1989-01-01

A multi-model design technique to find a variable-gain control law defined over the whole operating range is proposed. The design is formulated as an optimal control problem which minimizes a cost function weighing the performance at many operating points. The solution is obtained by embedding into the Multi-Configuration Control (MCC) problem, a multi-model robust control design technique. In contrast to conventional gain scheduling which uses a curve fit of single model designs, the optimal variable-gain control law stabilizes the plant at every operating point included in the design. An iterative algorithm to compute the optimal control gains is presented. The methodology has been successfully applied to reconfigurable aircraft flight control and to nonlinear flight control systems.

Evaluating Alternatives for Drinking Water at Deployed Locations

DTIC Science & Technology

2006-03-01

Tucker and Sands, 1999; Beering , 2002). 1986 Plutonium was found in the New York city drinking water system. Though the concentrations were...based approach called Hazard Analysis and Critical Control Point ( HACCP ). This approach holds that avoidance is practical and effective where other

An approach to constrained aerodynamic design with application to airfoils

NASA Technical Reports Server (NTRS)

Campbell, Richard L.

1992-01-01

An approach was developed for incorporating flow and geometric constraints into the Direct Iterative Surface Curvature (DISC) design method. In this approach, an initial target pressure distribution is developed using a set of control points. The chordwise locations and pressure levels of these points are initially estimated either from empirical relationships and observed characteristics of pressure distributions for a given class of airfoils or by fitting the points to an existing pressure distribution. These values are then automatically adjusted during the design process to satisfy the flow and geometric constraints. The flow constraints currently available are lift, wave drag, pitching moment, pressure gradient, and local pressure levels. The geometric constraint options include maximum thickness, local thickness, leading-edge radius, and a 'glove' constraint involving inner and outer bounding surfaces. This design method was also extended to include the successive constraint release (SCR) approach to constrained minimization.

An improved maximum power point tracking method for a photovoltaic system

NASA Astrophysics Data System (ADS)

Ouoba, David; Fakkar, Abderrahim; El Kouari, Youssef; Dkhichi, Fayrouz; Oukarfi, Benyounes

2016-06-01

In this paper, an improved auto-scaling variable step-size Maximum Power Point Tracking (MPPT) method for photovoltaic (PV) system was proposed. To achieve simultaneously a fast dynamic response and stable steady-state power, a first improvement was made on the step-size scaling function of the duty cycle that controls the converter. An algorithm was secondly proposed to address wrong decision that may be made at an abrupt change of the irradiation. The proposed auto-scaling variable step-size approach was compared to some various other approaches from the literature such as: classical fixed step-size, variable step-size and a recent auto-scaling variable step-size maximum power point tracking approaches. The simulation results obtained by MATLAB/SIMULINK were given and discussed for validation.

[An object-oriented intelligent engineering design approach for lake pollution control].

PubMed

Zou, Rui; Zhou, Jing; Liu, Yong; Zhu, Xiang; Zhao, Lei; Yang, Ping-Jian; Guo, Huai-Cheng

2013-03-01

Regarding the shortage and deficiency of traditional lake pollution control engineering techniques, a new lake pollution control engineering approach was proposed in this study, based on object-oriented intelligent design (OOID) from the perspective of intelligence. It can provide a new methodology and framework for effectively controlling lake pollution and improving water quality. The differences between the traditional engineering techniques and the OOID approach were compared. The key points for OOID were described as object perspective, cause and effect foundation, set points into surface, and temporal and spatial optimization. The blue algae control in lake was taken as an example in this study. The effect of algae control and water quality improvement were analyzed in details from the perspective of object-oriented intelligent design based on two engineering techniques (vertical hydrodynamic mixer and pumping algaecide recharge). The modeling results showed that the traditional engineering design paradigm cannot provide scientific and effective guidance for engineering design and decision-making regarding lake pollution. Intelligent design approach is based on the object perspective and quantitative causal analysis in this case. This approach identified that the efficiency of mixers was much higher than pumps in achieving the goal of low to moderate water quality improvement. However, when the objective of water quality exceeded a certain value (such as the control objective of peak Chla concentration exceeded 100 microg x L(-1) in this experimental water), the mixer cannot achieve this goal. The pump technique can achieve the goal but with higher cost. The efficiency of combining the two techniques was higher than using one of the two techniques alone. Moreover, the quantitative scale control of the two engineering techniques has a significant impact on the actual project benefits and costs.

Robust hopping based on virtual pendulum posture control.

PubMed

Sharbafi, Maziar A; Maufroy, Christophe; Ahmadabadi, Majid Nili; Yazdanpanah, Mohammad J; Seyfarth, Andre

2013-09-01

A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept, the ground reaction forces are pointed to a virtual support point, named virtual pivot point (VPP), during motion. This concept is employed in designing the controller to balance the trunk during the stance phase. New strategies for leg angle and length adjustment besides the virtual pendulum posture control are proposed as a unified controller. This method is investigated by applying it on an extension of the spring loaded inverted pendulum (SLIP) model. Trunk, leg mass and damping are added to the SLIP model in order to make the model more realistic. The stability is analyzed by Poincaré map analysis. With fixed VPP position, stability, disturbance rejection and moderate robustness are achieved, but with a low convergence speed. To improve the performance and attain higher robustness, an event-based control of the VPP position is introduced, using feedback of the system states at apexes. Discrete linear quartic regulator is used to design the feedback controller. Considerable enhancements with respect to stability, convergence speed and robustness against perturbations and parameter changes are achieved.

Improving credibility and transparency of conservation impact evaluations through the partial identification approach.

PubMed

McConnachie, Matthew M; Romero, Claudia; Ferraro, Paul J; van Wilgen, Brian W

2016-04-01

The fundamental challenge of evaluating the impact of conservation interventions is that researchers must estimate the difference between the outcome after an intervention occurred and what the outcome would have been without it (counterfactual). Because the counterfactual is unobservable, researchers must make an untestable assumption that some units (e.g., organisms or sites) that were not exposed to the intervention can be used as a surrogate for the counterfactual (control). The conventional approach is to make a point estimate (i.e., single number along with a confidence interval) of impact, using, for example, regression. Point estimates provide powerful conclusions, but in nonexperimental contexts they depend on strong assumptions about the counterfactual that often lack transparency and credibility. An alternative approach, called partial identification (PI), is to first estimate what the counterfactual bounds would be if the weakest possible assumptions were made. Then, one narrows the bounds by using stronger but credible assumptions based on an understanding of why units were selected for the intervention and how they might respond to it. We applied this approach and compared it with conventional approaches by estimating the impact of a conservation program that removed invasive trees in part of the Cape Floristic Region. Even when we used our largest PI impact estimate, the program's control costs were 1.4 times higher than previously estimated. PI holds promise for applications in conservation science because it encourages researchers to better understand and account for treatment selection biases; can offer insights into the plausibility of conventional point-estimate approaches; could reduce the problem of advocacy in science; might be easier for stakeholders to agree on a bounded estimate than a point estimate where impacts are contentious; and requires only basic arithmetic skills. © 2015 Society for Conservation Biology.

The PNEI holistic approach in coloproctology.

PubMed

Pescatori, M; Podzemny, V; Pescatori, L C; Dore, M P; Bassotti, G

2015-05-01

The psycho-neuroendocrine-immune approach relies on the concept of considering diseases from a holistic point of view: the various components (psyche, nervous system, endocrine system, and immune system) control the diseased organ/apparatus and in turn are influenced by a feedback mechanism. In this article, we will consider the psycho-neuroendocrine-immune approach to coloproctological disorders, by providing clinical cases and discussing them in light of this approach.

Continuous Firefly Algorithm for Optimal Tuning of Pid Controller in Avr System

NASA Astrophysics Data System (ADS)

Bendjeghaba, Omar

2014-01-01

This paper presents a tuning approach based on Continuous firefly algorithm (CFA) to obtain the proportional-integral- derivative (PID) controller parameters in Automatic Voltage Regulator system (AVR). In the tuning processes the CFA is iterated to reach the optimal or the near optimal of PID controller parameters when the main goal is to improve the AVR step response characteristics. Conducted simulations show the effectiveness and the efficiency of the proposed approach. Furthermore the proposed approach can improve the dynamic of the AVR system. Compared with particle swarm optimization (PSO), the new CFA tuning method has better control system performance in terms of time domain specifications and set-point tracking.

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.

A multiple objective optimization approach to quality control

NASA Technical Reports Server (NTRS)

Seaman, Christopher Michael

1991-01-01

The use of product quality as the performance criteria for manufacturing system control is explored. The goal in manufacturing, for economic reasons, is to optimize product quality. The problem is that since quality is a rather nebulous product characteristic, there is seldom an analytic function that can be used as a measure. Therefore standard control approaches, such as optimal control, cannot readily be applied. A second problem with optimizing product quality is that it is typically measured along many dimensions: there are many apsects of quality which must be optimized simultaneously. Very often these different aspects are incommensurate and competing. The concept of optimality must now include accepting tradeoffs among the different quality characteristics. These problems are addressed using multiple objective optimization. It is shown that the quality control problem can be defined as a multiple objective optimization problem. A controller structure is defined using this as the basis. Then, an algorithm is presented which can be used by an operator to interactively find the best operating point. Essentially, the algorithm uses process data to provide the operator with two pieces of information: (1) if it is possible to simultaneously improve all quality criteria, then determine what changes to the process input or controller parameters should be made to do this; and (2) if it is not possible to improve all criteria, and the current operating point is not a desirable one, select a criteria in which a tradeoff should be made, and make input changes to improve all other criteria. The process is not operating at an optimal point in any sense if no tradeoff has to be made to move to a new operating point. This algorithm ensures that operating points are optimal in some sense and provides the operator with information about tradeoffs when seeking the best operating point. The multiobjective algorithm was implemented in two different injection molding scenarios: tuning of process controllers to meet specified performance objectives and tuning of process inputs to meet specified quality objectives. Five case studies are presented.

Comparing Behavior Modification Approaches to Habit Decrement--Smoking

ERIC Educational Resources Information Center

Wagner, M. K.; Bragg, R. A.

1970-01-01

Five methods for control of smoking were tested on 54 Ss using systematic desensitization (SD), covert sensitization (CS), a combination of SD and CS (SD-CS), relaxation, and counseling. The SD-CS treatment was superior at all points during the treatment, though not significantly superior to all other treatments at all time points. Reprints from…

Advanced Unstructured Grid Generation for Complex Aerodynamic Applications

NASA Technical Reports Server (NTRS)

Pirzadeh, Shahyar Z.

2008-01-01

A new approach for distribution of grid points on the surface and in the volume has been developed and implemented in the NASA unstructured grid generation code VGRID. In addition to the point and line sources of prior work, the new approach utilizes surface and volume sources for automatic curvature-based grid sizing and convenient point distribution in the volume. A new exponential growth function produces smoother and more efficient grids and provides superior control over distribution of grid points in the field. All types of sources support anisotropic grid stretching which not only improves the grid economy but also provides more accurate solutions for certain aerodynamic applications. The new approach does not require a three-dimensional background grid as in the previous methods. Instead, it makes use of an efficient bounding-box auxiliary medium for storing grid parameters defined by surface sources. The new approach is less memory-intensive and more efficient computationally. The grids generated with the new method either eliminate the need for adaptive grid refinement for certain class of problems or provide high quality initial grids that would enhance the performance of many adaptation methods.

Advanced Unstructured Grid Generation for Complex Aerodynamic Applications

NASA Technical Reports Server (NTRS)

Pirzadeh, Shahyar

2010-01-01

A new approach for distribution of grid points on the surface and in the volume has been developed. In addition to the point and line sources of prior work, the new approach utilizes surface and volume sources for automatic curvature-based grid sizing and convenient point distribution in the volume. A new exponential growth function produces smoother and more efficient grids and provides superior control over distribution of grid points in the field. All types of sources support anisotropic grid stretching which not only improves the grid economy but also provides more accurate solutions for certain aerodynamic applications. The new approach does not require a three-dimensional background grid as in the previous methods. Instead, it makes use of an efficient bounding-box auxiliary medium for storing grid parameters defined by surface sources. The new approach is less memory-intensive and more efficient computationally. The grids generated with the new method either eliminate the need for adaptive grid refinement for certain class of problems or provide high quality initial grids that would enhance the performance of many adaptation methods.

Trajectory tracking in quadrotor platform by using PD controller and LQR control approach

NASA Astrophysics Data System (ADS)

Islam, Maidul; Okasha, Mohamed; Idres, Moumen Mohammad

2017-11-01

The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers.

Fuzzy model-based servo and model following control for nonlinear systems.

PubMed

Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

2009-12-01

This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

Solar dynamic modules for Space Station Freedom: The relationship between fine-pointing control and thermal loading of the aperture plate

NASA Technical Reports Server (NTRS)

Quinn, Roger D.; Kerslake, Thomas W.

1992-01-01

Dynamic simulations of Space Station Freedom (SSF) configured with solar dynamic (SD) power modules were performed. The structure was subjected to Space Shuttle docking disturbances, while being controlled with a 'natural' vibration and tracking control approach. Three control cases were investigated for the purpose of investigating the relationship between actuator effort, SD pointing, and thermal loading on the receiver aperture plate. Transient, one-dimensional heat transfer analyses were performed to conservatively predict temperatures of the multi-layered receiver aperture plate assembly and thermal stresses in its shield layer. Results indicate that the proposed aperture plate is tolerant of concentrated flux impingement during short-lived structural disturbances. Pointing requirements may be loosened and the requirement control torques lessened from that previously specified. Downsizing and simplifying the joint drive system should result in a considerable savings mass.

Implementing system simulation of C3 systems using autonomous objects

NASA Technical Reports Server (NTRS)

Rogers, Ralph V.

1987-01-01

The basis of all conflict recognition in simulation is a common frame of reference. Synchronous discrete-event simulation relies on the fixed points in time as the basic frame of reference. Asynchronous discrete-event simulation relies on fixed-points in the model space as the basic frame of reference. Neither approach provides sufficient support for autonomous objects. The use of a spatial template as a frame of reference is proposed to address these insufficiencies. The concept of a spatial template is defined and an implementation approach offered. Discussed are the uses of this approach to analyze the integration of sensor data associated with Command, Control, and Communication systems.

Improving air traffic control: Proving new tools or approving the joint human-machine system?

NASA Technical Reports Server (NTRS)

Gaillard, Irene; Leroux, Marcel

1994-01-01

From the description of a field problem (i.e., designing decision aids for air traffic controllers), this paper points out how a cognitive engineering approach provides the milestones for the evaluation of future joint human-machine systems.

Feedforward/feedback control synthesis for performance and robustness

NASA Technical Reports Server (NTRS)

Wie, Bong; Liu, Qiang

1990-01-01

Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.

Modular and Adaptive Control of Sound Processing

NASA Astrophysics Data System (ADS)

van Nort, Douglas

This dissertation presents research into the creation of systems for the control of sound synthesis and processing. The focus differs from much of the work related to digital musical instrument design, which has rightly concentrated on the physicality of the instrument and interface: sensor design, choice of controller, feedback to performer and so on. Often times a particular choice of sound processing is made, and the resultant parameters from the physical interface are conditioned and mapped to the available sound parameters in an exploratory fashion. The main goal of the work presented here is to demonstrate the importance of the space that lies between physical interface design and the choice of sound manipulation algorithm, and to present a new framework for instrument design that strongly considers this essential part of the design process. In particular, this research takes the viewpoint that instrument designs should be considered in a musical control context, and that both control and sound dynamics must be considered in tandem. In order to achieve this holistic approach, the work presented in this dissertation assumes complementary points of view. Instrument design is first seen as a function of musical context, focusing on electroacoustic music and leading to a view on gesture that relates perceived musical intent to the dynamics of an instrumental system. The important design concept of mapping is then discussed from a theoretical and conceptual point of view, relating perceptual, systems and mathematically-oriented ways of examining the subject. This theoretical framework gives rise to a mapping design space, functional analysis of pertinent existing literature, implementations of mapping tools, instrumental control designs and several perceptual studies that explore the influence of mapping structure. Each of these reflect a high-level approach in which control structures are imposed on top of a high-dimensional space of control and sound synthesis parameters. In this view, desired gestural dynamics and sonic response are achieved through modular construction of mapping layers that are themselves subject to parametric control. Complementing this view of the design process, the work concludes with an approach in which the creation of gestural control/sound dynamics are considered in the low-level of the underlying sound model. The result is an adaptive system that is specialized to noise-based transformations that are particularly relevant in an electroacoustic music context. Taken together, these different approaches to design and evaluation result in a unified framework for creation of an instrumental system. The key point is that this framework addresses the influence that mapping structure and control dynamics have on the perceived feel of the instrument. Each of the results illustrate this using either top-down or bottom-up approaches that consider musical control context, thereby pointing to the greater potential for refined sonic articulation that can be had by combining them in the design process.

Glassy phase in quenched disordered crystalline membranes

NASA Astrophysics Data System (ADS)

Coquand, O.; Essafi, K.; Kownacki, J.-P.; Mouhanna, D.

2018-03-01

We investigate the flat phase of D -dimensional crystalline membranes embedded in a d -dimensional space and submitted to both metric and curvature quenched disorders using a nonperturbative renormalization group approach. We identify a second-order phase transition controlled by a finite-temperature, finite-disorder fixed point unreachable within the leading order of ɛ =4 -D and 1 /d expansions. This critical point divides the flow diagram into two basins of attraction: that associated with the finite-temperature fixed point controlling the long-distance behavior of disorder-free membranes and that associated with the zero-temperature, finite-disorder fixed point. Our work thus strongly suggests the existence of a whole low-temperature glassy phase for quenched disordered crystalline membranes and, possibly, for graphene and graphene-like compounds.

Optimal actuator placement in adaptive precision trusses

NASA Technical Reports Server (NTRS)

Baycan, C. M.; Utku, S.; Das, S. K.; Wada, B. K.

1992-01-01

Actuator placement in adaptive truss structures is to cater to two needs: displacement control of precision points and preloading the elements to overcome joint slackness. Due to technological and financial considerations, the number of actuators available is much less than the degrees of freedom of precision points to be controlled and the degree of redundancy of the structure. An approach for optimal actuator location is outlined. Test cases to demonstrate the effectiveness of the scheme are applied to the Precision Segmented Reflector Truss.

Recent Results from NASA's Morphing Project

NASA Technical Reports Server (NTRS)

McGowan, Anna-Maria R.; Washburn, Anthony E.; Horta, Lucas G.; Bryant, Robert G.; Cox, David E.; Siochi, Emilie J.; Padula, Sharon L.; Holloway, Nancy M.

2002-01-01

The NASA Morphing Project seeks to develop and assess advanced technologies and integrated component concepts to enable efficient, multi-point adaptability in air and space vehicles. In the context of the project, the word "morphing" is defined as "efficient, multi-point adaptability" and may include macro, micro, structural and/or fluidic approaches. The project includes research on smart materials, adaptive structures, micro flow control, biomimetic concepts, optimization and controls. This paper presents an updated overview of the content of the Morphing Project including highlights of recent research results.

Optimization of Control Points Number at Coordinate Measurements based on the Monte-Carlo Method

NASA Astrophysics Data System (ADS)

Korolev, A. A.; Kochetkov, A. V.; Zakharov, O. V.

2018-01-01

Improving the quality of products causes an increase in the requirements for the accuracy of the dimensions and shape of the surfaces of the workpieces. This, in turn, raises the requirements for accuracy and productivity of measuring of the workpieces. The use of coordinate measuring machines is currently the most effective measuring tool for solving similar problems. The article proposes a method for optimizing the number of control points using Monte Carlo simulation. Based on the measurement of a small sample from batches of workpieces, statistical modeling is performed, which allows one to obtain interval estimates of the measurement error. This approach is demonstrated by examples of applications for flatness, cylindricity and sphericity. Four options of uniform and uneven arrangement of control points are considered and their comparison is given. It is revealed that when the number of control points decreases, the arithmetic mean decreases, the standard deviation of the measurement error increases and the probability of the measurement α-error increases. In general, it has been established that it is possible to repeatedly reduce the number of control points while maintaining the required measurement accuracy.

Linear control of oscillator and amplifier flows*

NASA Astrophysics Data System (ADS)

Schmid, Peter J.; Sipp, Denis

2016-08-01

Linear control applied to fluid systems near an equilibrium point has important applications for many flows of industrial or fundamental interest. In this article we give an exposition of tools and approaches for the design of control strategies for globally stable or unstable flows. For unstable oscillator flows a feedback configuration and a model-based approach is proposed, while for stable noise-amplifier flows a feedforward setup and an approach based on system identification is advocated. Model reduction and robustness issues are addressed for the oscillator case; statistical learning techniques are emphasized for the amplifier case. Effective suppression of global and convective instabilities could be demonstrated for either case, even though the system-identification approach results in a superior robustness to off-design conditions.

Optimal Battery Utilization Over Lifetime for Parallel Hybrid Electric Vehicle to Maximize Fuel Economy

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

Patil, Chinmaya; Naghshtabrizi, Payam; Verma, Rajeev

This paper presents a control strategy to maximize fuel economy of a parallel hybrid electric vehicle over a target life of the battery. Many approaches to maximizing fuel economy of parallel hybrid electric vehicle do not consider the effect of control strategy on the life of the battery. This leads to an oversized and underutilized battery. There is a trade-off between how aggressively to use and 'consume' the battery versus to use the engine and consume fuel. The proposed approach addresses this trade-off by exploiting the differences in the fast dynamics of vehicle power management and slow dynamics of batterymore » aging. The control strategy is separated into two parts, (1) Predictive Battery Management (PBM), and (2) Predictive Power Management (PPM). PBM is the higher level control with slow update rate, e.g. once per month, responsible for generating optimal set points for PPM. The considered set points in this paper are the battery power limits and State Of Charge (SOC). The problem of finding the optimal set points over the target battery life that minimize engine fuel consumption is solved using dynamic programming. PPM is the lower level control with high update rate, e.g. a second, responsible for generating the optimal HEV energy management controls and is implemented using model predictive control approach. The PPM objective is to find the engine and battery power commands to achieve the best fuel economy given the battery power and SOC constraints imposed by PBM. Simulation results with a medium duty commercial hybrid electric vehicle and the proposed two-level hierarchical control strategy show that the HEV fuel economy is maximized while meeting a specified target battery life. On the other hand, the optimal unconstrained control strategy achieves marginally higher fuel economy, but fails to meet the target battery life.« less

Thermal form factor approach to the ground-state correlation functions of the XXZ chain in the antiferromagnetic massive regime

NASA Astrophysics Data System (ADS)

Dugave, Maxime; Göhmann, Frank; Kozlowski, Karol K.; Suzuki, Junji

2016-09-01

We use the form factors of the quantum transfer matrix in the zero-temperature limit in order to study the two-point ground-state correlation functions of the XXZ chain in the antiferromagnetic massive regime. We obtain novel form factor series representations of the correlation functions which differ from those derived either from the q-vertex-operator approach or from the algebraic Bethe Ansatz approach to the usual transfer matrix. We advocate that our novel representations are numerically more efficient and allow for a straightforward calculation of the large-distance asymptotic behaviour of the two-point functions. Keeping control over the temperature corrections to the two-point functions we see that these are of order {T}∞ in the whole antiferromagnetic massive regime. The isotropic limit of our result yields a novel form factor series representation for the two-point correlation functions of the XXX chain at zero magnetic field. Dedicated to the memory of Petr Petrovich Kulish.

Sliding mode control of magnetic suspensions for precision pointing and tracking applications

NASA Technical Reports Server (NTRS)

Misovec, Kathleen M.; Flynn, Frederick J.; Johnson, Bruce G.; Hedrick, J. Karl

1991-01-01

A recently developed nonlinear control method, sliding mode control, is examined as a means of advancing the achievable performance of space-based precision pointing and tracking systems that use nonlinear magnetic actuators. Analytic results indicate that sliding mode control improves performance compared to linear control approaches. In order to realize these performance improvements, precise knowledge of the plant is required. Additionally, the interaction of an estimating scheme and the sliding mode controller has not been fully examined in the literature. Estimation schemes were designed for use with this sliding mode controller that do not seriously degrade system performance. The authors designed and built a laboratory testbed to determine the feasibility of utilizing sliding mode control in these types of applications. Using this testbed, experimental verification of the authors' analyses is ongoing.

Novel imaging closed loop control strategy for heliostats

NASA Astrophysics Data System (ADS)

Bern, Gregor; Schöttl, Peter; Heimsath, Anna; Nitz, Peter

2017-06-01

Central Receiver Systems use up to thousands of heliostats to concentrate solar radiation. The precise control of heliostat aiming points is crucial not only for efficiency but also for reliable plant operation. Besides the calibration of open loop control systems, closed loop tracking strategies are developed to address a precise and efficient aiming strategy. The need for cost reductions in the heliostat field intensifies the motivation for economic closed loop control systems. This work introduces an approach for a closed loop heliostat tracking strategy using image analysis and signal modulation. The approach aims at the extraction of heliostat focal spot position within the receiver domain by means of a centralized remote vision system decoupled from the rough conditions close to the focal area. Taking an image sequence of the receiver while modulating a signal on different heliostats, their aiming points are retrieved. The work describes the methodology and shows first results from simulations and practical tests performed in small scale, motivating further investigation and deployment.

Effect of correlations on controllability transition in network control

PubMed Central

Nie, Sen; Wang, Xu-Wen; Wang, Bing-Hong; Jiang, Luo-Luo

2016-01-01

The network control problem has recently attracted an increasing amount of attention, owing to concerns including the avoidance of cascading failures of power-grids and the management of ecological networks. It has been proven that numerical control can be achieved if the number of control inputs exceeds a certain transition point. In the present study, we investigate the effect of degree correlation on the numerical controllability in networks whose topological structures are reconstructed from both real and modeling systems, and we find that the transition point of the number of control inputs depends strongly on the degree correlation in both undirected and directed networks with moderately sparse links. More interestingly, the effect of the degree correlation on the transition point cannot be observed in dense networks for numerical controllability, which contrasts with the corresponding result for structural controllability. In particular, for directed random networks and scale-free networks, the influence of the degree correlation is determined by the types of correlations. Our approach provides an understanding of control problems in complex sparse networks. PMID:27063294

On Supporting Physical Skill Discovery

NASA Astrophysics Data System (ADS)

Furukawa, Koichi; Suwa, Masaki; Kato, Takaaki

One of the main difficulties in motor skill acquisition is attributed to body control based on wrong mental models. This is true to various domains such as playing sports and playing musical instruments. In order to acquire adequate motor skill by modifying false belief, we need to help people find appropriate key points in achieving a body control and integrate them. In this paper, we investigate three approaches to realize such support. The first one is to encourage exploration of the relations among key points constituting a motor skill, using a technique of meta-cognitive verbalization. The second one is to represent a motor skill by appropriate mechanical models. The third one is to integrate rules for component tasks in achieving a compound task. These three approaches, we argue, help people build an integrated mental model consisting of multiple relations among various key points, one that seems to be indispensable for acquisition of motor skills. These ideas suggest the possibility to create new skill rules to perform difficult tasks automatically.

Overview of magnetic suspension research at Langley Research Center

NASA Technical Reports Server (NTRS)

Groom, Nelson J.

1992-01-01

An overview of research in small- and large-gap magnetic suspension systems at LaRC is presented. The overview is limited to systems which have been built as laboratory models or engineering models. Small-gap systems applications include the Annular Momentum Control Device (AMCD), which is a momentum storage device for the stabilization and control of spacecraft, and the Annular Suspension and Pointing System (ASPS), which is a general purpose pointing mount designed to provide orientation, mechanical isolation, and fine pointing space experiments. These devices are described and control and linearization approaches for the magnetic suspension systems for these devices are discussed. Large-gap systems applications at LaRC have been almost exclusively wind tunnel magnetic suspension systems. A brief description of these efforts is also presented.

Mapping experiment with space station

NASA Technical Reports Server (NTRS)

Wu, Sherman S. C.

1987-01-01

Mapping the earth from space stations can be approached in two areas. One is to collect gravity data for defining a new topographic datum using the earth's gravitational field in terms of spherical harmonics. The other, which should be considered as a very significant contribution of the Space Station, is to search and explore techniques of mapping the earth's topography using either optical or radar images with or without references to ground control points. Geodetic position of ground control points can be predetermined by the Global Positioning System (GPS) for the mapping experiment with the Space Station. It is proposed to establish four ground control points in North America or Africa (including the Sahara Desert). If this experiment should be successfully accomplished, it may also be applied to the defense charting service.

Interval Analysis Approach to Prototype the Robust Control of the Laboratory Overhead Crane

NASA Astrophysics Data System (ADS)

Smoczek, J.; Szpytko, J.; Hyla, P.

2014-07-01

The paper describes the software-hardware equipment and control-measurement solutions elaborated to prototype the laboratory scaled overhead crane control system. The novelty approach to crane dynamic system modelling and fuzzy robust control scheme design is presented. The iterative procedure for designing a fuzzy scheduling control scheme is developed based on the interval analysis of discrete-time closed-loop system characteristic polynomial coefficients in the presence of rope length and mass of a payload variation to select the minimum set of operating points corresponding to the midpoints of membership functions at which the linear controllers are determined through desired poles assignment. The experimental results obtained on the laboratory stand are presented.

A new approach to adaptive control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Navigation Operational Concept,

DTIC Science & Technology

1991-08-01

Area Control Facility AFSS Automated Flight Service Station AGL Above Ground Level ALSF-2 Approach Light System with Sequence Flasher Model 2 ATC Air...equipment contributes less than 0.30 NM error at the missed approach point. This total system use accuracy allows for flight technical error of up to...means for transition from instrument to visual flight . This function is provided by a series of standard lighting systems : the Approach Lighting

Scalable graphene aptasensors for drug quantification

NASA Astrophysics Data System (ADS)

Vishnubhotla, Ramya; Ping, Jinglei; Gao, Zhaoli; Lee, Abigail; Saouaf, Olivia; Vrudhula, Amey; Johnson, A. T. Charlie

2017-11-01

Simpler and more rapid approaches for therapeutic drug-level monitoring are highly desirable to enable use at the point-of-care. We have developed an all-electronic approach for detection of the HIV drug tenofovir based on scalable fabrication of arrays of graphene field-effect transistors (GFETs) functionalized with a commercially available DNA aptamer. The shift in the Dirac voltage of the GFETs varied systematically with the concentration of tenofovir in deionized water, with a detection limit less than 1 ng/mL. Tests against a set of negative controls confirmed the specificity of the sensor response. This approach offers the potential for further development into a rapid and convenient point-of-care tool with clinically relevant performance.

Adaptive Performance Seeking Control Using Fuzzy Model Reference Learning Control and Positive Gradient Control

NASA Technical Reports Server (NTRS)

Kopasakis, George

1997-01-01

Performance Seeking Control attempts to find the operating condition that will generate optimal performance and control the plant at that operating condition. In this paper a nonlinear multivariable Adaptive Performance Seeking Control (APSC) methodology will be developed and it will be demonstrated on a nonlinear system. The APSC is comprised of the Positive Gradient Control (PGC) and the Fuzzy Model Reference Learning Control (FMRLC). The PGC computes the positive gradients of the desired performance function with respect to the control inputs in order to drive the plant set points to the operating point that will produce optimal performance. The PGC approach will be derived in this paper. The feedback control of the plant is performed by the FMRLC. For the FMRLC, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for the effective tuning of the FMRLC controller.

Robust Spatial Approximation of Laser Scanner Point Clouds by Means of Free-form Curve Approaches in Deformation Analysis

NASA Astrophysics Data System (ADS)

Bureick, Johannes; Alkhatib, Hamza; Neumann, Ingo

2016-03-01

In many geodetic engineering applications it is necessary to solve the problem of describing a measured data point cloud, measured, e. g. by laser scanner, by means of free-form curves or surfaces, e. g., with B-Splines as basis functions. The state of the art approaches to determine B-Splines yields results which are seriously manipulated by the occurrence of data gaps and outliers. Optimal and robust B-Spline fitting depend, however, on optimal selection of the knot vector. Hence we combine in our approach Monte-Carlo methods and the location and curvature of the measured data in order to determine the knot vector of the B-Spline in such a way that no oscillating effects at the edges of data gaps occur. We introduce an optimized approach based on computed weights by means of resampling techniques. In order to minimize the effect of outliers, we apply robust M-estimators for the estimation of control points. The above mentioned approach will be applied to a multi-sensor system based on kinematic terrestrial laserscanning in the field of rail track inspection.

Stratal Control Volumes and Stratal Control Trajectories: A New Method to Constrain, Understand and Reconcile Results from Stratigraphic Outcrop Analysis, Subsurface Analysis and Analogue and Numerical Modelling

NASA Astrophysics Data System (ADS)

Burgess, P. M.; Steel, R. J.

2016-12-01

Decoding a history of Earth's surface dynamics from strata requires robust quantitative understanding of supply and accommodation controls. The concept of stratigraphic solution sets has proven useful in this decoding, but application and development of this approach has so far been surprisingly limited. Stratal control volumes, areas and trajectories are new approaches defined here, building on previous ideas about stratigraphic solution sets, to help analyse and understand the sedimentary record of Earth surface dynamics. They may have particular application reconciling results from outcrop and subsurface analysis with results from analogue and numerical experiments. Stratal control volumes are sets of points in a three-dimensional volume, with axes of subsidence, sediment supply and eustatic rates of change, populated with probabilities derived from analysis of subsidence, supply and eustasy timeseries (Figure 1). These empirical probabilities indicate the likelihood of occurrence of any particular combination of control rates defined by any point in the volume. The stratal control volume can then by analysed to determine which parts of the volume represent relative sea-level fall and rise, where in the volume particular stacking patterns will occur, and how probable those stacking patterns are. For outcrop and subsurface analysis, using a stratal control area with eustasy and subsidence combined on a relative sea-level axis allows similar analysis, and may be preferable. A stratal control trajectory is a history of supply and accommodation creation rates, interpreted from outcrop or subsurface data, or observed in analogue and numerical experiments, and plotted as a series of linked points forming a trajectory through the stratal control volume (Figure 1) or area. Three examples are presented, one from outcrop and two theoretical. Much work remains to be done to build a properly representative database of stratal controls, but careful comparison of stratal control volume and trajectories constructed from outcrop analysis, subsurface analysis and experimental models may help the convergence, reconciliation and future evolution of these different approaches.

An integrated bioinformatics approach to improve two-color microarray quality-control: impact on biological conclusions.

PubMed

van Haaften, Rachel I M; Luceri, Cristina; van Erk, Arie; Evelo, Chris T A

2009-06-01

Omics technology used for large-scale measurements of gene expression is rapidly evolving. This work pointed out the need of an extensive bioinformatics analyses for array quality assessment before and after gene expression clustering and pathway analysis. A study focused on the effect of red wine polyphenols on rat colon mucosa was used to test the impact of quality control and normalisation steps on the biological conclusions. The integration of data visualization, pathway analysis and clustering revealed an artifact problem that was solved with an adapted normalisation. We propose a possible point to point standard analysis procedure, based on a combination of clustering and data visualization for the analysis of microarray data.

Design and control of active vision based mechanisms for intelligent robots

NASA Technical Reports Server (NTRS)

Wu, Liwei; Marefat, Michael M.

1994-01-01

In this paper, we propose a design of an active vision system for intelligent robot application purposes. The system has the degrees of freedom of pan, tilt, vergence, camera height adjustment, and baseline adjustment with a hierarchical control system structure. Based on this vision system, we discuss two problems involved in the binocular gaze stabilization process: fixation point selection and vergence disparity extraction. A hierarchical approach to determining point of fixation from potential gaze targets using evaluation function representing human visual behavior to outside stimuli is suggested. We also characterize different visual tasks in two cameras for vergence control purposes, and a phase-based method based on binarized images to extract vergence disparity for vergence control is presented. A control algorithm for vergence control is discussed.

Facilitating sunscreen use in women by a theory-based online intervention: a randomized controlled trial.

PubMed

Craciun, Catrinel; Schüz, Natalie; Lippke, Sonia; Schwarzer, Ralf

2012-03-01

This study compares a motivational skin cancer prevention approach with a volitional planning and self-efficacy intervention to enhance regular sunscreen use. A randomized controlled trial (RCT) was conducted with 205 women (mean age 25 years) in three groups: motivational; volitional; and control. Sunscreen use, action planning, coping planning and coping self-efficacy were assessed at three points in time. The volitional intervention improved sunscreen use. Coping planning emerged as the only mediator between the intervention and sunscreen use at Time 3. Findings point to the role played by coping planning as an ingredient of sun protection interventions.

A Unified Point Process Probabilistic Framework to Assess Heartbeat Dynamics and Autonomic Cardiovascular Control

PubMed Central

Chen, Zhe; Purdon, Patrick L.; Brown, Emery N.; Barbieri, Riccardo

2012-01-01

In recent years, time-varying inhomogeneous point process models have been introduced for assessment of instantaneous heartbeat dynamics as well as specific cardiovascular control mechanisms and hemodynamics. Assessment of the model’s statistics is established through the Wiener-Volterra theory and a multivariate autoregressive (AR) structure. A variety of instantaneous cardiovascular metrics, such as heart rate (HR), heart rate variability (HRV), respiratory sinus arrhythmia (RSA), and baroreceptor-cardiac reflex (baroreflex) sensitivity (BRS), are derived within a parametric framework and instantaneously updated with adaptive and local maximum likelihood estimation algorithms. Inclusion of second-order non-linearities, with subsequent bispectral quantification in the frequency domain, further allows for definition of instantaneous metrics of non-linearity. We here present a comprehensive review of the devised methods as applied to experimental recordings from healthy subjects during propofol anesthesia. Collective results reveal interesting dynamic trends across the different pharmacological interventions operated within each anesthesia session, confirming the ability of the algorithm to track important changes in cardiorespiratory elicited interactions, and pointing at our mathematical approach as a promising monitoring tool for an accurate, non-invasive assessment in clinical practice. We also discuss the limitations and other alternative modeling strategies of our point process approach. PMID:22375120

Gene genealogies for genetic association mapping, with application to Crohn's disease

PubMed Central

Burkett, Kelly M.; Greenwood, Celia M. T.; McNeney, Brad; Graham, Jinko

2013-01-01

A gene genealogy describes relationships among haplotypes sampled from a population. Knowledge of the gene genealogy for a set of haplotypes is useful for estimation of population genetic parameters and it also has potential application in finding disease-predisposing genetic variants. As the true gene genealogy is unknown, Markov chain Monte Carlo (MCMC) approaches have been used to sample genealogies conditional on data at multiple genetic markers. We previously implemented an MCMC algorithm to sample from an approximation to the distribution of the gene genealogy conditional on haplotype data. Our approach samples ancestral trees, recombination and mutation rates at a genomic focal point. In this work, we describe how our sampler can be used to find disease-predisposing genetic variants in samples of cases and controls. We use a tree-based association statistic that quantifies the degree to which case haplotypes are more closely related to each other around the focal point than control haplotypes, without relying on a disease model. As the ancestral tree is a latent variable, so is the tree-based association statistic. We show how the sampler can be used to estimate the posterior distribution of the latent test statistic and corresponding latent p-values, which together comprise a fuzzy p-value. We illustrate the approach on a publicly-available dataset from a study of Crohn's disease that consists of genotypes at multiple SNP markers in a small genomic region. We estimate the posterior distribution of the tree-based association statistic and the recombination rate at multiple focal points in the region. Reassuringly, the posterior mean recombination rates estimated at the different focal points are consistent with previously published estimates. The tree-based association approach finds multiple sub-regions where the case haplotypes are more genetically related than the control haplotypes, and that there may be one or multiple disease-predisposing loci. PMID:24348515

Zero-sum two-player game theoretic formulation of affine nonlinear discrete-time systems using neural networks.

PubMed

Mehraeen, Shahab; Dierks, Travis; Jagannathan, S; Crow, Mariesa L

2013-12-01

In this paper, the nearly optimal solution for discrete-time (DT) affine nonlinear control systems in the presence of partially unknown internal system dynamics and disturbances is considered. The approach is based on successive approximate solution of the Hamilton-Jacobi-Isaacs (HJI) equation, which appears in optimal control. Successive approximation approach for updating control and disturbance inputs for DT nonlinear affine systems are proposed. Moreover, sufficient conditions for the convergence of the approximate HJI solution to the saddle point are derived, and an iterative approach to approximate the HJI equation using a neural network (NN) is presented. Then, the requirement of full knowledge of the internal dynamics of the nonlinear DT system is relaxed by using a second NN online approximator. The result is a closed-loop optimal NN controller via offline learning. A numerical example is provided illustrating the effectiveness of the approach.

Two-craft Coulomb formation study about circular orbits and libration points

NASA Astrophysics Data System (ADS)

Inampudi, Ravi Kishore

This dissertation investigates the dynamics and control of a two-craft Coulomb formation in circular orbits and at libration points; it addresses relative equilibria, stability and optimal reconfigurations of such formations. The relative equilibria of a two-craft tether formation connected by line-of-sight elastic forces moving in circular orbits and at libration points are investigated. In circular Earth orbits and Earth-Moon libration points, the radial, along-track, and orbit normal great circle equilibria conditions are found. An example of modeling the tether force using Coulomb force is discussed. Furthermore, the non-great-circle equilibria conditions for a two-spacecraft tether structure in circular Earth orbit and at collinear libration points are developed. Then the linearized dynamics and stability analysis of a 2-craft Coulomb formation at Earth-Moon libration points are studied. For orbit-radial equilibrium, Coulomb forces control the relative distance between the two satellites. The gravity gradient torques on the formation due to the two planets help stabilize the formation. Similar analysis is performed for along-track and orbit-normal relative equilibrium configurations. Where necessary, the craft use a hybrid thrusting-electrostatic actuation system. The two-craft dynamics at the libration points provide a general framework with circular Earth orbit dynamics forming a special case. In the presence of differential solar drag perturbations, a Lyapunov feedback controller is designed to stabilize a radial equilibrium, two-craft Coulomb formation at collinear libration points. The second part of the thesis investigates optimal reconfigurations of two-craft Coulomb formations in circular Earth orbits by applying nonlinear optimal control techniques. The objective of these reconfigurations is to maneuver the two-craft formation between two charged equilibria configurations. The reconfiguration of spacecraft is posed as an optimization problem using the calculus of variations approach. The optimality criteria are minimum time, minimum acceleration of the separation distance, minimum Coulomb and electric propulsion fuel usage, and minimum electrical power consumption. The continuous time problem is discretized using a pseudospectral method, and the resulting finite dimensional problem is solved using a sequential quadratic programming algorithm. The software package, DIDO, implements this approach. This second part illustrates how pseudospectral methods significantly simplify the solution-finding process.

Triana Safehold: A New Gyroless, Sun-Pointing Attitude Controller

NASA Technical Reports Server (NTRS)

Chen, J.; Morgenstern, Wendy; Garrick, Joseph

2001-01-01

Triana is a single-string spacecraft to be placed in a halo orbit about the sun-earth Ll Lagrangian point. The Attitude Control Subsystem (ACS) hardware includes four reaction wheels, ten thrusters, six coarse sun sensors, a star tracker, and a three-axis Inertial Measuring Unit (IMU). The ACS Safehold design features a gyroless sun-pointing control scheme using only sun sensors and wheels. With this minimum hardware approach, Safehold increases mission reliability in the event of a gyroscope anomaly. In place of the gyroscope rate measurements, Triana Safehold uses wheel tachometers to help provide a scaled estimation of the spacecraft body rate about the sun vector. Since Triana nominally performs momentum management every three months, its accumulated system momentum can reach a significant fraction of the wheel capacity. It is therefore a requirement for Safehold to maintain a sun-pointing attitude even when the spacecraft system momentum is reasonably large. The tachometer sun-line rate estimation enables the controller to bring the spacecraft close to its desired sun-pointing attitude even with reasonably high system momentum and wheel drags. This paper presents the design rationale behind this gyroless controller, stability analysis, and some time-domain simulation results showing performances with various initial conditions. Finally, suggestions for future improvements are briefly discussed.

Autonomous vehicle motion control, approximate maps, and fuzzy logic

NASA Technical Reports Server (NTRS)

Ruspini, Enrique H.

1993-01-01

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Effects of a blended learning approach on student outcomes in a graduate-level public health course.

PubMed

Kiviniemi, Marc T

2014-03-11

Blended learning approaches, in which in-person and online course components are combined in a single course, are rapidly increasing in health sciences education. Evidence for the relative effectiveness of blended learning versus more traditional course approaches is mixed. The impact of a blended learning approach on student learning in a graduate-level public health course was examined using a quasi-experimental, non-equivalent control group design. Exam scores and course point total data from a baseline, "traditional" approach semester (n = 28) was compared to that from a semester utilizing a blended learning approach (n = 38). In addition, student evaluations of the blended learning approach were evaluated. There was a statistically significant increase in student performance under the blended learning approach (final course point total d = 0.57; a medium effect size), even after accounting for previous academic performance. Moreover, student evaluations of the blended approach were very positive and the majority of students (83%) preferred the blended learning approach. Blended learning approaches may be an effective means of optimizing student learning and improving student performance in health sciences courses.

Modeling and Control for Microgrids

NASA Astrophysics Data System (ADS)

Steenis, Joel

Traditional approaches to modeling microgrids include the behavior of each inverter operating in a particular network configuration and at a particular operating point. Such models quickly become computationally intensive for large systems. Similarly, traditional approaches to control do not use advanced methodologies and suffer from poor performance and limited operating range. In this document a linear model is derived for an inverter connected to the Thevenin equivalent of a microgrid. This model is then compared to a nonlinear simulation model and analyzed using the open and closed loop systems in both the time and frequency domains. The modeling error is quantified with emphasis on its use for controller design purposes. Control design examples are given using a Glover McFarlane controller, gain scheduled Glover McFarlane controller, and bumpless transfer controller which are compared to the standard droop control approach. These examples serve as a guide to illustrate the use of multi-variable modeling techniques in the context of robust controller design and show that gain scheduled MIMO control techniques can extend the operating range of a microgrid. A hardware implementation is used to compare constant gain droop controllers with Glover McFarlane controllers and shows a clear advantage of the Glover McFarlane approach.

A genuine nonlinear approach for controller design of a boiler-turbine system.

PubMed

Yang, Shizhong; Qian, Chunjiang; Du, Haibo

2012-05-01

This paper proposes a genuine nonlinear approach for controller design of a drum-type boiler-turbine system. Based on a second order nonlinear model, a finite-time convergent controller is first designed to drive the states to their setpoints in a finite time. In the case when the state variables are unmeasurable, the system will be regulated using a constant controller or an output feedback controller. An adaptive controller is also designed to stabilize the system since the model parameters may vary under different operating points. The novelty of the proposed controller design approach lies in fully utilizing the system nonlinearities instead of linearizing or canceling them. In addition, the newly developed techniques for finite-time convergent controller are used to guarantee fast convergence of the system. Simulations are conducted under different cases and the results are presented to illustrate the performance of the proposed controllers. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Integration of Libration Point Orbit Dynamics into a Universal 3-D Autonomous Formation Flying Algorithm

NASA Technical Reports Server (NTRS)

Folta, David; Bauer, Frank H. (Technical Monitor)

2001-01-01

The autonomous formation flying control algorithm developed by the Goddard Space Flight Center (GSFC) for the New Millennium Program (NMP) Earth Observing-1 (EO-1) mission is investigated for applicability to libration point orbit formations. In the EO-1 formation-flying algorithm, control is accomplished via linearization about a reference transfer orbit with a state transition matrix (STM) computed from state inputs. The effect of libration point orbit dynamics on this algorithm architecture is explored via computation of STMs using the flight proven code, a monodromy matrix developed from a N-body model of a libration orbit, and a standard STM developed from the gravitational and coriolis effects as measured at the libration point. A comparison of formation flying Delta-Vs calculated from these methods is made to a standard linear quadratic regulator (LQR) method. The universal 3-D approach is optimal in the sense that it can be accommodated as an open-loop or closed-loop control using only state information.

Foreign Language Teaching and the Computer.

ERIC Educational Resources Information Center

Garrett, Nina; Hart, Robert S.

1988-01-01

A review of the APPLE MACINTOSH-compatible software "Conjugate! Spanish," intended to drill Spanish verb forms, points out its strengths (error feedback, user manual, user interface, and feature control) and its weaknesses (pedagogical approach). (CB)

Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy

2001-01-01

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

Mapping experiment with space station

NASA Technical Reports Server (NTRS)

Wu, S. S. C.

1986-01-01

Mapping of the Earth from space stations can be approached in two areas. One is to collect gravity data for defining topographic datum using Earth's gravity field in terms of spherical harmonics. The other is to search and explore techniques of mapping topography using either optical or radar images with or without reference to ground central points. Without ground control points, an integrated camera system can be designed. With ground control points, the position of the space station (camera station) can be precisely determined at any instant. Therefore, terrestrial topography can be precisely mapped either by conventional photogrammetric methods or by current digital technology of image correlation. For the mapping experiment, it is proposed to establish four ground points either in North America or Africa (including the Sahara desert). If this experiment should be successfully accomplished, it may also be applied to the defense charting systems.

An approach of point cloud denoising based on improved bilateral filtering

NASA Astrophysics Data System (ADS)

Zheng, Zeling; Jia, Songmin; Zhang, Guoliang; Li, Xiuzhi; Zhang, Xiangyin

2018-04-01

An omnidirectional mobile platform is designed for building point cloud based on an improved filtering algorithm which is employed to handle the depth image. First, the mobile platform can move flexibly and the control interface is convenient to control. Then, because the traditional bilateral filtering algorithm is time-consuming and inefficient, a novel method is proposed which called local bilateral filtering (LBF). LBF is applied to process depth image obtained by the Kinect sensor. The results show that the effect of removing noise is improved comparing with the bilateral filtering. In the condition of off-line, the color images and processed images are used to build point clouds. Finally, experimental results demonstrate that our method improves the speed of processing time of depth image and the effect of point cloud which has been built.

Intelligent Process Abnormal Patterns Recognition and Diagnosis Based on Fuzzy Logic.

PubMed

Hou, Shi-Wang; Feng, Shunxiao; Wang, Hui

2016-01-01

Locating the assignable causes by use of the abnormal patterns of control chart is a widely used technology for manufacturing quality control. If there are uncertainties about the occurrence degree of abnormal patterns, the diagnosis process is impossible to be carried out. Considering four common abnormal control chart patterns, this paper proposed a characteristic numbers based recognition method point by point to quantify the occurrence degree of abnormal patterns under uncertain conditions and a fuzzy inference system based on fuzzy logic to calculate the contribution degree of assignable causes with fuzzy abnormal patterns. Application case results show that the proposed approach can give a ranked causes list under fuzzy control chart abnormal patterns and support the abnormity eliminating.

Distributed memory approaches for robotic neural controllers

NASA Technical Reports Server (NTRS)

Jorgensen, Charles C.

1990-01-01

The suitability is explored of two varieties of distributed memory neutral networks as trainable controllers for a simulated robotics task. The task requires that two cameras observe an arbitrary target point in space. Coordinates of the target on the camera image planes are passed to a neural controller which must learn to solve the inverse kinematics of a manipulator with one revolute and two prismatic joints. Two new network designs are evaluated. The first, radial basis sparse distributed memory (RBSDM), approximates functional mappings as sums of multivariate gaussians centered around previously learned patterns. The second network types involved variations of Adaptive Vector Quantizers or Self Organizing Maps. In these networks, random N dimensional points are given local connectivities. They are then exposed to training patterns and readjust their locations based on a nearest neighbor rule. Both approaches are tested based on their ability to interpolate manipulator joint coordinates for simulated arm movement while simultaneously performing stereo fusion of the camera data. Comparisons are made with classical k-nearest neighbor pattern recognition techniques.

Sliding mode controller for a photovoltaic pumping system

NASA Astrophysics Data System (ADS)

ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

2017-03-01

In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

Reactive navigation in extremely dense and highly intricate environments

PubMed Central

2017-01-01

Reactive navigation is a well-known paradigm for controlling an autonomous mobile robot, which suggests making all control decisions through some light processing of the current/recent sensor data. Among the many advantages of this paradigm are: 1) the possibility to apply it to robots with limited and low-priced hardware resources, and 2) the fact of being able to safely navigate a robot in completely unknown environments containing unpredictable moving obstacles. As a major disadvantage, nevertheless, the reactive paradigm may occasionally cause robots to get trapped in certain areas of the environment—typically, these conflicting areas have a large concave shape and/or are full of closely-spaced obstacles. In this last respect, an enormous effort has been devoted to overcome such a serious drawback during the last two decades. As a result of this effort, a substantial number of new approaches for reactive navigation have been put forward. Some of these approaches have clearly improved the way how a reactively-controlled robot can move among densely cluttered obstacles; some other approaches have essentially focused on increasing the variety of obstacle shapes and sizes that could be successfully circumnavigated; etc. In this paper, as a starting point, we choose the best existing reactive approach to move in densely cluttered environments, and we also choose the existing reactive approach with the greatest ability to circumvent large intricate-shaped obstacles. Then, we combine these two approaches in a way that makes the most of them. From the experimental point of view, we use both simulated and real scenarios of challenging complexity for testing purposes. In such scenarios, we demonstrate that the combined approach herein proposed clearly outperforms the two individual approaches on which it is built. PMID:29287078

Design of the stabilizing control of the orbital motion in the vicinity of the collinear libration point L1 using the analytical representation of the invariant manifold

NASA Astrophysics Data System (ADS)

Maliavkin, G. P.; Shmyrov, A. S.; Shmyrov, V. A.

2018-05-01

Vicinities of collinear libration points of the Sun-Earth system are currently quite attractive for the space navigation. Today, various projects on placing of spacecrafts observing the Sun in the L1 libration point and telescopes in L2 have been implemented (e.g. spacecrafts "WIND", "SOHO", "Herschel", "Planck"). Collinear libration points being unstable leads to the problem of stabilization of a spacecraft's motion. Laws of stabilizing motion control in vicinity of L1 point can be constructed using the analytical representation of a stable invariant manifold. Efficiency of these control laws depends on the precision of the representation. Within the model of Hill's approximation of the circular restricted three-body problem in the rotating geocentric coordinate system one can obtain the analytical representation of an invariant manifold filled with bounded trajectories in a form of series in terms of powers of the phase variables. Approximate representations of the orders from the first to the fourth inclusive can be used to construct four laws of stabilizing feedback motion control under which trajectories approach the manifold. By virtue of numerical simulation the comparison can be made: how the precision of the representation of the invariant manifold influences the efficiency of the control, expressed by energy consumptions (characteristic velocity). It shows that using approximations of higher orders in constructing the control laws can significantly reduce the energy consumptions on implementing the control compared to the linear approximation.

Metabolic Control and Academic Achievement over Time among Adolescents with Type 1 Diabetes

ERIC Educational Resources Information Center

Winnick, Joel B.; Berg, Cynthia A.; Wiebe, Deborah J.; Schaefer, Barbara A.; Lei, Pui-Wa; Butner, Jonathan E.

2017-01-01

The relation between metabolic control (HbA1c) and achievement (grade point average [GPA]) was examined over a period of 2.5 years (every 6 months) employing a dynamical systems approach that allowed for the examination of whether HbA1c was associated with change in subsequent GPA and vice versa. Metabolic control tends to deteriorate (i.e., with…

A Message Exchange Protocol in Command and Control Systems Integration, using the JC3IEDM

DTIC Science & Technology

2014-06-01

19TH International Command and Control Research and Technology Symposium C2 Agility: Lessons Learned from Research and Operations. A Message...distribution unlimited 13. SUPPLEMENTARY NOTES Presented at the 18th International Command & Control Research & Technology Symposium (ICCRTS) held 16...presents approaches of integration, compares their technologies , points out their advantages, proposes requirements, and provides the design of a protocol

Reconfigurable Flight Control Designs With Application to the X-33 Vehicle

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zhenglu

1999-01-01

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the right body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

A hybrid BCI for enhanced control of a telepresence robot.

PubMed

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

2013-01-01

Motor-disabled end users have successfully driven a telepresence robot in a complex environment using a Brain-Computer Interface (BCI). However, to facilitate the interaction aspect that underpins the notion of telepresence, users must be able to voluntarily and reliably stop the robot at any moment, not just drive from point to point. In this work, we propose to exploit the user's residual muscular activity to provide a fast and reliable control channel, which can start/stop the telepresence robot at any moment. Our preliminary results show that not only does this hybrid approach increase the accuracy, but it also helps to reduce the workload and was the preferred control paradigm of all the participants.

Control-structure interaction study for the Space Station solar dynamic power module

NASA Technical Reports Server (NTRS)

Cheng, J.; Ianculescu, G.; Ly, J.; Kim, M.

1991-01-01

The authors investigate the feasibility of using a conventional PID (proportional plus integral plus derivative) controller design to perform the pointing and tracking functions for the Space Station Freedom solar dynamic power module. Using this simple controller design, the control/structure interaction effects were also studied without assuming frequency bandwidth separation. From the results, the feasibility of a simple solar dynamic control solution with a reduced-order model, which satisfies the basic system pointing and stability requirements, is suggested. However, the conventional control design approach is shown to be very much influenced by the order of reduction of the plant model, i.e., the number of the retained elastic modes from the full-order model. This suggests that, for complex large space structures, such as the Space Station Freedom solar dynamic, the conventional control system design methods may not be adequate.

The equilibrium-point hypothesis--past, present and future.

PubMed

Feldman, Anatol G; Levin, Mindy F

2009-01-01

This chapter is a brief account of fundamentals of the equilibrium-point hypothesis or more adequately called the threshold control theory (TCT). It also compares the TCT with other approaches to motor control. The basic notions of the TCT are reviewed with a major focus on solutions to the problems of multi-muscle and multi-degrees of freedom redundancy. The TCT incorporates cognitive aspects by explaining how neurons recognize that internal (neural) and external (environmental) events match each other. These aspects as well as how motor learning occurs are subjects of further development of the TCT hypothesis.

Evolution of Motor Control: From Reflexes and Motor Programs to the Equilibrium-Point Hypothesis.

PubMed

Latash, Mark L

2008-01-01

This brief review analyzes the evolution of motor control theories along two lines that emphasize active (motor programs) and reactive (reflexes) features of voluntary movements. It suggests that the only contemporary hypothesis that integrates both approaches in a fruitful way is the equilibrium-point hypothesis. Physical, physiological, and behavioral foundations of the EP-hypothesis are considered as well as relations between the EP-hypothesis and the recent developments of the notion of motor synergies. The paper ends with a brief review of the criticisms of the EP-hypothesis and challenges that the hypothesis faces at this time.

Sliding Mode Approaches for Robust Control, State Estimation, Secure Communication, and Fault Diagnosis in Nuclear Systems

NASA Astrophysics Data System (ADS)

Ablay, Gunyaz

Using traditional control methods for controller design, parameter estimation and fault diagnosis may lead to poor results with nuclear systems in practice because of approximations and uncertainties in the system models used, possibly resulting in unexpected plant unavailability. This experience has led to an interest in development of robust control, estimation and fault diagnosis methods. One particularly robust approach is the sliding mode control methodology. Sliding mode approaches have been of great interest and importance in industry and engineering in the recent decades due to their potential for producing economic, safe and reliable designs. In order to utilize these advantages, sliding mode approaches are implemented for robust control, state estimation, secure communication and fault diagnosis in nuclear plant systems. In addition, a sliding mode output observer is developed for fault diagnosis in dynamical systems. To validate the effectiveness of the methodologies, several nuclear plant system models are considered for applications, including point reactor kinetics, xenon concentration dynamics, an uncertain pressurizer model, a U-tube steam generator model and a coupled nonlinear nuclear reactor model.

Research study on IPS digital controller design

NASA Technical Reports Server (NTRS)

Kuo, B. C.; Folkerts, C.

1976-01-01

The performance is investigated of the simplified continuous-data model of the Instrument Pointing System (IPS). Although the ultimate objective is to study the digital model of the system, knowledge on the performance of the continuous-data model is important in the sense that the characteristics of the digital system should approach those of the continuous-data system as the sampling period approaches zero.

EAC and the Development of National and European Gateways to Archives

ERIC Educational Resources Information Center

Ottosson, Per-Gunnar

2005-01-01

In the development of gateways to archives there are two different approaches, one focusing on the descriptions of the material and the other on the creators. Search and retrieval with precision and quality require controlled access points and name authority control. National registries of private archives have a long tradition in implementing the…

A Multiple Objective Test Assembly Approach for Exposure Control Problems in Computerized Adaptive Testing

ERIC Educational Resources Information Center

Veldkamp, Bernard P.; Verschoor, Angela J.; Eggen, Theo J. H. M.

2010-01-01

Overexposure and underexposure of items in the bank are serious problems in operational computerized adaptive testing (CAT) systems. These exposure problems might result in item compromise, or point at a waste of investments. The exposure control problem can be viewed as a test assembly problem with multiple objectives. Information in the test has…

Handbook of satellite pointing errors and their statistical treatment

NASA Astrophysics Data System (ADS)

Weinberger, M. C.

1980-03-01

This handbook aims to provide both satellite payload and attitude control system designers with a consistent, unambiguous approach to the formulation, definition and interpretation of attitude pointing and measurement specifications. It reviews and assesses the current terminology and practices, and from them establishes a set of unified terminology, giving the user a sound basis to understand the meaning and implications of various specifications and requirements. Guidelines are presented for defining the characteristics of the error sources influencing satellite pointing and attitude measurement, and their combination in performance verification.

Tactical Damage Control Resuscitation.

PubMed

Fisher, Andrew D; Miles, Ethan A; Cap, Andrew P; Strandenes, Geir; Kane, Shawn F

2015-08-01

Recently the Committee on Tactical Combat Casualty Care changed the guidelines on fluid use in hemorrhagic shock. The current strategy for treating hemorrhagic shock is based on early use of components: Packed Red Blood Cells (PRBCs), Fresh Frozen Plasma (FFP) and platelets in a 1:1:1 ratio. We suggest that lack of components to mimic whole blood functionality favors the use of Fresh Whole Blood in managing hemorrhagic shock on the battlefield. We present a safe and practical approach for its use at the point of injury in the combat environment called Tactical Damage Control Resuscitation. We describe pre-deployment preparation, assessment of hemorrhagic shock, and collection and transfusion of fresh whole blood at the point of injury. By approaching shock with goal-directed therapy, it is possible to extend the period of survivability in combat casualties. Reprint & Copyright © 2015 Association of Military Surgeons of the U.S.

Robust Control Design via Linear Programming

NASA Technical Reports Server (NTRS)

Keel, L. H.; Bhattacharyya, S. P.

1998-01-01

This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.

Modeling Canadian Quality Control Test Program for Steroid Hormone Receptors in Breast Cancer: Diagnostic Accuracy Study.

PubMed

Pérez, Teresa; Makrestsov, Nikita; Garatt, John; Torlakovic, Emina; Gilks, C Blake; Mallett, Susan

The Canadian Immunohistochemistry Quality Control program monitors clinical laboratory performance for estrogen receptor and progesterone receptor tests used in breast cancer treatment management in Canada. Current methods assess sensitivity and specificity at each time point, compared with a reference standard. We investigate alternative performance analysis methods to enhance the quality assessment. We used 3 methods of analysis: meta-analysis of sensitivity and specificity of each laboratory across all time points; sensitivity and specificity at each time point for each laboratory; and fitting models for repeated measurements to examine differences between laboratories adjusted by test and time point. Results show 88 laboratories participated in quality control at up to 13 time points using typically 37 to 54 histology samples. In meta-analysis across all time points no laboratories have sensitivity or specificity below 80%. Current methods, presenting sensitivity and specificity separately for each run, result in wide 95% confidence intervals, typically spanning 15% to 30%. Models of a single diagnostic outcome demonstrated that 82% to 100% of laboratories had no difference to reference standard for estrogen receptor and 75% to 100% for progesterone receptor, with the exception of 1 progesterone receptor run. Laboratories with significant differences to reference standard identified with Generalized Estimating Equation modeling also have reduced performance by meta-analysis across all time points. The Canadian Immunohistochemistry Quality Control program has a good design, and with this modeling approach has sufficient precision to measure performance at each time point and allow laboratories with a significantly lower performance to be targeted for advice.

Feedback Implementation of Zermelo's Optimal Control by Sugeno Approximation

NASA Technical Reports Server (NTRS)

Clifton, C.; Homaifax, A.; Bikdash, M.

1997-01-01

This paper proposes an approach to implement optimal control laws of nonlinear systems in real time. Our methodology does not require solving two-point boundary value problems online and may not require it off-line either. The optimal control law is learned using the original Sugeno controller (OSC) from a family of optimal trajectories. We compare the trajectories generated by the OSC and the trajectories yielded by the optimal feedback control law when applied to Zermelo's ship steering problem.

Automatic Strain-Rate Controller,

DTIC Science & Technology

1976-12-01

D—AO37 9~e2 ROME AIR DEVELOPMENT CENTER GRIFFISS AFB N 1’ FIG 13/ 6AUTOMATIC STRAIN—RATE CONTROLLER, (U) DEC 76 R L HUNTSINGER. J A ADAMSK I...goes to zero. CONTROLLER, Leeds and Northrup Series 80 CAT with proportional band , rate , reset, and approach controls . Input from deviation output...8) through ( 16) . (8) Move the set-point slowl y up to 3 or 4. (9) If the recorder po inter hunts , adjust the func t ion controls on tine Ser

Multi-objective design of fuzzy logic controller in supply chain

NASA Astrophysics Data System (ADS)

Ghane, Mahdi; Tarokh, Mohammad Jafar

2012-08-01

Unlike commonly used methods, in this paper, we have introduced a new approach for designing fuzzy controllers. In this approach, we have simultaneously optimized both objective functions of a supply chain over a two-dimensional space. Then, we have obtained a spectrum of optimized points, each of which represents a set of optimal parameters which can be chosen by the manager according to the importance of objective functions. Our used supply chain model is a member of inventory and order-based production control system family, a generalization of the periodic review which is termed `Order-Up-To policy.' An auto rule maker, based on non-dominated sorting genetic algorithm-II, has been applied to the experimental initial fuzzy rules. According to performance measurement, our results indicate the efficiency of the proposed approach.

A Summary of Two Recent UAS Command and Control (C2) Communications Feasibility Studies

NASA Technical Reports Server (NTRS)

Ponchak, Denise S.; Auld, Elisabeth; Church, Gary; Henriksen, Stephen

2016-01-01

In Spring of 2015, the NextGen Institute conducted two UAS C2 Communications Feasibility Studies on behalf of the FAA UAS Integration Office to develop two limited UAS C2 operational examples, each involving low-altitude BLOS (Beyond Line of Sight) Line of Communication (LOC) UAS applications, as part of assessing the myriad practical UAS C2 deployment challenges associated with these approaches. The studies investigated the feasibility of "Point-to-Point" (PTP) and "Network" approaches to UAS C2 to better understand potential user needs and to explore evolutionary paths to establishing a nation-wide system for delivering UAS C2 communications. This paper will summarize the solicitation, approach and results of the two studies teams led by Aviation Management Associates, Inc. and Exelis Inc.

Effects of a blended learning approach on student outcomes in a graduate-level public health course

PubMed Central

2014-01-01

Background Blended learning approaches, in which in-person and online course components are combined in a single course, are rapidly increasing in health sciences education. Evidence for the relative effectiveness of blended learning versus more traditional course approaches is mixed. Method The impact of a blended learning approach on student learning in a graduate-level public health course was examined using a quasi-experimental, non-equivalent control group design. Exam scores and course point total data from a baseline, “traditional” approach semester (n = 28) was compared to that from a semester utilizing a blended learning approach (n = 38). In addition, student evaluations of the blended learning approach were evaluated. Results There was a statistically significant increase in student performance under the blended learning approach (final course point total d = 0.57; a medium effect size), even after accounting for previous academic performance. Moreover, student evaluations of the blended approach were very positive and the majority of students (83%) preferred the blended learning approach. Conclusions Blended learning approaches may be an effective means of optimizing student learning and improving student performance in health sciences courses. PMID:24612923

On the Application of Different Event-Based Sampling Strategies to the Control of a Simple Industrial Process

PubMed Central

Sánchez, José; Guarnes, Miguel Ángel; Dormido, Sebastián

2009-01-01

This paper is an experimental study of the utilization of different event-based strategies for the automatic control of a simple but very representative industrial process: the level control of a tank. In an event-based control approach it is the triggering of a specific event, and not the time, that instructs the sensor to send the current state of the process to the controller, and the controller to compute a new control action and send it to the actuator. In the document, five control strategies based on different event-based sampling techniques are described, compared, and contrasted with a classical time-based control approach and a hybrid one. The common denominator in the time, the hybrid, and the event-based control approaches is the controller: a proportional-integral algorithm with adaptations depending on the selected control approach. To compare and contrast each one of the hybrid and the pure event-based control algorithms with the time-based counterpart, the two tasks that a control strategy must achieve (set-point following and disturbance rejection) are independently analyzed. The experimental study provides new proof concerning the ability of event-based control strategies to minimize the data exchange among the control agents (sensors, controllers, actuators) when an error-free control of the process is not a hard requirement. PMID:22399975

Integrated design of the CSI evolutionary structure: A verification of the design methodology

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Joshi, S. M.; Elliott, Kenny B.; Walz, J. E.

1993-01-01

One of the main objectives of the Controls-Structures Interaction (CSI) program is to develop and evaluate integrated controls-structures design methodology for flexible space structures. Thus far, integrated design methodologies for a class of flexible spacecraft, which require fine attitude pointing and vibration suppression with no payload articulation, have been extensively investigated. Various integrated design optimization approaches, such as single-objective optimization, and multi-objective optimization, have been implemented with an array of different objectives and constraints involving performance and cost measures such as total mass, actuator mass, steady-state pointing performance, transient performance, control power, and many more. These studies have been performed using an integrated design software tool (CSI-DESIGN CODE) which is under development by the CSI-ADM team at the NASA Langley Research Center. To date, all of these studies, irrespective of the type of integrated optimization posed or objectives and constraints used, have indicated that integrated controls-structures design results in an overall spacecraft design which is considerably superior to designs obtained through a conventional sequential approach. Consequently, it is believed that validation of some of these results through fabrication and testing of a structure which is designed through an integrated design approach is warranted. The objective of this paper is to present and discuss the efforts that have been taken thus far for the validation of the integrated design methodology.

Features of the photometry of the superposition of coherent vector electromagnetic waves

NASA Astrophysics Data System (ADS)

Sakhnovskyj, Mykhajlo Yu.; Tymochko, Bogdan M.; Rudeichuk, Volodymyr M.

2018-01-01

In the paper we propose a general approach to the calculation of the forming the intensity and polarization fields of the superposition of arbitrary coherent vector beams at points of a given reference plane. The method of measuring photometric parameters of a field, formed in the neighborhood of an arbitrary point of the plane of analysis by minimizing the values of irradiance in the vicinity of a given point (method of zero-amplitude at a given point), which is achieved by superimposing on it the reference wave with the controlled values of intensity, polarization state, phase, and angle of incidence, is proposed.

Arbovirus models to provide practical management tools for mosquito control and disease prevention in the Northern Territory, Australia.

PubMed

Jacups, Susan P; Whelan, Peter I; Harley, David

2011-03-01

Ross River virus (RRV) causes the most common human arbovirus disease in Australia. Although the disease is nonfatal, the associated arthritis and postinfection fatigue can be debilitating for many months, impacting on workforce participation. We sought to create an early-warning system to notify of approaching RRV disease outbreak conditions for major townships in the Northern Territory. By applying a logistic regression model to meteorologic factors, including rainfall, a postestimation analysis of sensitivity and specificity can create rainfall cut-points. These rainfall cut-points indicate the rainfall level above which previous epidemic conditions have occurred. Furthermore, rainfall cut-points indirectly adjust for vertebrate host data from the agile wallaby (Macropus agilis) as the life cycle of the agile wallaby is intricately meshed with the wet season. Once generated, cut-points can thus be used prospectively to allow timely implementation of larval survey and control measures and public health warnings to preemptively reduce RRV disease incidence. Cut-points are location specific and have the capacity to replace previously used models, which require data management and input, and rarely provide timely notification for vector control requirements and public health warnings. These methods can be adapted for use elsewhere.

Online automatic tuning and control for fed-batch cultivation

PubMed Central

van Straten, Gerrit; van der Pol, Leo A.; van Boxtel, Anton J. B.

2007-01-01

Performance of controllers applied in biotechnological production is often below expectation. Online automatic tuning has the capability to improve control performance by adjusting control parameters. This work presents automatic tuning approaches for model reference specific growth rate control during fed-batch cultivation. The approaches are direct methods that use the error between observed specific growth rate and its set point; systematic perturbations of the cultivation are not necessary. Two automatic tuning methods proved to be efficient, in which the adaptation rate is based on a combination of the error, squared error and integral error. These methods are relatively simple and robust against disturbances, parameter uncertainties, and initialization errors. Application of the specific growth rate controller yields a stable system. The controller and automatic tuning methods are qualified by simulations and laboratory experiments with Bordetella pertussis. PMID:18157554

WET WEATHER FLOW (WWF) MANAGEMENT AND CONTROL

EPA Science Inventory

Research emphasizes structural and nonstructural approaches that reduce the impacts of WWF-related stressors on receiving waters. Urban WWF pollution emanates from both point sources and diffuse sources including CSOs, SSOs, and stormwater from sewered and unsewered systems. EPA’...

Flight-test evaluation of STOL control and flight director concepts in a powered-lift aircraft flying curved decelerating approaches

NASA Technical Reports Server (NTRS)

Hindson, W. S.; Hardy, G. H.; Innis, R. C.

1981-01-01

Flight tests were carried out to assess the feasibility of piloted steep curved, and decelerating approach profiles in powered lift STOL aircraft. Several STOL control concepts representative of a variety of aircraft were evaluated in conjunction with suitably designed flight directions. The tests were carried out in a real navigation environment, employed special electronic cockpit displays, and included the development of the performance achieved and the control utilization involved in flying 180 deg turning, descending, and decelerating approach profiles to landing. The results suggest that such moderately complex piloted instrument approaches may indeed be feasible from a pilot acceptance point of view, given an acceptable navigation environment. Systems with the capability of those used in this experiment can provide the potential of achieving instrument operations on curved, descending, and decelerating landing approaches to weather minima corresponding to CTOL Category 2 criteria, while also providing a means of realizing more efficient operations during visual flight conditions.

Mark Tracking: Position/orientation measurements using 4-circle mark and its tracking experiments

NASA Technical Reports Server (NTRS)

Kanda, Shinji; Okabayashi, Keijyu; Maruyama, Tsugito; Uchiyama, Takashi

1994-01-01

Future space robots require position and orientation tracking with visual feedback control to track and capture floating objects and satellites. We developed a four-circle mark that is useful for this purpose. With this mark, four geometric center positions as feature points can be extracted from the mark by simple image processing. We also developed a position and orientation measurement method that uses the four feature points in our mark. The mark gave good enough image measurement accuracy to let space robots approach and contact objects. A visual feedback control system using this mark enabled a robot arm to track a target object accurately. The control system was able to tolerate a time delay of 2 seconds.

The Hand: Shall We Ever Understand How it Works?

PubMed

Latash, Mark L

2015-04-01

The target article presents a review of the neural control of the human hand. The review emphasizes the physical approach to motor control. It focuses on such concepts as equilibrium-point control, control with referent body configurations, uncontrolled manifold hypothesis, principle of abundance, hierarchical control, multidigit synergies, and anticipatory synergy adjustments. Changes in aspects of the hand neural control with age and neurological disorder are discussed. The target article is followed by six commentaries written by Alexander Aruin, Kelly Cole, Monica Perez, Robert Sainburg, Marco Sanello, and Wei Zhang.

Attitude control of an orbiting space vehicle.

NASA Technical Reports Server (NTRS)

Sutherlin, D. W.; Boland, J. S. , III; Borelli, M. T.

1971-01-01

Study of the normal and clamped modes of operation and dynamic response characteristics of the gimbaled control moment gyro (CMG) designed to fulfill the stringent pointing requirements of the Skylab telescope mount when the spacecraft is under the influence of both external and internal torques. The results indicate that the clamped mode of operation provides a feasible approach for significantly improving the system characteristics.

Improving Study Habits of Junior High School Students Through Self-Management versus Group Discussion

ERIC Educational Resources Information Center

Harris, Mary B.; Trujillo, Amaryllis E.

1975-01-01

Both a self-management approach, teaching the principles of behavior modification and self-control (n=36), and a group-discussion technique, involving discussion of study habits and problems (n=41), led to improvements in grade point averages compared with a no-treatment control group (n=36) for low-achieving junior high school students. (Author)

Optimal Control Problems with Switching Points. Ph.D. Thesis, 1990 Final Report

NASA Technical Reports Server (NTRS)

Seywald, Hans

1991-01-01

The main idea of this report is to give an overview of the problems and difficulties that arise in solving optimal control problems with switching points. A brief discussion of existing optimality conditions is given and a numerical approach for solving the multipoint boundary value problems associated with the first-order necessary conditions of optimal control is presented. Two real-life aerospace optimization problems are treated explicitly. These are altitude maximization for a sounding rocket (Goddard Problem) in the presence of a dynamic pressure limit, and range maximization for a supersonic aircraft flying in the vertical, also in the presence of a dynamic pressure limit. In the second problem singular control appears along arcs with active dynamic pressure limit, which in the context of optimal control, represents a first-order state inequality constraint. An extension of the Generalized Legendre-Clebsch Condition to the case of singular control along state/control constrained arcs is presented and is applied to the aircraft range maximization problem stated above. A contribution to the field of Jacobi Necessary Conditions is made by giving a new proof for the non-optimality of conjugate paths in the Accessory Minimum Problem. Because of its simple and explicit character, the new proof may provide the basis for an extension of Jacobi's Necessary Condition to the case of the trajectories with interior point constraints. Finally, the result that touch points cannot occur for first-order state inequality constraints is extended to the case of vector valued control functions.

Control design challenges of large space systems and spacecraft control laboratory experiment (SCOLE)

NASA Technical Reports Server (NTRS)

Lin, Jiguan Gene

1987-01-01

The quick suppression of the structural vibrations excited by bang-bang (BB) type time-optional slew maneuvers via modal-dashpot design of velocity output feedback control was investigated. Simulation studies were conducted, and modal dashpots were designed for the SCOLE flexible body dynamics. A two-stage approach was proposed for rapid slewing and precision pointing/retargeting of large, flexible space systems: (1) slew the whole system like a rigid body in a minimum time under specified limits on the control moments and forces, and (2) damp out the excited structural vibrations afterwards. This approach was found promising. High-power modal/dashpots can suppress very large vibrations, and can add a desirable amount of active damping to modeled modes. Unmodeled modes can also receive some concomitant active damping, as a benefit of spillover. Results also show that not all BB type rapid pointing maneuvers will excite large structural vibrations. When properly selected small forces (e.g., vernier thrusters) are used to complete the specified slew maneuver in the shortest time, even BB-type maneuvers will excite only small vibrations (e.g., 0.3 ft peak deflection for a 130 ft beam).

Engineering approach for cost effective operation of industrial pump systems

NASA Astrophysics Data System (ADS)

Krickis, O.; Oleksijs, R.

2017-10-01

Power plants operators are persuaded to operate the main equipment such as centrifugal pumps in economically effective way. The operation of pump sets of district heating network at power plants should be done according to prescriptions of the original equipment manufacturer with further implementation of these requirements to distributed control system of the plant. In order to operate industrial pump sets with a small number of malfunctions is necessary to control the duty point of pump sets in H-Q coordinates, which could be complex task in some installations. Alternatively, pump operation control could be organized in H-n (head vs rpm) coordinates, utilizing pressure transmitters in pressure pipeline and value of rpm from variable speed driver. Safe operation range of the pump has to be limited with system parabolas, which prevents the duty point location outside of the predefined operation area. The particular study demonstrates the engineering approach for pump’s safe operation control development in MATLAB/Simulink environment, which allows to simulate the operation of the pump at different capacities in hydraulic system with variable characteristic and to predefine the conditions for efficient simultaneous pump operation in parallel connection.

[Spatial heterogeneity and classified control of agricultural non-point source pollution in Huaihe River Basin].

PubMed

Zhou, Liang; Xu, Jian-Gang; Sun, Dong-Qi; Ni, Tian-Hua

2013-02-01

Agricultural non-point source pollution is of importance in river deterioration. Thus identifying and concentrated controlling the key source-areas are the most effective approaches for non-point source pollution control. This study adopts inventory method to analysis four kinds of pollution sources and their emissions intensity of the chemical oxygen demand (COD), total nitrogen (TN), and total phosphorus (TP) in 173 counties (cities, districts) in Huaihe River Basin. The four pollution sources include livestock breeding, rural life, farmland cultivation, aquacultures. The paper mainly addresses identification of non-point polluted sensitivity areas, key pollution sources and its spatial distribution characteristics through cluster, sensitivity evaluation and spatial analysis. A geographic information system (GIS) and SPSS were used to carry out this study. The results show that: the COD, TN and TP emissions of agricultural non-point sources were 206.74 x 10(4) t, 66.49 x 10(4) t, 8.74 x 10(4) t separately in Huaihe River Basin in 2009; the emission intensity were 7.69, 2.47, 0.32 t.hm-2; the proportions of COD, TN, TP emissions were 73%, 24%, 3%. The paper achieves that: the major pollution source of COD, TN and TP was livestock breeding and rural life; the sensitivity areas and priority pollution control areas among the river basin of non-point source pollution are some sub-basins of the upper branches in Huaihe River, such as Shahe River, Yinghe River, Beiru River, Jialu River and Qingyi River; livestock breeding is the key pollution source in the priority pollution control areas. Finally, the paper concludes that pollution type of rural life has the highest pollution contribution rate, while comprehensive pollution is one type which is hard to control.

Fluidic Actuation and Control of Munition Aerodynamics

DTIC Science & Technology

2009-08-31

downstream of a sharp-edged blunt face. Acoustic actuation control was applied at the point of separation in order to decrease drag through reducing...a novel approach, Higuchi et. al. (2006) levitated a blunt faced cylinder using a magnetic field support in a wind tunnel to measure drag without...Simulation, Modeling, and Active Control of Flow/ Acoustic Resonance in Open Cavities”, AIAA Paper, 2001-0076, 2001. Corke, T., Tillotson, D., Patel, M., Su

Development of safe mechanism for surgical robots using equilibrium point control method.

PubMed

Park, Shinsuk; Lim, Hokjin; Kim, Byeong-sang; Song, Jae-bok

2006-01-01

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.

Communication Needs Assessment for Distributed Turbine Engine Control

NASA Technical Reports Server (NTRS)

Culley, Dennis E.; Behbahani, Alireza R.

2008-01-01

Control system architecture is a major contributor to future propulsion engine performance enhancement and life cycle cost reduction. The control system architecture can be a means to effect net weight reduction in future engine systems, provide a streamlined approach to system design and implementation, and enable new opportunities for performance optimization and increased awareness about system health. The transition from a centralized, point-to-point analog control topology to a modular, networked, distributed system is paramount to extracting these system improvements. However, distributed engine control systems are only possible through the successful design and implementation of a suitable communication system. In a networked system, understanding the data flow between control elements is a fundamental requirement for specifying the communication architecture which, itself, is dependent on the functional capability of electronics in the engine environment. This paper presents an assessment of the communication needs for distributed control using strawman designs and relates how system design decisions relate to overall goals as we progress from the baseline centralized architecture, through partially distributed and fully distributed control systems.

Evolution of Motor Control: From Reflexes and Motor Programs to the Equilibrium-Point Hypothesis

PubMed Central

Latash, Mark L.

2009-01-01

This brief review analyzes the evolution of motor control theories along two lines that emphasize active (motor programs) and reactive (reflexes) features of voluntary movements. It suggests that the only contemporary hypothesis that integrates both approaches in a fruitful way is the equilibrium-point hypothesis. Physical, physiological, and behavioral foundations of the EP-hypothesis are considered as well as relations between the EP-hypothesis and the recent developments of the notion of motor synergies. The paper ends with a brief review of the criticisms of the EP-hypothesis and challenges that the hypothesis faces at this time. PMID:19823595

Community perceptions on the community-directed treatment and school-based approaches for the control of schistosomiasis and soil-transmitted helminthiasis among school-age children in Lushoto District, Tanzania.

PubMed

Massa, K; Magnussen, P; Sheshe, A; Ntakamulenga, R; Ndawi, B; Olsen, A

2009-01-01

The success of the Community-Directed Treatment (ComDT) approach in the control of onchocerciasis and filariasis has caught the attention of other disease control programmes. In this study the ComDT approach was implemented and compared with the school-based approach for control of schistosomiasis and soil-transmitted helminthiasis among school-age children in Lushoto District, Tanzania. This was a qualitative study, consisting of in-depth interviews with village leaders, community drug distributors (CDDs) and schoolteachers, as well as focus group discussions with separate groups of mothers and fathers to assess the perceptions and experiences of the villagers on the implementation of the two approaches. It was found that the villagers accepted the ComDT approach and took the responsibility of selecting the CDDs, organizing and implementing their own method of distributing drugs to the school-age children in their villages. The ComDT approach was well received and was successfully implemented in the villages. Although the villagers pointed out the limitation in reaching the non-enrolled children in the school-based approach, they also expressed satisfaction with this approach. This study suggests that the ComDT approach is well accepted and can be implemented effectively to ensure better coverage of especially non-enrolled school-age children.

Spline-based procedures for dose-finding studies with active control

PubMed Central

Helms, Hans-Joachim; Benda, Norbert; Zinserling, Jörg; Kneib, Thomas; Friede, Tim

2015-01-01

In a dose-finding study with an active control, several doses of a new drug are compared with an established drug (the so-called active control). One goal of such studies is to characterize the dose–response relationship and to find the smallest target dose concentration d*, which leads to the same efficacy as the active control. For this purpose, the intersection point of the mean dose–response function with the expected efficacy of the active control has to be estimated. The focus of this paper is a cubic spline-based method for deriving an estimator of the target dose without assuming a specific dose–response function. Furthermore, the construction of a spline-based bootstrap CI is described. Estimator and CI are compared with other flexible and parametric methods such as linear spline interpolation as well as maximum likelihood regression in simulation studies motivated by a real clinical trial. Also, design considerations for the cubic spline approach with focus on bias minimization are presented. Although the spline-based point estimator can be biased, designs can be chosen to minimize and reasonably limit the maximum absolute bias. Furthermore, the coverage probability of the cubic spline approach is satisfactory, especially for bias minimal designs. © 2014 The Authors. Statistics in Medicine Published by John Wiley & Sons Ltd. PMID:25319931

Interactive contour delineation and refinement in treatment planning of image‐guided radiation therapy

PubMed Central

Zhou, Wu

2014-01-01

The accurate contour delineation of the target and/or organs at risk (OAR) is essential in treatment planning for image‐guided radiation therapy (IGRT). Although many automatic contour delineation approaches have been proposed, few of them can fulfill the necessities of applications in terms of accuracy and efficiency. Moreover, clinicians would like to analyze the characteristics of regions of interests (ROI) and adjust contours manually during IGRT. Interactive tool for contour delineation is necessary in such cases. In this work, a novel approach of curve fitting for interactive contour delineation is proposed. It allows users to quickly improve contours by a simple mouse click. Initially, a region which contains interesting object is selected in the image, then the program can automatically select important control points from the region boundary, and the method of Hermite cubic curves is used to fit the control points. Hence, the optimized curve can be revised by moving its control points interactively. Meanwhile, several curve fitting methods are presented for the comparison. Finally, in order to improve the accuracy of contour delineation, the process of the curve refinement based on the maximum gradient magnitude is proposed. All the points on the curve are revised automatically towards the positions with maximum gradient magnitude. Experimental results show that Hermite cubic curves and the curve refinement based on the maximum gradient magnitude possess superior performance on the proposed platform in terms of accuracy, robustness, and time calculation. Experimental results of real medical images demonstrate the efficiency, accuracy, and robustness of the proposed process in clinical applications. PACS number: 87.53.Tf PMID:24423846

Mapping with MAV: Experimental Study on the Contribution of Absolute and Relative Aerial Position Control

NASA Astrophysics Data System (ADS)

Skaloud, J.; Rehak, M.; Lichti, D.

2014-03-01

This study highlights the benefit of precise aerial position control in the context of mapping using frame-based imagery taken by small UAVs. We execute several flights with a custom Micro Aerial Vehicle (MAV) octocopter over a small calibration field equipped with 90 signalized targets and 25 ground control points. The octocopter carries a consumer grade RGB camera, modified to insure precise GPS time stamping of each exposure, as well as a multi-frequency/constellation GNSS receiver. The GNSS antenna and camera are rigidly mounted together on a one-axis gimbal that allows control of the obliquity of the captured imagery. The presented experiments focus on including absolute and relative aerial control. We confirm practically that both approaches are very effective: the absolute control allows omission of ground control points while the relative requires only a minimum number of control points. Indeed, the latter method represents an attractive alternative in the context of MAVs for two reasons. First, the procedure is somewhat simplified (e.g. the lever-arm between the camera perspective and antenna phase centers does not need to be determined) and, second, its principle allows employing a single-frequency antenna and carrier-phase GNSS receiver. This reduces the cost of the system as well as the payload, which in turn increases the flying time.

Recommendations for dealing with waste contaminated with Ebola virus: a Hazard Analysis of Critical Control Points approach.

PubMed

Edmunds, Kelly L; Elrahman, Samira Abd; Bell, Diana J; Brainard, Julii; Dervisevic, Samir; Fedha, Tsimbiri P; Few, Roger; Howard, Guy; Lake, Iain; Maes, Peter; Matofari, Joseph; Minnigh, Harvey; Mohamedani, Ahmed A; Montgomery, Maggie; Morter, Sarah; Muchiri, Edward; Mudau, Lutendo S; Mutua, Benedict M; Ndambuki, Julius M; Pond, Katherine; Sobsey, Mark D; van der Es, Mike; Zeitoun, Mark; Hunter, Paul R

2016-06-01

To assess, within communities experiencing Ebola virus outbreaks, the risks associated with the disposal of human waste and to generate recommendations for mitigating such risks. A team with expertise in the Hazard Analysis of Critical Control Points framework identified waste products from the care of individuals with Ebola virus disease and constructed, tested and confirmed flow diagrams showing the creation of such products. After listing potential hazards associated with each step in each flow diagram, the team conducted a hazard analysis, determined critical control points and made recommendations to mitigate the transmission risks at each control point. The collection, transportation, cleaning and shared use of blood-soiled fomites and the shared use of latrines contaminated with blood or bloodied faeces appeared to be associated with particularly high levels of risk of Ebola virus transmission. More moderate levels of risk were associated with the collection and transportation of material contaminated with bodily fluids other than blood, shared use of latrines soiled with such fluids, the cleaning and shared use of fomites soiled with such fluids, and the contamination of the environment during the collection and transportation of blood-contaminated waste. The risk of the waste-related transmission of Ebola virus could be reduced by the use of full personal protective equipment, appropriate hand hygiene and an appropriate disinfectant after careful cleaning. Use of the Hazard Analysis of Critical Control Points framework could facilitate rapid responses to outbreaks of emerging infectious disease.

Flight Measurements of the Effect of a Controllable Thrust Reverser on the Flight Characteristics of a Single-Engine Jet Airplane

NASA Technical Reports Server (NTRS)

Anderson, Seth B.; Cooper, George E.; Faye, Alan E., Jr.

1959-01-01

A flight investigation was undertaken to determine the effect of a fully controllable thrust reverser on the flight characteristics of a single-engine jet airplane. Tests were made using a cylindrical target-type reverser actuated by a hydraulic cylinder through a "beep-type" cockpit control mounted at the base of the throttle. The thrust reverser was evaluated as an in-flight decelerating device, as a flight path control and airspeed control in landing approach, and as a braking device during the ground roll. Full deflection of the reverser for one reverser configuration resulted in a reverse thrust ratio of as much as 85 percent, which at maximum engine power corresponded to a reversed thrust of 5100 pounds. Use of the reverser in landing approach made possible a wide selection of approach angles, a large reduction in approach speed at steep approach angles, improved control of flight path angle, and more accuracy in hitting a given touchdown point. The use of the reverser as a speed brake at lower airspeeds was compromised by a longitudinal trim change. At the lower airspeeds and higher engine powers there was insufficient elevator power to overcome the nose-down trim change at full reverser deflection.

The Evaluation of GPS techniques for UAV-based Photogrammetry in Urban Area

NASA Astrophysics Data System (ADS)

Yeh, M. L.; Chou, Y. T.; Yang, L. S.

2016-06-01

The efficiency and high mobility of Unmanned Aerial Vehicle (UAV) made them essential to aerial photography assisted survey and mapping. Especially for urban land use and land cover, that they often changes, and need UAVs to obtain new terrain data and the new changes of land use. This study aims to collect image data and three dimensional ground control points in Taichung city area with Unmanned Aerial Vehicle (UAV), general camera and Real-Time Kinematic with positioning accuracy down to centimetre. The study area is an ecological park that has a low topography which support the city as a detention basin. A digital surface model was also built with Agisoft PhotoScan, and there will also be a high resolution orthophotos. There will be two conditions for this study, with or without ground control points and both were discussed and compared for the accuracy level of each of the digital surface models. According to check point deviation estimate, the model without ground control points has an average two-dimension error up to 40 centimeter, altitude error within one meter. The GCP-free RTK-airborne approach produces centimeter-level accuracy with excellent to low risk to the UAS operators. As in the case of the model with ground control points, the accuracy of x, y, z coordinates has gone up 54.62%, 49.07%, and 87.74%, and the accuracy of altitude has improved the most.

Improvements to the kernel function method of steady, subsonic lifting surface theory

NASA Technical Reports Server (NTRS)

Medan, R. T.

1974-01-01

The application of a kernel function lifting surface method to three dimensional, thin wing theory is discussed. A technique for determining the influence functions is presented. The technique is shown to require fewer quadrature points, while still calculating the influence functions accurately enough to guarantee convergence with an increasing number of spanwise quadrature points. The method also treats control points on the wing leading and trailing edges. The report introduces and employs an aspect of the kernel function method which apparently has never been used before and which significantly enhances the efficiency of the kernel function approach.

On the magnetic attitude control for spacecraft via the ɛ-strategies method

NASA Astrophysics Data System (ADS)

Smirnov, Georgi V.; Ovchinnikov, Mikhail; Miranda, Francisco

2008-09-01

We develop a new approach to stabilization problems based on a combination of the Lyapunov functions method with local controllability properties. The stabilizability is understood in the sense of ɛ-strategies introduced by Pontryagin in the frame of differential games theory. To illustrate the possibilities of our approach we consider a satellite with two magnetic coils directed along its principal inertia axes. Its circular orbit is neither polar nor equatorial. We show that there exists an ɛ-strategy stabilizing an Earth pointing satellite, whenever the deviations from the equilibrium position are small enough.

Study of the application of an implicit model-following flight controller to lift-fan VTOL aircraft

NASA Technical Reports Server (NTRS)

Merrick, V. K.

1977-01-01

An implicit model-following flight controller is proposed. This controller is relatively simple in concept: it provides an input/output relationship that is approximately that of any selected second order system; it provides good gust alleviation; and it is self-trimming. The flight controller was applied to all axes of a comprehensive mathematical model of a lift-fan V/STOL transport. Power management controls and displays were designed to match the various modes of control provided by the flight controller. A piloted simulation was performed using a six degree of freedom simulator. The fixed-operating-point handling qualities throughout the powered lift flight envelope received pilot ratings of 3-1/2 or better. Approaches and vertical landings in IFR zero-zero conditions received pilot ratings varying from 2-1/2 to 4 depending on the type of approach and weather conditions.

Gain scheduled linear quadratic control for quadcopter

NASA Astrophysics Data System (ADS)

Okasha, M.; Shah, J.; Fauzi, W.; Hanouf, Z.

2017-12-01

This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller.

Design of set-point weighting PIλ + Dμ controller for vertical magnetic flux controller in Damavand tokamak.

PubMed

Rasouli, H; Fatehi, A

2014-12-01

In this paper, a simple method is presented for tuning weighted PI(λ) + D(μ) controller parameters based on the pole placement controller of pseudo-second-order fractional systems. One of the advantages of this controller is capability of reducing the disturbance effects and improving response to input, simultaneously. In the following sections, the performance of this controller is evaluated experimentally to control the vertical magnetic flux in Damavand tokamak. For this work, at first a fractional order model is identified using output-error technique in time domain. For various practical experiments, having desired time responses for magnetic flux in Damavand tokamak, is vital. To approach this, at first the desired closed loop reference models are obtained based on generalized characteristic ratio assignment method in fractional order systems. After that, for the identified model, a set-point weighting PI(λ) + D(μ) controller is designed and simulated. Finally, this controller is implemented on digital signal processor control system of the plant to fast/slow control of magnetic flux. The practical results show appropriate performance of this controller.

Simple Approaches to Minimally-Instrumented, Microfluidic-Based Point-of-Care Nucleic Acid Amplification Tests

PubMed Central

Mauk, Michael G.; Song, Jinzhao; Liu, Changchun; Bau, Haim H.

2018-01-01

Designs and applications of microfluidics-based devices for molecular diagnostics (Nucleic Acid Amplification Tests, NAATs) in infectious disease testing are reviewed, with emphasis on minimally instrumented, point-of-care (POC) tests for resource-limited settings. Microfluidic cartridges (‘chips’) that combine solid-phase nucleic acid extraction; isothermal enzymatic nucleic acid amplification; pre-stored, paraffin-encapsulated lyophilized reagents; and real-time or endpoint optical detection are described. These chips can be used with a companion module for separating plasma from blood through a combined sedimentation-filtration effect. Three reporter types: Fluorescence, colorimetric dyes, and bioluminescence; and a new paradigm for end-point detection based on a diffusion-reaction column are compared. Multiplexing (parallel amplification and detection of multiple targets) is demonstrated. Low-cost detection and added functionality (data analysis, control, communication) can be realized using a cellphone platform with the chip. Some related and similar-purposed approaches by others are surveyed. PMID:29495424

Role of the charge state of interface defects in electronic inhomogeneity evolution with gate voltage in graphene

NASA Astrophysics Data System (ADS)

Singh, Anil Kumar; Gupta, Anjan K.

2018-05-01

Evolution of electronic inhomogeneities with back-gate voltage in graphene on SiO2 was studied using room temperature scanning tunneling microscopy and spectroscopy. Reversal of contrast in some places in the conductance maps and sharp changes in cross correlations between topographic and conductance maps, when graphene Fermi energy approaches its Dirac point, are attributed to the change in charge state of interface defects. The spatial correlations in the conductance maps, described by two length scales, and their growth during approach to Dirac point, show a qualitative agreement with the predictions of the screening theory of graphene. Thus a sharp change in the two length scales close to the Dirac point, seen in our experiments, is interpreted in terms of the change in charge state of some of the interface defects. A systematic understanding and control of the charge state of defects can help in memory applications of graphene.

Controllability of a multichannel system

NASA Astrophysics Data System (ADS)

Ivanov, Sergei A.; Wang, Jun Min

2018-02-01

We consider the system consisting of K coupled acoustic channels with the different sound velocities cj. Channels are interacting at any point via the pressure and its time derivatives. Using the moment approach and the theory of exponential families with vector coefficients we establish two controllability results: the system is exactly controllable if (i) the control uj in the jth channel acts longer than the double travel time of a wave from the start to the end of the j-th channel; (ii) all controls uj act more than or equal to the maximal double travel time.

Analyzing self-controlled case series data when case confirmation rates are estimated from an internal validation sample.

PubMed

Xu, Stanley; Clarke, Christina L; Newcomer, Sophia R; Daley, Matthew F; Glanz, Jason M

2018-05-16

Vaccine safety studies are often electronic health record (EHR)-based observational studies. These studies often face significant methodological challenges, including confounding and misclassification of adverse event. Vaccine safety researchers use self-controlled case series (SCCS) study design to handle confounding effect and employ medical chart review to ascertain cases that are identified using EHR data. However, for common adverse events, limited resources often make it impossible to adjudicate all adverse events observed in electronic data. In this paper, we considered four approaches for analyzing SCCS data with confirmation rates estimated from an internal validation sample: (1) observed cases, (2) confirmed cases only, (3) known confirmation rate, and (4) multiple imputation (MI). We conducted a simulation study to evaluate these four approaches using type I error rates, percent bias, and empirical power. Our simulation results suggest that when misclassification of adverse events is present, approaches such as observed cases, confirmed case only, and known confirmation rate may inflate the type I error, yield biased point estimates, and affect statistical power. The multiple imputation approach considers the uncertainty of estimated confirmation rates from an internal validation sample, yields a proper type I error rate, largely unbiased point estimate, proper variance estimate, and statistical power. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Dense image registration through MRFs and efficient linear programming.

PubMed

Glocker, Ben; Komodakis, Nikos; Tziritas, Georgios; Navab, Nassir; Paragios, Nikos

2008-12-01

In this paper, we introduce a novel and efficient approach to dense image registration, which does not require a derivative of the employed cost function. In such a context, the registration problem is formulated using a discrete Markov random field objective function. First, towards dimensionality reduction on the variables we assume that the dense deformation field can be expressed using a small number of control points (registration grid) and an interpolation strategy. Then, the registration cost is expressed using a discrete sum over image costs (using an arbitrary similarity measure) projected on the control points, and a smoothness term that penalizes local deviations on the deformation field according to a neighborhood system on the grid. Towards a discrete approach, the search space is quantized resulting in a fully discrete model. In order to account for large deformations and produce results on a high resolution level, a multi-scale incremental approach is considered where the optimal solution is iteratively updated. This is done through successive morphings of the source towards the target image. Efficient linear programming using the primal dual principles is considered to recover the lowest potential of the cost function. Very promising results using synthetic data with known deformations and real data demonstrate the potentials of our approach.

Watershed Management Tool for Selection and Spacial Allocation of Non-Point Source Pollution Control Practices

EPA Science Inventory

Distributed-parameter watershed models are often utilized for evaluating the effectiveness of sediment and nutrient abatement strategies through the traditional {calibrate→ validate→ predict} approach. The applicability of the method is limited due to modeling approximations. In ...

Angle-of-Attack-Modulated Terminal Point Control for Neptune Aerocapture

NASA Technical Reports Server (NTRS)

Queen, Eric M.

2004-01-01

An aerocapture guidance algorithm based on a calculus of variations approach is developed, using angle of attack as the primary control variable. Bank angle is used as a secondary control to alleviate angle of attack extremes and to control inclination. The guidance equations are derived in detail. The controller has very small onboard computational requirements and is robust to atmospheric and aerodynamic dispersions. The algorithm is applied to aerocapture at Neptune. Three versions of the controller are considered with varying angle of attack authority. The three versions of the controller are evaluated using Monte Carlo simulations with expected dispersions.

Issues in advanced automation for manipulator control

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1976-01-01

This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.

Improved methods in neural network-based adaptive output feedback control, with applications to flight control

NASA Astrophysics Data System (ADS)

Kim, Nakwan

Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.

Pilates-based therapeutic exercise: effect on subjects with nonspecific chronic low back pain and functional disability: a randomized controlled trial.

PubMed

Rydeard, Rochenda; Leger, Andrew; Smith, Drew

2006-07-01

A randomized controlled trial, prestest-posttest design, with a 3-, 6-, and 12-month follow-up. To investigate the efficacy of a therapeutic exercise approach in a population with chronic low back pain (LBP). Therapeutic approaches developed from the Pilates method are becoming increasingly popular; however, there have been no reports on their efficacy. Thirty-nine physically active subjects between 20 and 55 years old with chronic LBP were randomly assigned to 1 of 2 groups. The specific-exercise-training group participated in a 4-week program consisting of training on specialized (Pilates) exercise equipment, while the control group received the usual care, defined as consultation with a physician and other specialists and healthcare professionals, as necessary. Treatment sessions were designed to train the activation of specific muscles thought to stabilize the lumbar-pelvic region. Functional disability outcomes were measured with The Roland Morris Disability Questionnaire (RMQ/RMDQ-HK) and average pain intensity using a 101-point numerical rating scale. There was a significantly lower level of functional disability (P = .023) and average pain intensity (P = .002) in the specific-exercise-training group than in the control group following the treatment intervention period. The posttest adjusted mean in functional disability level in the specific-exercise-training group was 2.0 (95% CI, 1.3 to 2.7) RMQ/RMDQ-HK points compared to a posttest adjusted mean in the control group of 3.2 (95% CI, 2.5 to 4.0) RMQ/RMDQ-HK points. The posttest adjusted mean in pain intensity in the specific-exercise-training group was 18.3 (95% CI, 11.8 to 24.8), as compared to 33.9 (95% CI, 26.9 to 41.0) in the control group. Improved disability scores in the specific-exercise-training group were maintained for up to 12 months following treatment intervention. The individuals in the specific-exercise-training group reported a significant decrease in LBP and disability, which was maintained over a 12-month follow-up period. Treatment with a modified Pilates-based approach was more efficacious than usual care in a population with chronic, unresolved LBP.

Potential International Approaches to Ownership/Control of Human Genetic Resources.

PubMed

Rhodes, Catherine

2016-09-01

In its governance activities for genetic resources, the international community has adopted various approaches to their ownership, including: free access; common heritage of mankind; intellectual property rights; and state sovereign rights. They have also created systems which combine elements of these approaches. While governance of plant and animal genetic resources is well-established internationally, there has not yet been a clear approach selected for human genetic resources. Based on assessment of the goals which international governance of human genetic resources ought to serve, and the implications for how they will be accessed and utilised, it is argued that common heritage of mankind will be the most appropriate approach to adopt to their ownership/control. It does this with the aim of stimulating discussion in this area and providing a starting point for deeper consideration of how a common heritage of mankind, or similar, regime for human genetic resources would function and be implemented.

Using ROC Curves to Choose Minimally Important Change Thresholds when Sensitivity and Specificity Are Valued Equally: The Forgotten Lesson of Pythagoras. Theoretical Considerations and an Example Application of Change in Health Status

PubMed Central

Froud, Robert; Abel, Gary

2014-01-01

Background Receiver Operator Characteristic (ROC) curves are being used to identify Minimally Important Change (MIC) thresholds on scales that measure a change in health status. In quasi-continuous patient reported outcome measures, such as those that measure changes in chronic diseases with variable clinical trajectories, sensitivity and specificity are often valued equally. Notwithstanding methodologists agreeing that these should be valued equally, different approaches have been taken to estimating MIC thresholds using ROC curves. Aims and objectives We aimed to compare the different approaches used with a new approach, exploring the extent to which the methods choose different thresholds, and considering the effect of differences on conclusions in responder analyses. Methods Using graphical methods, hypothetical data, and data from a large randomised controlled trial of manual therapy for low back pain, we compared two existing approaches with a new approach that is based on the addition of the sums of squares of 1-sensitivity and 1-specificity. Results There can be divergence in the thresholds chosen by different estimators. The cut-point selected by different estimators is dependent on the relationship between the cut-points in ROC space and the different contours described by the estimators. In particular, asymmetry and the number of possible cut-points affects threshold selection. Conclusion Choice of MIC estimator is important. Different methods for choosing cut-points can lead to materially different MIC thresholds and thus affect results of responder analyses and trial conclusions. An estimator based on the smallest sum of squares of 1-sensitivity and 1-specificity is preferable when sensitivity and specificity are valued equally. Unlike other methods currently in use, the cut-point chosen by the sum of squares method always and efficiently chooses the cut-point closest to the top-left corner of ROC space, regardless of the shape of the ROC curve. PMID:25474472

Decentralized robust nonlinear model predictive controller for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Garcia Garreton, Gonzalo A.

The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1. A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2. A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3. An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4. A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible.

Spaceflight mechanics 1992; Proceedings of the 2nd AAS/AIAA Meeting, Colorado Springs, CO, Feb. 24-26, 1992. Pts. 1 & 2

NASA Astrophysics Data System (ADS)

Diehl, Roger E.; Schinnerer, Ralph G.; Williamson, Walton E.; Boden, Daryl G.

The present conference discusses topics in orbit determination, tethered satellite systems, celestial mechanics, guidance optimization, flexible body dynamics and control, attitude dynamics and control, Mars mission analyses, earth-orbiting mission analysis/debris, space probe mission analyses, and orbital computation numerical analyses. Attention is given to electrodynamic forces for control of tethered satellite systems, orbiting debris threats to asteroid flyby missions, launch velocity requirements for interceptors of short range ballistic missiles, transfers between libration-point orbits in the elliptic restricted problem, minimum fuel spacecraft reorientation, orbital guidance for hitting a fixed point at maximum speed, efficient computation of satellite visibility periods, orbit decay and reentry prediction for space debris, and the determination of satellite close approaches.

Spaceflight mechanics 1992; Proceedings of the 2nd AAS/AIAA Meeting, Colorado Springs, CO, Feb. 24-26, 1992. Pts. 1 & 2

NASA Technical Reports Server (NTRS)

Diehl, Roger E. (Editor); Schinnerer, Ralph G. (Editor); Williamson, Walton E. (Editor); Boden, Daryl G. (Editor)

1992-01-01

The present conference discusses topics in orbit determination, tethered satellite systems, celestial mechanics, guidance optimization, flexible body dynamics and control, attitude dynamics and control, Mars mission analyses, earth-orbiting mission analysis/debris, space probe mission analyses, and orbital computation numerical analyses. Attention is given to electrodynamic forces for control of tethered satellite systems, orbiting debris threats to asteroid flyby missions, launch velocity requirements for interceptors of short range ballistic missiles, transfers between libration-point orbits in the elliptic restricted problem, minimum fuel spacecraft reorientation, orbital guidance for hitting a fixed point at maximum speed, efficient computation of satellite visibility periods, orbit decay and reentry prediction for space debris, and the determination of satellite close approaches.

A new epidemic modeling approach: Multi-regions discrete-time model with travel-blocking vicinity optimal control strategy.

PubMed

Zakary, Omar; Rachik, Mostafa; Elmouki, Ilias

2017-08-01

First, we devise in this paper, a multi-regions discrete-time model which describes the spatial-temporal spread of an epidemic which starts from one region and enters to regions which are connected with their neighbors by any kind of anthropological movement. We suppose homogeneous Susceptible-Infected-Removed (SIR) populations, and we consider in our simulations, a grid of colored cells, which represents the whole domain affected by the epidemic while each cell can represent a sub-domain or region. Second, in order to minimize the number of infected individuals in one region, we propose an optimal control approach based on a travel-blocking vicinity strategy which aims to control only one cell by restricting movements of infected people coming from all neighboring cells. Thus, we show the influence of the optimal control approach on the controlled cell. We should also note that the cellular modeling approach we propose here, can also describes infection dynamics of regions which are not necessarily attached one to an other, even if no empty space can be viewed between cells. The theoretical method we follow for the characterization of the travel-locking optimal controls, is based on a discrete version of Pontryagin's maximum principle while the numerical approach applied to the multi-points boundary value problems we obtain here, is based on discrete progressive-regressive iterative schemes. We illustrate our modeling and control approaches by giving an example of 100 regions.

Critical control points of complementary food preparation and handling in eastern Nigeria.

PubMed Central

Ehiri, J. E.; Azubuike, M. C.; Ubbaonu, C. N.; Anyanwu, E. C.; Ibe, K. M.; Ogbonna, M. O.

2001-01-01

OBJECTIVE: To investigate microbial contamination and critical control points (CCPs) in the preparation and handling of complementary foods in 120 households in Imo state, Nigeria. METHODS: The Hazard Analysis Critical Control Point (HACCP) approach was used to investigate processes and procedures that contributed to microbial contamination, growth and survival, and to identify points where controls could be applied to prevent or eliminate these microbiological hazards or reduce them to acceptable levels. Food samples were collected and tested microbiologically at different stages of preparation and handling. FINDINGS: During cooking, all foods attained temperatures capable of destroying vegetative forms of food-borne pathogens. However, the risk of contamination increased by storage of food at ambient temperature, by using insufficiently high temperatures to reheat the food, and by adding contaminated ingredients such as dried ground crayfish and soybean powder at stages where no further heat treatment was applied. The purchasing of contaminated raw foodstuffs and ingredients, particularly raw akamu, from vendors in open markets is also a CCP. CONCLUSION: Although an unsafe environment poses many hazards for children's food, the hygienic quality of prepared food can be assured if basic food safety principles are observed. When many factors contribute to food contamination, identification of CCPs becomes particularly important and can facilitate appropriate targeting of resources and prevention efforts. PMID:11417038

Nonrigid mammogram registration using mutual information

NASA Astrophysics Data System (ADS)

Wirth, Michael A.; Narhan, Jay; Gray, Derek W. S.

2002-05-01

Of the papers dealing with the task of mammogram registration, the majority deal with the task by matching corresponding control-points derived from anatomical landmark points. One of the caveats encountered when using pure point-matching techniques is their reliance on accurately extracted anatomical features-points. This paper proposes an innovative approach to matching mammograms which combines the use of a similarity-measure and a point-based spatial transformation. Mutual information is a cost-function used to determine the degree of similarity between the two mammograms. An initial rigid registration is performed to remove global differences and bring the mammograms into approximate alignment. The mammograms are then subdivided into smaller regions and each of the corresponding subimages is matched independently using mutual information. The centroids of each of the matched subimages are then used as corresponding control-point pairs in association with the Thin-Plate Spline radial basis function. The resulting spatial transformation generates a nonrigid match of the mammograms. The technique is illustrated by matching mammograms from the MIAS mammogram database. An experimental comparison is made between mutual information incorporating purely rigid behavior, and that incorporating a more nonrigid behavior. The effectiveness of the registration process is evaluated using image differences.

Investigation of the use of an electronic multifunction display and an electromechanical horizontal situation indicator for guidance and control of powered-lift short-haul aircraft

NASA Technical Reports Server (NTRS)

Clement, W. F.

1976-01-01

The use which pilots make of a moving map display from en route through the terminal area and including the approach and go-around flight phases was investigated. The content and function of each of three primary STOLAND displays are reviewed from an operational point of view. The primary displays are the electronic attitude director indicator (EADI), the horizontal situation indicator (HSI), and the multifunction display (MFD). Manually controlled flight with both flight director guidance and raw situation data is examined in detail in a simulated flight experiment with emphasis on tracking reference flight plans and maintaining geographic orientation after missed approaches. Eye-point-of-regard and workload measurements, coupled with task performance measurements, pilot opinion ratings, and pilot comments are presented. The experimental program was designed to offer a systematic objective and subjective comparison of pilots' use of the moving map MFD in conjunction with the other displays.

An Approach of Registration between Remote Sensing Image and Electronic Chart Based on Coastal Line

NASA Astrophysics Data System (ADS)

Li, Ying; Yu, Shuiming; Li, Chuanlong

Remote sensing plays an important role marine oil spill emergency. In order to implement a timely and effective countermeasure, it is important to provide exact position of oil spills. Therefore it is necessary to match remote sensing image and electronic chart properly. Variance ordinarily exists between oil spill image and electronic chart, although geometric correction is applied to remote sensing image. It is difficult to find the steady control points on sea to make exact rectification of remote sensing image. An improved relaxation algorithm was developed for finding the control points along the coastline since oil spills occurs generally near the coast. A conversion function is created with the least square, and remote sensing image can be registered with the vector map based on this function. SAR image was used as the remote sensing data and shape format map as the electronic chart data. The results show that this approach can guarantee the precision of the registration, which is essential for oil spill monitoring.

Nonlinear predictive control of a boiler-turbine unit: A state-space approach with successive on-line model linearisation and quadratic optimisation.

PubMed

Ławryńczuk, Maciej

2017-03-01

This paper details development of a Model Predictive Control (MPC) algorithm for a boiler-turbine unit, which is a nonlinear multiple-input multiple-output process. The control objective is to follow set-point changes imposed on two state (output) variables and to satisfy constraints imposed on three inputs and one output. In order to obtain a computationally efficient control scheme, the state-space model is successively linearised on-line for the current operating point and used for prediction. In consequence, the future control policy is easily calculated from a quadratic optimisation problem. For state estimation the extended Kalman filter is used. It is demonstrated that the MPC strategy based on constant linear models does not work satisfactorily for the boiler-turbine unit whereas the discussed algorithm with on-line successive model linearisation gives practically the same trajectories as the truly nonlinear MPC controller with nonlinear optimisation repeated at each sampling instant. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Models for estimating runway landing capacity with Microwave Landing System (MLS)

NASA Technical Reports Server (NTRS)

Tosic, V.; Horonjeff, R.

1975-01-01

A model is developed which is capable of computing the ultimate landing runway capacity, under ILS and MLS conditions, when aircraft population characteristics and air traffic control separation rules are given. This model can be applied in situations when only a horizontal separation between aircraft approaching a runway is allowed, as well as when both vertical and horizontal separations are possible. It is assumed that the system is free of errors, that is that aircraft arrive at specified points along the prescribed flight path precisely when the controllers intend for them to arrive at these points. Although in the real world there is no such thing as an error-free system, the assumption is adequate for a qualitative comparison of MLS with ILS. Results suggest that an increase in runway landing capacity, caused by introducing the MLS multiple approach paths, is to be expected only when an aircraft population consists of aircraft with significantly differing approach speeds and particularly in situations when vertical separation can be applied. Vertical separation can only be applied if one of the types of aircraft in the mix has a very steep descent angle.

Fuzzy observer-based control for maximum power-point tracking of a photovoltaic system

NASA Astrophysics Data System (ADS)

Allouche, M.; Dahech, K.; Chaabane, M.; Mehdi, D.

2018-04-01

This paper presents a novel fuzzy control design method for maximum power-point tracking (MPPT) via a Takagi and Sugeno (TS) fuzzy model-based approach. A knowledge-dynamic model of the PV system is first developed leading to a TS representation by a simple convex polytopic transformation. Then, based on this exact fuzzy representation, a H∞ observer-based fuzzy controller is proposed to achieve MPPT even when we consider varying climatic conditions. A specified TS reference model is designed to generate the optimum trajectory which must be tracked to ensure maximum power operation. The controller and observer gains are obtained in a one-step procedure by solving a set of linear matrix inequalities (LMIs). The proposed method has been compared with some classical MPPT techniques taking into account convergence speed and tracking accuracy. Finally, various simulation and experimental tests have been carried out to illustrate the effectiveness of the proposed TS fuzzy MPPT strategy.

Firmware Development Improves System Efficiency

NASA Technical Reports Server (NTRS)

Chern, E. James; Butler, David W.

1993-01-01

Most manufacturing processes require physical pointwise positioning of the components or tools from one location to another. Typical mechanical systems utilize either stop-and-go or fixed feed-rate procession to accomplish the task. The first approach achieves positional accuracy but prolongs overall time and increases wear on the mechanical system. The second approach sustains the throughput but compromises positional accuracy. A computer firmware approach has been developed to optimize this point wise mechanism by utilizing programmable interrupt controls to synchronize engineering processes 'on the fly'. This principle has been implemented in an eddy current imaging system to demonstrate the improvement. Software programs were developed that enable a mechanical controller card to transmit interrupts to a system controller as a trigger signal to initiate an eddy current data acquisition routine. The advantages are: (1) optimized manufacturing processes, (2) increased throughput of the system, (3) improved positional accuracy, and (4) reduced wear and tear on the mechanical system.

Supersaturation Control using Analytical Crystal Size Distribution Estimator for Temperature Dependent in Nucleation and Crystal Growth Phenomena

NASA Astrophysics Data System (ADS)

Zahari, Zakirah Mohd; Zubaidah Adnan, Siti; Kanthasamy, Ramesh; Saleh, Suriyati; Samad, Noor Asma Fazli Abdul

2018-03-01

The specification of the crystal product is usually given in terms of crystal size distribution (CSD). To this end, optimal cooling strategy is necessary to achieve the CSD. The direct design control involving analytical CSD estimator is one of the approaches that can be used to generate the set-point. However, the effects of temperature on the crystal growth rate are neglected in the estimator. Thus, the temperature dependence on the crystal growth rate needs to be considered in order to provide an accurate set-point. The objective of this work is to extend the analytical CSD estimator where Arrhenius expression is employed to cover the effects of temperature on the growth rate. The application of this work is demonstrated through a potassium sulphate crystallisation process. Based on specified target CSD, the extended estimator is capable of generating the required set-point where a proposed controller successfully maintained the operation at the set-point to achieve the target CSD. Comparison with other cooling strategies shows a reduction up to 18.2% of the total number of undesirable crystals generated from secondary nucleation using linear cooling strategy is achieved.

Deformation integrity monitoring for GNSS positioning services including local, regional and large scale hazard monitoring - the Karlsruhe approach and software(MONIKA)

NASA Astrophysics Data System (ADS)

Jaeger, R.

2007-05-01

GNSS-positioning services like SAPOS/ascos in Germany and many others in Europe, America and worldwide, usually yield in a short time their interdisciplinary and country-wide use for precise geo-referencing, replacing traditional low order geodetic networks. So it becomes necessary that possible changes of the reference stations' coordinates are detected ad hoc. The GNSS-reference-station MONitoring by the KArlsruhe approach and software (MONIKA) are designed for that task. The developments at Karlsruhe University of Applied Sciences in cooperation with the State Survey of Baden-Württemberg are further motivated by a the official resolution of the German state survey departments' association (Arbeitsgemeinschaft der Vermessungsverwaltungen Deutschland (AdV)) 2006 on coordinate monitoring as a quality-control duty of the GNSS-positioning service provider. The presented approach can - besides the coordinate control of GNSS-positioning services - also be used to set up any GNSS-service for the tasks of an area-wide geodynamical and natural disaster-prevention service. The mathematical model of approach, which enables a multivariate and multi-epochal design approach, is based on the GNSS-observations input of the RINEX-data of the GNSS service, followed by fully automatic processing of baselines and/or session, and a near-online setting up of epoch-state vectors and their covariance-matrices in a rigorous 3D network adjustment. In case of large scale and long-term monitoring situations, geodynamical standard trends (datum-drift, plate-movements etc.) are accordingly considered and included in the mathematical model of MONIKA. The coordinate-based deformation monitoring approach, as third step of the stepwise adjustments, is based on the above epoch-state vectors, and - splitting off geodynamics trends - hereby on a multivariate and multi-epochal congruency testing. So far, that no other information exists, all points are assumed as being stable and congruent reference points. Stations, which a priori assumed as moving - in that way local monitoring areas can be included- are to be monitored and analyzed in reference to the stable reference points. In that way, a high sensitivity for the detection of GNSS station displacements, both for assumed stable points, as well as for a priori moving points, can be achieved. The results for the concept are shown at the example of a monitoring using the MONINKA-software in the 300 x 300 km area of the state of Baden-Württemberg, Germany.

Trends in MODIS Geolocation Error Analysis

NASA Technical Reports Server (NTRS)

Wolfe, R. E.; Nishihama, Masahiro

2009-01-01

Data from the two MODIS instruments have been accurately geolocated (Earth located) to enable retrieval of global geophysical parameters. The authors describe the approach used to geolocate with sub-pixel accuracy over nine years of data from M0DIS on NASA's E0S Terra spacecraft and seven years of data from MODIS on the Aqua spacecraft. The approach uses a geometric model of the MODIS instruments, accurate navigation (orbit and attitude) data and an accurate Earth terrain model to compute the location of each MODIS pixel. The error analysis approach automatically matches MODIS imagery with a global set of over 1,000 ground control points from the finer-resolution Landsat satellite to measure static biases and trends in the MO0lS geometric model parameters. Both within orbit and yearly thermally induced cyclic variations in the pointing have been found as well as a general long-term trend.

The Influence of Depression on Cognitive Control: Disambiguating Approach and Avoidance Tendencies.

PubMed

Huang, He; Movellan, Javier; Paulus, Martin P; Harlé, Katia M

2015-01-01

Dysfunctions of approach and avoidance motivation play an important role in depression, which in turn may affect cognitive control, i.e., the ability to regulate thoughts and action to achieve internal goals. We use a novel experimental paradigm, i.e. a computer simulated driving-task, to study the impact of depression on cognitive control by measuring approach and avoidance actions in continuous time. In this task, 39 subjects with minimal to severe depression symptoms were instructed to use a joystick to move a virtual car as quickly as possible to a target point without crossing a stop-sign or crashing into a wall. We recorded their continuous actions on a joystick and found that depression 1) leads to further stopping distance to task target; and 2) increases the magnitude of late deceleration (avoidance) but not early acceleration (approach), which was only observed in the stop-sign condition. Taken together, these results are consistent with the hypothesis that depressed individuals have greater avoidance motivation near stopping target, but are minimally affected by approach motivation.

Quantifying the impact of time-varying baseline risk adjustment in the self-controlled risk interval design.

PubMed

Li, Lingling; Kulldorff, Martin; Russek-Cohen, Estelle; Kawai, Alison Tse; Hua, Wei

2015-12-01

The self-controlled risk interval design is commonly used to assess the association between an acute exposure and an adverse event of interest, implicitly adjusting for fixed, non-time-varying covariates. Explicit adjustment needs to be made for time-varying covariates, for example, age in young children. It can be performed via either a fixed or random adjustment. The random-adjustment approach can provide valid point and interval estimates but requires access to individual-level data for an unexposed baseline sample. The fixed-adjustment approach does not have this requirement and will provide a valid point estimate but may underestimate the variance. We conducted a comprehensive simulation study to evaluate their performance. We designed the simulation study using empirical data from the Food and Drug Administration-sponsored Mini-Sentinel Post-licensure Rapid Immunization Safety Monitoring Rotavirus Vaccines and Intussusception study in children 5-36.9 weeks of age. The time-varying confounder is age. We considered a variety of design parameters including sample size, relative risk, time-varying baseline risks, and risk interval length. The random-adjustment approach has very good performance in almost all considered settings. The fixed-adjustment approach can be used as a good alternative when the number of events used to estimate the time-varying baseline risks is at least the number of events used to estimate the relative risk, which is almost always the case. We successfully identified settings in which the fixed-adjustment approach can be used as a good alternative and provided guidelines on the selection and implementation of appropriate analyses for the self-controlled risk interval design. Copyright © 2015 John Wiley & Sons, Ltd.

Modeling the Control Systems of Gas-Turbines to Ensure Their Reliable Parallel Operation in the UPS of Russia

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

Vinogradov, A. Yu., E-mail: vinogradov-a@ntcees.ru; Gerasimov, A. S.; Kozlov, A. V.

Consideration is given to different approaches to modeling the control systems of gas turbines as a component of CCPP and GTPP to ensure their reliable parallel operation in the UPS of Russia. The disadvantages of the approaches to the modeling of combined-cycle units in studying long-term electromechanical transients accompanied by power imbalance are pointed out. Examples are presented to support the use of more detailed models of gas turbines in electromechanical transient calculations. It is shown that the modern speed control systems of gas turbines in combination with relatively low equivalent inertia have a considerable effect on electromechanical transients, includingmore » those caused by disturbances not related to power imbalance.« less

Controllability of fractional higher order stochastic integrodifferential systems with fractional Brownian motion.

PubMed

Sathiyaraj, T; Balasubramaniam, P

2017-11-30

This paper presents a new set of sufficient conditions for controllability of fractional higher order stochastic integrodifferential systems with fractional Brownian motion (fBm) in finite dimensional space using fractional calculus, fixed point technique and stochastic analysis approach. In particular, we discuss the complete controllability for nonlinear fractional stochastic integrodifferential systems under the proved result of the corresponding linear fractional system is controllable. Finally, an example is presented to illustrate the efficiency of the obtained theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A tensor approach to modeling of nonhomogeneous nonlinear systems

NASA Technical Reports Server (NTRS)

Yurkovich, S.; Sain, M.

1980-01-01

Model following control methodology plays a key role in numerous application areas. Cases in point include flight control systems and gas turbine engine control systems. Typical uses of such a design strategy involve the determination of nonlinear models which generate requested control and response trajectories for various commands. Linear multivariable techniques provide trim about these motions; and protection logic is added to secure the hardware from excursions beyond the specification range. This paper reports upon experience in developing a general class of such nonlinear models based upon the idea of the algebraic tensor product.

Semantically Enriched Data Access Policies in eHealth.

PubMed

Drozdowicz, Michał; Ganzha, Maria; Paprzycki, Marcin

2016-11-01

Internet of Things (IoT) requires novel solutions to facilitate autonomous, though controlled, resource access. Access policies have to facilitate interactions between heterogeneous entities (devices and humans). Here, we focus our attention on access control in eHealth. We propose an approach based on enriching policies, based on well-known and widely-used eXtensible Access Control Markup Language, with semantics. In the paper we describe an implementation of a Policy Information Point integrated with the HL7 Security and Privacy Ontology.

Control system development for an organic Ranking cycle engine

NASA Technical Reports Server (NTRS)

Bergthold, F. M., Jr.; Fulton, D. G.; Haskins, H. J.

1981-01-01

An organic Rankine cycle engine is used as part of a solar thermal power conversion assembly (PCA). The PCA, including a direct-heated cavity receiver and a shaft-mounted alternator, is mounted at the focal point of a parabolic dish concentrator. The engine controls are required to maintain approximately constant values of turbine inlet temperature and shaft speed, despite variation in the concentrated solar power input to the receiver. The controls design approach, system models, and initial stability and performance analysis results are presented herein.

Recommendations for dealing with waste contaminated with Ebola virus: a Hazard Analysis of Critical Control Points approach

PubMed Central

Edmunds, Kelly L; Elrahman, Samira Abd; Bell, Diana J; Brainard, Julii; Dervisevic, Samir; Fedha, Tsimbiri P; Few, Roger; Howard, Guy; Lake, Iain; Maes, Peter; Matofari, Joseph; Minnigh, Harvey; Mohamedani, Ahmed A; Montgomery, Maggie; Morter, Sarah; Muchiri, Edward; Mudau, Lutendo S; Mutua, Benedict M; Ndambuki, Julius M; Pond, Katherine; Sobsey, Mark D; van der Es, Mike; Zeitoun, Mark

2016-01-01

Abstract Objective To assess, within communities experiencing Ebola virus outbreaks, the risks associated with the disposal of human waste and to generate recommendations for mitigating such risks. Methods A team with expertise in the Hazard Analysis of Critical Control Points framework identified waste products from the care of individuals with Ebola virus disease and constructed, tested and confirmed flow diagrams showing the creation of such products. After listing potential hazards associated with each step in each flow diagram, the team conducted a hazard analysis, determined critical control points and made recommendations to mitigate the transmission risks at each control point. Findings The collection, transportation, cleaning and shared use of blood-soiled fomites and the shared use of latrines contaminated with blood or bloodied faeces appeared to be associated with particularly high levels of risk of Ebola virus transmission. More moderate levels of risk were associated with the collection and transportation of material contaminated with bodily fluids other than blood, shared use of latrines soiled with such fluids, the cleaning and shared use of fomites soiled with such fluids, and the contamination of the environment during the collection and transportation of blood-contaminated waste. Conclusion The risk of the waste-related transmission of Ebola virus could be reduced by the use of full personal protective equipment, appropriate hand hygiene and an appropriate disinfectant after careful cleaning. Use of the Hazard Analysis of Critical Control Points framework could facilitate rapid responses to outbreaks of emerging infectious disease. PMID:27274594

Model-on-Demand Predictive Control for Nonlinear Hybrid Systems With Application to Adaptive Behavioral Interventions

PubMed Central

Nandola, Naresh N.; Rivera, Daniel E.

2011-01-01

This paper presents a data-centric modeling and predictive control approach for nonlinear hybrid systems. System identification of hybrid systems represents a challenging problem because model parameters depend on the mode or operating point of the system. The proposed algorithm applies Model-on-Demand (MoD) estimation to generate a local linear approximation of the nonlinear hybrid system at each time step, using a small subset of data selected by an adaptive bandwidth selector. The appeal of the MoD approach lies in the fact that model parameters are estimated based on a current operating point; hence estimation of locations or modes governed by autonomous discrete events is achieved automatically. The local MoD model is then converted into a mixed logical dynamical (MLD) system representation which can be used directly in a model predictive control (MPC) law for hybrid systems using multiple-degree-of-freedom tuning. The effectiveness of the proposed MoD predictive control algorithm for nonlinear hybrid systems is demonstrated on a hypothetical adaptive behavioral intervention problem inspired by Fast Track, a real-life preventive intervention for improving parental function and reducing conduct disorder in at-risk children. Simulation results demonstrate that the proposed algorithm can be useful for adaptive intervention problems exhibiting both nonlinear and hybrid character. PMID:21874087

Damping SOFIA: passive and active damping for the Stratospheric Observatory for Infrared Astronomy

NASA Astrophysics Data System (ADS)

Maly, Joseph R.; Keas, Paul J.; Glaese, Roger M.

2001-07-01

The Stratospheric Observatory For Infrared Astronomy, SOFIA is being developed by NASA and the German space agency, Deutschen Zentrum fur Luft- und Raumfahrt (DLR), with an international contractor team. The 2.5-meter reflecting telescope of SOFIA will be the world's largest airborne telescope. Flying in an open cavity on a modified 747 aircraft, SOFIA will perform infrared astronomy while cruising at 41,000 feet and while being buffeted by a 550- mile-per-hour slipstream. A primary system requirement of SOFIA is tracking stability of 0.2 arc-seconds, and a 3-axis pointing control model has been used to evaluate the feasibility of achieving this kind of stability. The pointing control model shows that increased levels of damping in certain elastic modes of the telescope assembly will help achieve the tracking stability goal and also expand the bandwidth of the attitude controller. This paper describes the preliminary work that has been done to approximate the reduction in image motion yielded by various structure configurations that use reaction masses to attenuate the flexible motions of the telescope structure. Three approaches are considered: passive tuned-mass dampers, active-mass dampers, and attitude control with reaction-mass actuators. Expected performance improvements for each approach, and practical advantages and disadvantages associated with each are presented.

A Micromechanical INS/GPS System for Small Satellites

NASA Technical Reports Server (NTRS)

Barbour, N.; Brand, T.; Haley, R.; Socha, M.; Stoll, J.; Ward, P.; Weinberg, M.

1995-01-01

The cost and complexity of large satellite space missions continue to escalate. To reduce costs, more attention is being directed toward small lightweight satellites where future demand is expected to grow dramatically. Specifically, micromechanical inertial systems and microstrip global positioning system (GPS) antennas incorporating flip-chip bonding, application specific integrated circuits (ASIC) and MCM technologies will be required. Traditional microsatellite pointing systems do not employ active control. Many systems allow the satellite to point coarsely using gravity gradient, then attempt to maintain the image on the focal plane with fast-steering mirrors. Draper's approach is to actively control the line of sight pointing by utilizing on-board attitude determination with micromechanical inertial sensors and reaction wheel control actuators. Draper has developed commercial and tactical-grade micromechanical inertial sensors, The small size, low weight, and low cost of these gyroscopes and accelerometers enable systems previously impractical because of size and cost. Evolving micromechanical inertial sensors can be applied to closed-loop, active control of small satellites for micro-radian precision-pointing missions. An inertial reference feedback control loop can be used to determine attitude and line of sight jitter to provide error information to the controller for correction. At low frequencies, the error signal is provided by GPS. At higher frequencies, feedback is provided by the micromechanical gyros. This blending of sensors provides wide-band sensing from dc to operational frequencies. First order simulation has shown that the performance of existing micromechanical gyros, with integrated GPS, is feasible for a pointing mission of 10 micro-radians of jitter stability and approximately 1 milli-radian absolute error, for a satellite with 1 meter antenna separation. Improved performance micromechanical sensors currently under development will be suitable for a range of micro-nano-satellite applications.

The Principles of HACCP

USDA-ARS?s Scientific Manuscript database

HACCP is an acronym for Hazard Analysis and Critical Control Point and was initially developed by the Pillsbury Company and NASA. They utilized this program to enhance the safety of the food for manned space flights. The USDA-FSIS implemented the HACCP approach to food safety in the meat and pou...

The Principles of HACCP

USDA-ARS?s Scientific Manuscript database

HACCP is an acronym for Hazard Analysis and Critical Control Point and was initially developed by the Pillsbury Company and NASA. They utilized this program to enhance the safety of the food for manned space flights. The USDA-FSIS implemented the HACCP approach to food safety in the meat and p...

The Basics of HACCP

USDA-ARS?s Scientific Manuscript database

HACCP is an acronym for Hazard Analysis and Critical Control Point and was initially developed by the Pillsbury Company and NASA. They utilized this program to enhance the safety of the food for manned space flights. The USDA-FSIS implemented the HACCP approach to food safety in the meat and poult...

BMDExpress Data Viewer - A visualization Tool to Analyze BMDExpress Datasets (Health Canada Science Forum)

EPA Science Inventory

Benchmark Dose (BMD) modelling is a mathematical approach used to determine where a dose-response change begins to take place relative to controls following chemical exposure. BMDs are being increasingly applied in regulatory toxicology to determine points of departure. BMDExpres...

40 CFR 65.2 - Definitions.

Code of Federal Regulations, 2012 CFR

2012-07-01

... approach; (2) Decreased frequency for non-continuous parameter monitoring or physical inspections; (3... stream components, not carbon equivalents. Car-seal means a seal that is placed on a device that is used..., flow inducing devices that transport gas or vapor from an emission point to a control device. A closed...

A systematic approach to sound decision making starts with financial reporting.

PubMed

Taylor, R B

1989-11-01

Managers and supervisors need information to measure departmental performance. Designing a reporting system requires managers to obtain needed information without being flooded by extraneous data. A reporting framework designed to examine five control points is a necessary tool, and a good place to start.

Fish welfare assurance system: initial steps to set up an effective tool to safeguard and monitor farmed fish welfare at a company level.

PubMed

van de Vis, J W; Poelman, M; Lambooij, E; Bégout, M-L; Pilarczyk, M

2012-02-01

The objective was to take a first step in the development of a process-oriented quality assurance (QA) system for monitoring and safeguarding of fish welfare at a company level. A process-oriented approach is focused on preventing hazards and involves establishment of critical steps in a process that requires careful control. The seven principles of the Hazard Analysis Critical Control Points (HACCP) concept were used as a framework to establish the QA system. HACCP is an internationally agreed approach for management of food safety, which was adapted for the purpose of safeguarding and monitoring the welfare of farmed fish. As the main focus of this QA system is farmed fish welfare assurance at a company level, it was named Fish Welfare Assurance System (FWAS). In this paper we present the initial steps of setting up FWAS for on growing of sea bass (Dicentrarchus labrax), carp (Cyprinus carpio) and European eel (Anguilla anguilla). Four major hazards were selected, which were fish species dependent. Critical Control Points (CCPs) that need to be controlled to minimize or avoid the four hazards are presented. For FWAS, monitoring of CCPs at a farm level is essential. For monitoring purposes, Operational Welfare Indicators (OWIs) are needed to establish whether critical biotic, abiotic, managerial and environmental factors are controlled. For the OWIs we present critical limits/target values. A critical limit is the maximum or minimum value to which a factor must be controlled at a critical control point to prevent, eliminate or reduce a hazard to an acceptable level. For managerial factors target levels are more appropriate than critical limits. Regarding the international trade of farmed fish products, we propose that FWAS needs to be standardized in aquaculture chains. For this standardization a consensus on the concept of fish welfare, methods to assess welfare objectively and knowledge on the needs of farmed fish are required.

Coral Reef Resilience, Tipping Points and the Strength of Herbivory

PubMed Central

Holbrook, Sally J.; Schmitt, Russell J.; Adam, Thomas C.; Brooks, Andrew J.

2016-01-01

Coral reefs increasingly are undergoing transitions from coral to macroalgal dominance. Although the functional roles of reef herbivores in controlling algae are becoming better understood, identifying possible tipping points in the herbivory-macroalgae relationships has remained a challenge. Assessment of where any coral reef ecosystem lies in relation to the coral-to-macroalgae tipping point is fundamental to understanding resilience properties, forecasting state shifts, and developing effective management practices. We conducted a multi-year field experiment in Moorea, French Polynesia to estimate these properties. While we found a sharp herbivory threshold where macroalgae escape control, ambient levels of herbivory by reef fishes were well above that needed to prevent proliferation of macroalgae. These findings are consistent with previously observed high resilience of the fore reef in Moorea. Our approach can identify vulnerable coral reef systems in urgent need of management action to both forestall shifts to macroalgae and preserve properties essential for resilience. PMID:27804977

A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources.

PubMed

Rañó, Iñaki

2012-09-01

Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.

Dynamic Modeling of Yield and Particle Size Distribution in Continuous Bayer Precipitation

NASA Astrophysics Data System (ADS)

Stephenson, Jerry L.; Kapraun, Chris

Process engineers at Alcoa's Point Comfort refinery are using a dynamic model of the Bayer precipitation area to evaluate options in operating strategies. The dynamic model, a joint development effort between Point Comfort and the Alcoa Technical Center, predicts process yields, particle size distributions and occluded soda levels for various flowsheet configurations of the precipitation and classification circuit. In addition to rigorous heat, material and particle population balances, the model includes mechanistic kinetic expressions for particle growth and agglomeration and semi-empirical kinetics for nucleation and attrition. The kinetic parameters have been tuned to Point Comfort's operating data, with excellent matches between the model results and plant data. The model is written for the ACSL dynamic simulation program with specifically developed input/output graphical user interfaces to provide a user-friendly tool. Features such as a seed charge controller enhance the model's usefulness for evaluating operating conditions and process control approaches.

Wavefront tilt feedforward for the formation interferometer testbad (FIT)

NASA Technical Reports Server (NTRS)

Shields, J. F.; Liewer, K.; Wehmeier, U.

2002-01-01

Separated spacecraft interferometry is a candidate architecture for several future NASA missions. The Formation Interferometer Testbed (FIT) is a ground based testbed dedicated to the validation of this key technology for a formation of two spacecraft. In separated spacecraft interferometry, the residual relative motion of the component spacecraft must be compensated for by articulation of the optical components. In this paper, the design of the FIT interferometer pointing control system is described. This control system is composed of a metrology pointing loop that maintains an optical link between the two spacecraft and two stellar pointing loops for stabilizing the stellar wavefront at both the right and left apertures of the instrument. A novel feedforward algorithm is used to decouple the metrology loop from the left side stellar loop. Experimental results from the testbed are presented that verify this approach and that fully demonstrate the performance of the algorithm.

Coral Reef Resilience, Tipping Points and the Strength of Herbivory.

PubMed

Holbrook, Sally J; Schmitt, Russell J; Adam, Thomas C; Brooks, Andrew J

2016-11-02

Coral reefs increasingly are undergoing transitions from coral to macroalgal dominance. Although the functional roles of reef herbivores in controlling algae are becoming better understood, identifying possible tipping points in the herbivory-macroalgae relationships has remained a challenge. Assessment of where any coral reef ecosystem lies in relation to the coral-to-macroalgae tipping point is fundamental to understanding resilience properties, forecasting state shifts, and developing effective management practices. We conducted a multi-year field experiment in Moorea, French Polynesia to estimate these properties. While we found a sharp herbivory threshold where macroalgae escape control, ambient levels of herbivory by reef fishes were well above that needed to prevent proliferation of macroalgae. These findings are consistent with previously observed high resilience of the fore reef in Moorea. Our approach can identify vulnerable coral reef systems in urgent need of management action to both forestall shifts to macroalgae and preserve properties essential for resilience.

Spirituality and optimism: a holistic approach to component-based, self-management treatment for HIV.

PubMed

Brown, Jordan; Hanson, Jan E; Schmotzer, Brian; Webel, Allison R

2014-10-01

For people living with HIV (PLWH), spirituality and optimism have a positive influence on their health, can slow HIV disease progression, and can improve quality of life. Our aim was to describe longitudinal changes in spirituality and optimism after participation in the SystemCHANGE™-HIV intervention. Upon completion of the intervention, participants experienced an 11.5 point increase in overall spiritual well-being (p = 0.036), a 6.3 point increase in religious well-being (p = 0.030), a 4.8 point increase in existential well-being (p = 0.125), and a 0.8 point increase in total optimism (p = 0.268) relative to controls. Our data suggest a group-based self-management intervention increases spiritual well-being in PLWH.

The Propagation of Movement Variability in Time: A Methodological Approach for Discrete Movements with Multiple Degrees of Freedom.

PubMed

Krüger, Melanie; Straube, Andreas; Eggert, Thomas

2017-01-01

In recent years, theory-building in motor neuroscience and our understanding of the synergistic control of the redundant human motor system has significantly profited from the emergence of a range of different mathematical approaches to analyze the structure of movement variability. Approaches such as the Uncontrolled Manifold method or the Noise-Tolerance-Covariance decomposition method allow to detect and interpret changes in movement coordination due to e.g., learning, external task constraints or disease, by analyzing the structure of within-subject, inter-trial movement variability. Whereas, for cyclical movements (e.g., locomotion), mathematical approaches exist to investigate the propagation of movement variability in time (e.g., time series analysis), similar approaches are missing for discrete, goal-directed movements, such as reaching. Here, we propose canonical correlation analysis as a suitable method to analyze the propagation of within-subject variability across different time points during the execution of discrete movements. While similar analyses have already been applied for discrete movements with only one degree of freedom (DoF; e.g., Pearson's product-moment correlation), canonical correlation analysis allows to evaluate the coupling of inter-trial variability across different time points along the movement trajectory for multiple DoF-effector systems, such as the arm. The theoretical analysis is illustrated by empirical data from a study on reaching movements under normal and disturbed proprioception. The results show increased movement duration, decreased movement amplitude, as well as altered movement coordination under ischemia, which results in a reduced complexity of movement control. Movement endpoint variability is not increased under ischemia. This suggests that healthy adults are able to immediately and efficiently adjust the control of complex reaching movements to compensate for the loss of proprioceptive information. Further, it is shown that, by using canonical correlation analysis, alterations in movement coordination that indicate changes in the control strategy concerning the use of motor redundancy can be detected, which represents an important methodical advance in the context of neuromechanics.

Atrial fibrillation.

PubMed

Medi, Caroline; Hankey, Graeme J; Freedman, Saul B

2007-02-19

The incidence and prevalence of atrial fibrillation are increasing because of both population ageing and an age-adjusted increase in incidence of atrial fibrillation. Deciding between a rate control or rhythm control approach depends on patient age and comorbidities, symptoms and haemodynamic consequences of the arrhythmia, but either approach is acceptable. Digoxin is no longer a first-line drug for rate control: beta-blockers and verapamil and diltiazem control heart rate better during exercise. Anti-arrhythmic drugs have only a 40%-60% success rate of maintaining sinus rhythm at 1 year, and have significant side effects. The selection of optimal antithrombotic prophylaxis depends on the patient's risk of ischaemic stroke and the benefits and risks of long-term warfarin versus aspirin, but is independent of rate or rhythm control strategy. Ischaemic stroke risk is best estimated with the CHADS2 score (Congestive heart failure, Hypertension, Age > or = 75 years, Diabetes, 1 point each; prior Stroke or transient ischaemic attack, 2 points). For patients with valvular atrial fibrillation or a CHADS(2) score > or = 2, anticoagulation with warfarin is recommended (INR 2-3, higher for mechanical valves) unless contraindicated or annual major bleeding risk > 3%. Aspirin or warfarin may be used when the CHADS(2) score = 1. Aspirin, 81-325 mg daily, is recommended in patients with a CHADS(2) score of 0 or if warfarin is contraindicated. Stroke rate is similar for paroxysmal, persistent, and permanent atrial fibrillation, and probably for atrial flutter.

Retaining the equilibrium point hypothesis as an abstract description of the neuromuscular system.

PubMed

Tresilian, J R

1999-01-01

The lambda version of the equilibrium point (EP) hypothesis for motor control is examined in light of recent criticisms of its various instantiations. Four important assumptions that have formed the basis for recent criticism are analyzed: First, the assumption that intact muscles possess invariant force-length characteristics (ICs). Second, that these ICs are of the same form in agonist-antagonist pairs. Third, that muscle control is monoparametric and that the control parameter, lambda, can be given a neurophysiological interpretation. Fourth, that reflex loop time delays and the known, asymmetric, nonlinear mechanical properties of muscles can be ignored. Mechanical and neurophysiological investigations of the neuromuscular system suggests that none of these assumptions is likely to be correct. This has been taken to mean that the EP hypothesis is oversimplified and a new approach is needed. It is argued that such an approach can be provided without rejecting the EP hypothesis, rather to regard it as an input-output description of muscle and associated segmental circuits. The operation of the segmental circuitry can be interpreted as having the function, at least in part, of compensating for a variety of nonlinearities and asymmetries such that the overall system implements the lambda-EP model equations.

HACCP-based quality risk management approach to udder health problems on dairy farms

PubMed Central

2009-01-01

Against the background of prevailing udder health problems on dairy farms, this paper discusses a new approach to mastitis control. Current udder health control programmes, such as the 'five-point plan', are highlighted and their drawbacks indicated. The concept and principles of hazard analysis critical control points (HACCP) are introduced. The eight core elements of this concept are dealt with by using the example of a dairy herd with a mastitis problem due to Staphylococcus aureus. The various steps to be taken in the development of a HACCP-based quality risk management programme are illustrated through the application of core elements. Finally, it is shown that the HACCP key words, structure, organisation, planning, communication and formalisation; which do not frequently appear in conventional herd health and production management programmes can contribute to better udder health. The role of the veterinarian can be paramount and of added value, if he/she is willing to invest in new knowledge and skills, such as the HACCP concept, farm economics, animal nutrition, and particularly the role of coach to the dairy farmer in the implementation of preventative measures in relation to udder health. PMID:22082372

HACCP-based quality risk management approach to udder health problems on dairy farms.

PubMed

Noordhuizen, Jptm; Cannas da Silva, J

2009-04-01

Against the background of prevailing udder health problems on dairy farms, this paper discusses a new approach to mastitis control. Current udder health control programmes, such as the 'five-point plan', are highlighted and their drawbacks indicated. The concept and principles of hazard analysis critical control points (HACCP) are introduced. The eight core elements of this concept are dealt with by using the example of a dairy herd with a mastitis problem due to Staphylococcus aureus. The various steps to be taken in the development of a HACCP-based quality risk management programme are illustrated through the application of core elements. Finally, it is shown that the HACCP key words, structure, organisation, planning, communication and formalisation; which do not frequently appear in conventional herd health and production management programmes can contribute to better udder health. The role of the veterinarian can be paramount and of added value, if he/she is willing to invest in new knowledge and skills, such as the HACCP concept, farm economics, animal nutrition, and particularly the role of coach to the dairy farmer in the implementation of preventative measures in relation to udder health.

Dysregulated mTORC1-Dependent Translational Control: From Brain Disorders to Psychoactive Drugs

PubMed Central

Santini, Emanuela; Klann, Eric

2011-01-01

In the last decade, a plethora of studies utilizing pharmacological, biochemical, and genetic approaches have shown that precise translational control is required for long-lasting synaptic plasticity and the formation of long-term memory. Moreover, more recent studies indicate that alterations in translational control are a common pathophysiological feature of human neurological disorders, including developmental disorders, neuropsychiatric disorders, and neurodegenerative diseases. Finally, translational control mechanisms are susceptible to modification by psychoactive drugs. Taken together, these findings point to a central role for translational control in the regulation of synaptic function and behavior. PMID:22073033

Evidence of Cognitive Dysfunction after Soccer Playing with Ball Heading Using a Novel Tablet-Based Approach

PubMed Central

Lin, Angela H.; Patel, Saumil S.; Sereno, Anne B.

2013-01-01

Does frequent head-to-ball contact cause cognitive dysfunctions and brain injury to soccer players? An iPad-based experiment was designed to examine the impact of ball-heading among high school female soccer players. We examined both direct, stimulus-driven, or reflexive point responses (Pro-Point) as well as indirect, goal-driven, or voluntary point responses (Anti-Point), thought to require cognitive functions in the frontal lobe. The results show that soccer players were significantly slower than controls in the Anti-Point task but displayed no difference in Pro-Point latencies, indicating a disruption specific to voluntary responses. These findings suggest that even subconcussive blows in soccer can result in cognitive function changes that are consistent with mild traumatic brain injury of the frontal lobes. There is great clinical and practical potential of a tablet-based application for quick detection and monitoring of cognitive dysfunction. PMID:23460843

A variable-gain output feedback control design methodology

NASA Technical Reports Server (NTRS)

Halyo, Nesim; Moerder, Daniel D.; Broussard, John R.; Taylor, Deborah B.

1989-01-01

A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

A dynamic method to forecast the wheel slip for antilock braking system and its experimental evaluation.

PubMed

Oniz, Yesim; Kayacan, Erdal; Kaynak, Okyay

2009-04-01

The control of an antilock braking system (ABS) is a difficult problem due to its strongly nonlinear and uncertain characteristics. To overcome this difficulty, the integration of gray-system theory and sliding-mode control is proposed in this paper. This way, the prediction capabilities of the former and the robustness of the latter are combined to regulate optimal wheel slip depending on the vehicle forward velocity. The design approach described is novel, considering that a point, rather than a line, is used as the sliding control surface. The control algorithm is derived and subsequently tested on a quarter vehicle model. Encouraged by the simulation results indicating the ability to overcome the stated difficulties with fast convergence, experimental results are carried out on a laboratory setup. The results presented indicate the potential of the approach in handling difficult real-time control problems.

Angiogram, fundus, and oxygen saturation optic nerve head image fusion

NASA Astrophysics Data System (ADS)

Cao, Hua; Khoobehi, Bahram

2009-02-01

A novel multi-modality optic nerve head image fusion approach has been successfully designed. The new approach has been applied on three ophthalmologic modalities: angiogram, fundus, and oxygen saturation retinal optic nerve head images. It has achieved an excellent result by giving the visualization of fundus or oxygen saturation images with a complete angiogram overlay. During this study, two contributions have been made in terms of novelty, efficiency, and accuracy. The first contribution is the automated control point detection algorithm for multi-sensor images. The new method employs retina vasculature and bifurcation features by identifying the initial good-guess of control points using the Adaptive Exploratory Algorithm. The second contribution is the heuristic optimization fusion algorithm. In order to maximize the objective function (Mutual-Pixel-Count), the iteration algorithm adjusts the initial guess of the control points at the sub-pixel level. A refinement of the parameter set is obtained at the end of each loop, and finally an optimal fused image is generated at the end of the iteration. It is the first time that Mutual-Pixel-Count concept has been introduced into biomedical image fusion area. By locking the images in one place, the fused image allows ophthalmologists to match the same eye over time and get a sense of disease progress and pinpoint surgical tools. The new algorithm can be easily expanded to human or animals' 3D eye, brain, or body image registration and fusion.

Improved method for selection of the NOAEL.

PubMed

Calabrese, E J; Baldwin, L A

1994-02-01

The paper proposes that the NOAEL be defined as the highest dosage tested that is statistically significantly different from the control group while also being statistically significantly different from the LOAEL. This new definition requires that the NOAEL be defined from two points of reference rather than the current approach (i.e., single point of reference) in which the NOAEL represents only the highest dosage not statistically significantly different from the control group. This proposal is necessary in order to differentiate NOAELs which are statistically distinguishable from the LOAEL. Under the new regime only those satisfying both criteria would be designated a true NOAEL while those satisfying only one criteria (i.e., not statistically significant different from the control group) would be designated a "quasi" NOAEL and handled differently (i.e., via an uncertainty factor) for risk assessment purposes.

Preliminary Evaluation of a Commercial 360 Multi-Camera Rig for Photogrammetric Purposes

NASA Astrophysics Data System (ADS)

Teppati Losè, L.; Chiabrando, F.; Spanò, A.

2018-05-01

The research presented in this paper is focused on a preliminary evaluation of a 360 multi-camera rig: the possibilities to use the images acquired by the system in a photogrammetric workflow and for the creation of spherical images are investigated and different tests and analyses are reported. Particular attention is dedicated to different operative approaches for the estimation of the interior orientation parameters of the cameras, both from an operative and theoretical point of view. The consistency of the six cameras that compose the 360 system was in depth analysed adopting a self-calibration approach in a commercial photogrammetric software solution. A 3D calibration field was projected and created, and several topographic measurements were performed in order to have a set of control points to enhance and control the photogrammetric process. The influence of the interior parameters of the six cameras were analyse both in the different phases of the photogrammetric workflow (reprojection errors on the single tie point, dense cloud generation, geometrical description of the surveyed object, etc.), both in the stitching of the different images into a single spherical panorama (some consideration on the influence of the camera parameters on the overall quality of the spherical image are reported also in these section).

Design of set-point weighting PI{sup λ} + D{sup μ} controller for vertical magnetic flux controller in Damavand tokamak

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

Rasouli, H.; Fatehi, A.

2014-12-15

In this paper, a simple method is presented for tuning weighted PI{sup λ} + D{sup μ} controller parameters based on the pole placement controller of pseudo-second-order fractional systems. One of the advantages of this controller is capability of reducing the disturbance effects and improving response to input, simultaneously. In the following sections, the performance of this controller is evaluated experimentally to control the vertical magnetic flux in Damavand tokamak. For this work, at first a fractional order model is identified using output-error technique in time domain. For various practical experiments, having desired time responses for magnetic flux in Damavand tokamak,more » is vital. To approach this, at first the desired closed loop reference models are obtained based on generalized characteristic ratio assignment method in fractional order systems. After that, for the identified model, a set-point weighting PI{sup λ} + D{sup μ} controller is designed and simulated. Finally, this controller is implemented on digital signal processor control system of the plant to fast/slow control of magnetic flux. The practical results show appropriate performance of this controller.« less

Fuzzy logic based robotic controller

NASA Technical Reports Server (NTRS)

Attia, F.; Upadhyaya, M.

1994-01-01

Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

Optimal strategy analysis based on robust predictive control for inventory system with random demand

NASA Astrophysics Data System (ADS)

Saputra, Aditya; Widowati, Sutrisno

2017-12-01

In this paper, the optimal strategy for a single product single supplier inventory system with random demand is analyzed by using robust predictive control with additive random parameter. We formulate the dynamical system of this system as a linear state space with additive random parameter. To determine and analyze the optimal strategy for the given inventory system, we use robust predictive control approach which gives the optimal strategy i.e. the optimal product volume that should be purchased from the supplier for each time period so that the expected cost is minimal. A numerical simulation is performed with some generated random inventory data. We simulate in MATLAB software where the inventory level must be controlled as close as possible to a set point decided by us. From the results, robust predictive control model provides the optimal strategy i.e. the optimal product volume that should be purchased and the inventory level was followed the given set point.

Introduction to the Principles of HACCP

USDA-ARS?s Scientific Manuscript database

HACCP is an acronym for Hazard Analysis and Critical Control Point and was initially developed by the Pillsbury Company and NASA. They utilized this program to enhance the safety of the food for manned space flights. The USDA-FSIS implemented the HACCP approach to food safety in the meat and poult...

75 FR 53273 - Federal Aquatic Nuisance Species Research Risk Analysis Protocol

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-31

....)]. The Protocol encourages the incorporation of a Hazard Analysis and Critical Control Point (HACCP) approach for prevention planning within research activities. Information about the use of HACCP is available at http://www.seagrant.umn.edu/ais/haccp . A web site detailing the application of HACCP to...

Design of Optimally Robust Control Systems.

DTIC Science & Technology

1980-01-01

approach is that the optimization framework is an artificial device. While some design constraints can easily be incorporated into a single cost function...indicating that that point was indeed the solution. Also, an intellegent initial guess for k was important in order to avoid being hung up at the double

The Seven Principles of HACCP

USDA-ARS?s Scientific Manuscript database

HACCP is an acronym for Hazard Analysis and Critical Control Point and was initially developed by the Pillsbury Company and NASA. They utilized this program to enhance the safety of the food for manned space flights. The USDA-FSIS implemented the HACCP approach to food safety in the meat and poult...

Noise transmission and reduction in turboprop aircraft

NASA Astrophysics Data System (ADS)

MacMartin, Douglas G.; Basso, Gordon L.; Leigh, Barry

1994-09-01

There is considerable interest in reducing the cabin noise environment in turboprop aircraft. Various approaches have been considered at deHaviland Inc., including passive tuned-vibration absorbers, speaker-based noise cancellation, and structural vibration control of the fuselage. These approaches will be discussed briefly. In addition to controlling the noise, a method of predicting the internal noise is required both to evaluate potential noise reduction approaches, and to validate analytical design models. Instead of costly flight tests, or carrying out a ground simulation of the propeller pressure field, a much simpler reciprocal technique can be used. A capacitive scanner is used to measure the fuselage vibration response on a deHaviland Dash-8 fuselage, due to an internal noise source. The approach is validated by comparing this reciprocal noise transmission measurement with the direct measurement. The fuselage noise transmission information is then combined with computer predictions of the propeller pressure field data to predict the internal noise at two points.

The Prandtl Plus Scaling Parameters and Velocity Profile Similarity: Part 2

DTIC Science & Technology

2012-12-01

a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1...ABSTRACT In a previous report (Weyburne, AFRL-RY-WP-TR-2012-0227) it was pointed out that the momentum balance type approach to velocity profile...were NOT similar. It was concluded that the scaling variables discovered by the momentum balance type approach as presently constituted are a

The effects of practice on movement distance and final position reproduction: implications for the equilibrium-point control of movements.

PubMed

Jaric, S; Corcos, D M; Gottlieb, G L; Ilic, D B; Latash, M L

1994-01-01

Predictions of two views on single-joint motor control, namely programming of muscle force patterns and equilibrium-point control, were compared with the results of experiments with reproduction of movement distance and final location during fast unidirectional elbow flexions. Two groups of subjects were tested. The first group practiced movements over a fixed distance (36 degrees), starting from seven different initial positions (distance group, DG). The second group practiced movements from the same seven initial positions to a fixed final location (location group, LG). Later, all the subjects were tested at the practiced task with their eyes closed, and then, unexpectedly for the subjects, they were tested at the other, unpracticed task. In both groups, the task to reproduce final position had lower indices of final position variability than the task to reproduce movement distance. Analysis of the linear regression lines between initial position and final position (or movement distance) also demonstrated a better (more accurate) performance during final position reproduction than during distance reproduction. The data are in a good correspondence with the predictions of the equilibrium-point hypothesis, but not with the predictions of the force-pattern control approach.

Single pilot scanning behavior in simulated instrument flight

NASA Technical Reports Server (NTRS)

Pennington, J. E.

1979-01-01

A simulation of tasks associated with single pilot general aviation flight under instrument flight rules was conducted as a baseline for future research studies on advanced flight controls and avionics. The tasks, ranging from simple climbs and turns to an instrument landing systems approach, were flown on a fixed base simulator. During the simulation the control inputs, state variables, and the pilots visual scan pattern including point of regard were measured and recorded.

Synergies in the space of control variables within the equilibrium-point hypothesis

PubMed Central

Ambike, Satyajit; Mattos, Daniela; Zatsiorsky, Vladimir M.; Latash, Mark L.

2015-01-01

We use an approach rooted in the recent theory of synergies to analyze possible co-variation between two hypothetical control variables involved in finger force production based in the equilibrium-point hypothesis. These control variables are the referent coordinate (R) and apparent stiffness (C) of the finger. We tested a hypothesis that inter-trial co-variation in the {R; C} space during repeated, accurate force production trials stabilizes the fingertip force. This was expected to correspond to a relatively low amount of inter-trial variability affecting force and a high amount of variability keeping the force unchanged. We used the “inverse piano” apparatus to apply small and smooth positional perturbations to fingers during force production tasks. Across trials, R and C showed strong co-variation with the data points lying close to a hyperbolic curve. Hyperbolic regressions accounted for over 99% of the variance in the {R; C} space. Another analysis was conducted by randomizing the original {R; C} data sets and creating surrogate data sets that were then used to compute predicted force values. The surrogate sets always showed much higher force variance compared to the actual data, thus reinforcing the conclusion that finger force control was organized in the {R; C} space, as predicted by the equilibrium-point hypothesis, and involved co-variation in that space stabilizing total force. PMID:26701299

Competition of mesoscales and crossover to theta-point tricriticality in near-critical polymer solutions.

PubMed

Anisimov, M A; Kostko, A F; Sengers, J V; Yudin, I K

2005-10-22

The approach to asymptotic critical behavior in polymer solutions is governed by a competition between the correlation length of critical fluctuations diverging at the critical point of phase separation and an additional mesoscopic length scale, the radius of gyration. In this paper we present a theory for crossover between two universal regimes: a regime with Ising (fluctuation-induced) asymptotic critical behavior, where the correlation length prevails, and a mean-field tricritical regime with theta-point behavior controlled by the mesoscopic polymer chain. The theory yields a universal scaled description of existing experimental phase-equilibria data and is in excellent agreement with our light-scattering experiments on polystyrene solutions in cyclohexane with polymer molecular weights ranging from 2 x 10(5) up to 11.4 x 10(6). The experiments demonstrate unambiguously that crossover to theta-point tricriticality is controlled by a competition of the two mesoscales. The critical amplitudes deduced from our experiments depend on the polymer molecular weight as predicted by de Gennes [Phys. Lett. 26A, 313 (1968)]. Experimental evidence for the presence of logarithmic corrections to mean-field tricritical theta-point behavior in the molecular-weight dependence of the critical parameters is also presented.

The effect of project-based learning on students' statistical literacy levels for data representation

NASA Astrophysics Data System (ADS)

Koparan, Timur; Güven, Bülent

2015-07-01

The point of this study is to define the effect of project-based learning approach on 8th Grade secondary-school students' statistical literacy levels for data representation. To achieve this goal, a test which consists of 12 open-ended questions in accordance with the views of experts was developed. Seventy 8th grade secondary-school students, 35 in the experimental group and 35 in the control group, took this test twice, one before the application and one after the application. All the raw scores were turned into linear points by using the Winsteps 3.72 modelling program that makes the Rasch analysis and t-tests, and an ANCOVA analysis was carried out with the linear points. Depending on the findings, it was concluded that the project-based learning approach increases students' level of statistical literacy for data representation. Students' levels of statistical literacy before and after the application were shown through the obtained person-item maps.

Improving spatio-temporal benefit transfers for pest control by generalist predators in cotton in the southwestern U.S.

USGS Publications Warehouse

Wiederholt, Ruscena; Bagstad, Kenneth J.; McCracken, Gary F.; Diffendorfer, Jay E.; Loomis, John B.; Semmens, Darius J.; Russell, Amy L.; Sansone, Chris; LaSharr, Kelsie; Cryan, Paul; Reynoso, Claudia; Medellin, Rodrigo A.; Lopez-Hoffman, Laura

2017-01-01

Given rapid changes in agricultural practice, it is critical to understand how alterations in ecological, technological, and economic conditions over time and space impact ecosystem services in agroecosystems. Here, we present a benefit transfer approach to quantify cotton pest-control services provided by a generalist predator, the Mexican free-tailed bat (Tadarida brasiliensis mexicana), in the southwestern United States. We show that pest-control estimates derived using (1) a compound spatial–temporal model – which incorporates spatial and temporal variability in crop pest-control service values – are likely to exhibit less error than those derived using (2) a simple-spatial model (i.e., a model that extrapolates values derived for one area directly, without adjustment, to other areas) or (3) a simple-temporal model (i.e., a model that extrapolates data from a few points in time over longer time periods). Using our compound spatial–temporal approach, the annualized pest-control value was \\$12.2 million, in contrast to an estimate of \\$70.1 million (5.7 times greater), obtained from the simple-spatial approach. Using estimates from one year (simple-temporal approach) revealed large value differences (0.4 times smaller to 2 times greater). Finally, we present a detailed protocol for valuing pest-control services, which can be used to develop robust pest-control transfer functions for generalist predators in agroecosystems.

Optimal robust control strategy of a solid oxide fuel cell system

NASA Astrophysics Data System (ADS)

Wu, Xiaojuan; Gao, Danhui

2018-01-01

Optimal control can ensure system safe operation with a high efficiency. However, only a few papers discuss optimal control strategies for solid oxide fuel cell (SOFC) systems. Moreover, the existed methods ignore the impact of parameter uncertainty on system instantaneous performance. In real SOFC systems, several parameters may vary with the variation of operation conditions and can not be identified exactly, such as load current. Therefore, a robust optimal control strategy is proposed, which involves three parts: a SOFC model with parameter uncertainty, a robust optimizer and robust controllers. During the model building process, boundaries of the uncertain parameter are extracted based on Monte Carlo algorithm. To achieve the maximum efficiency, a two-space particle swarm optimization approach is employed to obtain optimal operating points, which are used as the set points of the controllers. To ensure the SOFC safe operation, two feed-forward controllers and a higher-order robust sliding mode controller are presented to control fuel utilization ratio, air excess ratio and stack temperature afterwards. The results show the proposed optimal robust control method can maintain the SOFC system safe operation with a maximum efficiency under load and uncertainty variations.

Antennal pointing at a looming object in the cricket Acheta domesticus.

PubMed

Yamawaki, Yoshifumi; Ishibashi, Wakako

2014-01-01

Antennal pointing responses to approaching objects were observed in the house cricket Acheta domesticus. In response to a ball approaching from the lateral side, crickets oriented the antenna ipsilateral to the ball towards it. In response to a ball approaching from the front, crickets oriented both antennae forward. Response rates of antennal pointing were higher when the ball was approaching from the front than from behind. The antennal angle ipsilateral to the approaching ball was positively correlated with approaching angle of the ball. Obstructing the cricket's sight decreased the response rate of antennal pointing, suggesting that this response was elicited mainly by visual stimuli. Although the response rates of antennal pointing decreased when the object ceased its approach at a great distance from the cricket, antennal pointing appeared to be resistant to habituation and was not substantially affected by the velocity, size and trajectory of an approaching ball. When presented with computer-generated visual stimuli, crickets frequently showed the antennal pointing response to a darkening stimulus as well as looming and linearly-expanding stimuli. Drifting gratings rarely elicited the antennal pointing. These results suggest that luminance change is sufficient to elicit antennal pointing. Copyright © 2013 Elsevier Ltd. All rights reserved.

RBAC Driven Least Privilege Architecture For Control Systems

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

Hull, Julie; Markham, Mark

The concept of role based access control (RBAC) within the IT environment has been studied by researchers and was supported by NIST (circa 1992). This earlier work highlighted the benefits of RBAC which include reduced administrative workload and policies which are easier to analyze and apply. The goals of this research were to expand the application of RBAC in the following ways. Apply RBAC to the control systems environment: The typical RBAC model within the IT environment is used to control a user’s access to files. Within the control system environment files are replaced with measurement (e.g., temperature) and controlmore » (e.g. valve) points organized as a hierarchy of control assets (e.g. a boiler, compressor, refinery unit). Control points have parameters (e.g., high alarm limit, set point, etc.) associated with them. The RBAC model is extended to support access to points and their parameters based upon roles while at the same time allowing permissions for the points to be defined at the asset level or point level directly. In addition, centralized policy administration with distributed access enforcement mechanisms was developed to support the distributed architecture of distributed control systems and SCADA; Extend the RBAC model to include access control for software and devices: The established RBAC approach is to assign users to roles. This work extends that notion by first breaking the control system down into three layers 1) users, 2) software and 3) devices. An RBAC model is then created for each of these three layers. The result is that RBAC can be used to define machine-to-machine policy enforced via the IP security (IPsec) protocol. This highlights the potential to use RBAC for machine-to-machine connectivity within the internet of things; and Enable dynamic policy based upon the operating mode of the system: The IT environment is generally static with respect to policy. However, large cyber physical systems such as industrial controls have various operating modes (start-up, normal operation, emergency, shut-down and maintenance are typical). The policy enforcement architecture must be able to support changes in access permissions as the mode of the control system changes. For example an operator’s role may not allow the operator to shut down a pump during “normal operation” but that same operator role may be given permission to shut down the pump if the refinery transitions to “emergency” mode. The effectiveness of the approach was validated by applying it to the Experion Process Knowledge System. This is a large commercial industrial control system often used to control oil refineries and other assets within the oil and gas sector. As a by-product, other industries using Experion (Pharmaceuticals, Specialty Chemicals, etc.) also benefit from increased security. Policies representative of those that would be used within an oil refinery were created and validated against the RBAC model as implemented in the underlying SQL database. The administration of policy is simplified which in turn makes it practical for security administrators to specify policies which enforce least privilege. The result is a qualitative reduction in risk. The benefits of the enhanced RBAC model are clear and as a result. Honeywell is incorporating portions of the RBAC research into the 2014 release of Experion.« less

The effectiveness of intervention on the behavior of individuals with autism: a meta-analysis using percentage of data points exceeding the median of baseline phase (PEM).

PubMed

Ma, Hsen-Hsing

2009-05-01

The aim of the present study is to demonstrate the percentage of data points exceeding the median of baseline phase (PEM) approach using data on autism treatment for illustrative purposes to compare the effectiveness of different interventions on the problem behaviors of individuals with autism. Electronic databases such as The ProQuest and Google were searched. A total of 163 articles were located, producing 1,502 effect sizes. The results demonstrate that five highly effective intervention strategies were priming, self-control, training, positive reinforcement and punishment, and presenting preferential activities. The least effective strategy was to teach perspective-taking skills. The PEM approach is recommended for use in meta-analysis for single-case experimental designs.

Closed-loop and robust control of quantum systems.

PubMed

Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

Advanced Communication Technology Satellite (ACTS) Multibeam Antenna On-Orbit Performance

NASA Technical Reports Server (NTRS)

1995-01-01

The NASA Lewis Research Center's Advanced Communication Technology Satellite (ACTS) was launched in September 1993. ACTS introduced several new technologies, including a multibeam antenna (MBA) operating at extremely short wavelengths never before used in communications. This antenna, which has both fixed and rapidly reconfigurable high-energy spot beams (150 miles in diameter), serves users equipped with small antenna terminals. Extensive structural and thermal analyses have been performed for simulating the ACTS MBA on-orbit performance. The results show that the reflector surfaces (mainly the front subreflector), antenna support assembly, and metallic surfaces on the spacecraft body will be distorted because of the thermal effects of varying solar heating, which degrade the ACTS MBA performance. Since ACTS was launched, a number of evaluations have been performed to assess MBA performance in the space environment. For example, the on-orbit performance measurements found systematic environmental disturbances to the MBA beam pointing. These disturbances were found to be imposed by the attitude control system, antenna and spacecraft mechanical alignments, and on-orbit thermal effects. As a result, the MBA may not always exactly cover the intended service area. In addition, the on-orbit measurements showed that antenna pointing accuracy is the performance parameter most sensitive to thermal distortions on the front subreflector surface and antenna support assemblies. Several compensation approaches were tested and evaluated to restore on-orbit pointing stability. A combination of autotrack (75 percent of the time) and Earth sensor control (25 percent of the time) was found to be the best way to compensate for antenna pointing error during orbit. This approach greatly minimizes the effects of thermal distortions on antenna beam pointing.

A nonlinear H-infinity approach to optimal control of the depth of anaesthesia

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Rigatou, Efthymia; Zervos, Nikolaos

2016-12-01

Controlling the level of anaesthesia is important for improving the success rate of surgeries and for reducing the risks to which operated patients are exposed. This paper proposes a nonlinear H-infinity approach to optimal control of the level of anaesthesia. The dynamic model of the anaesthesia, which describes the concentration of the anaesthetic drug in different parts of the body, is subjected to linearization at local operating points. These are defined at each iteration of the control algorithm and consist of the present value of the system's state vector and of the last control input that was exerted on it. For this linearization Taylor series expansion is performed and the system's Jacobian matrices are computed. For the linearized model an H-infinity controller is designed. The feedback control gains are found by solving at each iteration of the control algorithm an algebraic Riccati equation. The modelling errors due to this approximate linearization are considered as disturbances which are compensated by the robustness of the control loop. The stability of the control loop is confirmed through Lyapunov analysis.

An accelerated image matching technique for UAV orthoimage registration

NASA Astrophysics Data System (ADS)

Tsai, Chung-Hsien; Lin, Yu-Ching

2017-06-01

Using an Unmanned Aerial Vehicle (UAV) drone with an attached non-metric camera has become a popular low-cost approach for collecting geospatial data. A well-georeferenced orthoimage is a fundamental product for geomatics professionals. To achieve high positioning accuracy of orthoimages, precise sensor position and orientation data, or a number of ground control points (GCPs), are often required. Alternatively, image registration is a solution for improving the accuracy of a UAV orthoimage, as long as a historical reference image is available. This study proposes a registration scheme, including an Accelerated Binary Robust Invariant Scalable Keypoints (ABRISK) algorithm and spatial analysis of corresponding control points for image registration. To determine a match between two input images, feature descriptors from one image are compared with those from another image. A "Sorting Ring" is used to filter out uncorrected feature pairs as early as possible in the stage of matching feature points, to speed up the matching process. The results demonstrate that the proposed ABRISK approach outperforms the vector-based Scale Invariant Feature Transform (SIFT) approach where radiometric variations exist. ABRISK is 19.2 times and 312 times faster than SIFT for image sizes of 1000 × 1000 pixels and 4000 × 4000 pixels, respectively. ABRISK is 4.7 times faster than Binary Robust Invariant Scalable Keypoints (BRISK). Furthermore, the positional accuracy of the UAV orthoimage after applying the proposed image registration scheme is improved by an average of root mean square error (RMSE) of 2.58 m for six test orthoimages whose spatial resolutions vary from 6.7 cm to 10.7 cm.

Improving a free air breathing proton exchange membrane fuel cell through the Maximum Efficiency Point Tracking method

NASA Astrophysics Data System (ADS)

Higuita Cano, Mauricio; Mousli, Mohamed Islam Aniss; Kelouwani, Sousso; Agbossou, Kodjo; Hammoudi, Mhamed; Dubé, Yves

2017-03-01

This work investigates the design and validation of a fuel cell management system (FCMS) which can perform when the fuel cell is at water freezing temperature. This FCMS is based on a new tracking technique with intelligent prediction, which combined the Maximum Efficiency Point Tracking with variable perturbation-current step and the fuzzy logic technique (MEPT-FL). Unlike conventional fuel cell control systems, our proposed FCMS considers the cold-weather conditions, the reduction of fuel cell set-point oscillations. In addition, the FCMS is built to respond quickly and effectively to the variations of electric load. A temperature controller stage is designed in conjunction with the MEPT-FL in order to operate the FC at low-temperature values whilst tracking at the same time the maximum efficiency point. The simulation results have as well experimental validation suggest that propose approach is effective and can achieve an average efficiency improvement up to 8%. The MEPT-FL is validated using a Proton Exchange Membrane Fuel Cell (PEMFC) of 500 W.

A Flight Evaluation of the Factors which Influence the Selection of Landing Approach Speeds

NASA Technical Reports Server (NTRS)

Drinkwater, Fred J., III; Cooper, George E.

1958-01-01

The factors which influence the selection of landing approach speeds are discussed from the pilot's point of view. Concepts were developed and data were obtained during a landing approach flight investigation of a large number of jet airplane configurations which included straight-wing, swept-wing, and delta-wing airplanes as well as several applications of boundary-layer control. Since the fundamental limitation to further reductions in approach speed on most configurations appeared to be associated with the reduction in the pilot's ability to control flight path angle and airspeed, this problem forms the basis of the report. A simplified equation is presented showing the basic parameters which govern the flight path angle and airspeed changes, and pilot control techniques are discussed in relation to this equation. Attention is given to several independent aerodynamic characteristics which do not affect the flight path angle or airspeed directly but which determine to a large extent the effort and attention required of the pilot in controlling these factors during the approach. These include stall characteristics, stability about all axes, and changes in trim due to thrust adjustments. The report considers the relationship between piloting technique and all of the factors previously mentioned. A piloting technique which was found to be highly desirable for control of high-performance airplanes is described and the pilot's attitudes toward low-speed flight which bear heavily on the selection of landing approach speeds under operational conditions are discussed.

Control strategy for a dual-arm maneuverable space robot

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1987-01-01

A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot.

Time Series UAV Image-Based Point Clouds for Landslide Progression Evaluation Applications

PubMed Central

Moussa, Adel; El-Sheimy, Naser; Habib, Ayman

2017-01-01

Landslides are major and constantly changing threats to urban landscapes and infrastructure. It is essential to detect and capture landslide changes regularly. Traditional methods for monitoring landslides are time-consuming, costly, dangerous, and the quality and quantity of the data is sometimes unable to meet the necessary requirements of geotechnical projects. This motivates the development of more automatic and efficient remote sensing approaches for landslide progression evaluation. Automatic change detection involving low-altitude unmanned aerial vehicle image-based point clouds, although proven, is relatively unexplored, and little research has been done in terms of accounting for volumetric changes. In this study, a methodology for automatically deriving change displacement rates, in a horizontal direction based on comparisons between extracted landslide scarps from multiple time periods, has been developed. Compared with the iterative closest projected point (ICPP) registration method, the developed method takes full advantage of automated geometric measuring, leading to fast processing. The proposed approach easily processes a large number of images from different epochs and enables the creation of registered image-based point clouds without the use of extensive ground control point information or further processing such as interpretation and image correlation. The produced results are promising for use in the field of landslide research. PMID:29057847

Time Series UAV Image-Based Point Clouds for Landslide Progression Evaluation Applications.

PubMed

Al-Rawabdeh, Abdulla; Moussa, Adel; Foroutan, Marzieh; El-Sheimy, Naser; Habib, Ayman

2017-10-18

Landslides are major and constantly changing threats to urban landscapes and infrastructure. It is essential to detect and capture landslide changes regularly. Traditional methods for monitoring landslides are time-consuming, costly, dangerous, and the quality and quantity of the data is sometimes unable to meet the necessary requirements of geotechnical projects. This motivates the development of more automatic and efficient remote sensing approaches for landslide progression evaluation. Automatic change detection involving low-altitude unmanned aerial vehicle image-based point clouds, although proven, is relatively unexplored, and little research has been done in terms of accounting for volumetric changes. In this study, a methodology for automatically deriving change displacement rates, in a horizontal direction based on comparisons between extracted landslide scarps from multiple time periods, has been developed. Compared with the iterative closest projected point (ICPP) registration method, the developed method takes full advantage of automated geometric measuring, leading to fast processing. The proposed approach easily processes a large number of images from different epochs and enables the creation of registered image-based point clouds without the use of extensive ground control point information or further processing such as interpretation and image correlation. The produced results are promising for use in the field of landslide research.

Optimising UAV topographic surveys processed with structure-from-motion: Ground control quality, quantity and bundle adjustment

NASA Astrophysics Data System (ADS)

James, Mike R.; Robson, Stuart; d'Oleire-Oltmanns, Sebastian; Niethammer, Uwe

2016-04-01

Structure-from-motion (SfM) algorithms are greatly facilitating the production of detailed topographic models based on images collected by unmanned aerial vehicles (UAVs). However, SfM-based software does not generally provide the rigorous photogrammetric analysis required to fully understand survey quality. Consequently, error related to problems in control point data or the distribution of control points can remain undiscovered. Even if these errors are not large in magnitude, they can be systematic, and thus have strong implications for the use of products such as digital elevation models (DEMs) and orthophotos. Here, we develop a Monte Carlo approach to (1) improve the accuracy of products when SfM-based processing is used and (2) reduce the associated field effort by identifying suitable lower density deployments of ground control points. The method highlights over-parameterisation during camera self-calibration and provides enhanced insight into control point performance when rigorous error metrics are not available. Processing was implemented using commonly-used SfM-based software (Agisoft PhotoScan), which we augment with semi-automated and automated GCPs image measurement. We apply the Monte Carlo method to two contrasting case studies - an erosion gully survey (Taurodont, Morocco) carried out with an fixed-wing UAV, and an active landslide survey (Super-Sauze, France), acquired using a manually controlled quadcopter. The results highlight the differences in the control requirements for the two sites, and we explore the implications for future surveys. We illustrate DEM sensitivity to critical processing parameters and show how the use of appropriate parameter values increases DEM repeatability and reduces the spatial variability of error due to processing artefacts.

An Innovative Structural Mode Selection Methodology: Application for the X-33 Launch Vehicle Finite Element Model

NASA Technical Reports Server (NTRS)

Hidalgo, Homero, Jr.

2000-01-01

An innovative methodology for determining structural target mode selection and mode selection based on a specific criterion is presented. An effective approach to single out modes which interact with specific locations on a structure has been developed for the X-33 Launch Vehicle Finite Element Model (FEM). We presented Root-Sum-Square (RSS) displacement method computes resultant modal displacement for each mode at selected degrees of freedom (DOF) and sorts to locate modes with highest values. This method was used to determine modes, which most influenced specific locations/points on the X-33 flight vehicle such as avionics control components, aero-surface control actuators, propellant valve and engine points for use in flight control stability analysis and for flight POGO stability analysis. Additionally, the modal RSS method allows for primary or global target vehicle modes to also be identified in an accurate and efficient manner.

Three Dimensional Solution of Pneumatic Active Control of Forebody Vortex Asymmetry

NASA Technical Reports Server (NTRS)

Kandil, Osama A.; SharafEl-Din, Hazem H.; Liu, C. H.

1995-01-01

Pneumatic active control of asymmetric vortical flows around a slender pointed forebody is investigated using the three dimensional solution for the compressible thin-layer Navier-Stokes equation. The computational applications cover the normal and tangential injection control of asymmetric flows around a 5 degree semi-apex angle cone at a 40 degree angle of attack, 1.4 freestream Mach number and 6 x 10(exp 6) freestream Reynolds number (based on the cone length). The effective tangential angle range of 67.5 approaches minus 67.5 degrees is used for both normal and tangential ports of injection. The effective axial length of injection is varied from 0.03 to 0.05. The computational solver uses the implicit, upwind, flux difference splitting finite volume scheme, and the grid consists of 161 x 55 x 65 points in the wrap around, normal and axial directions, respectively. The results show that tangential injection is more effective than normal injection.

An Approach to Optimal Control of Electrodynamic Tethers in a Stochastically Varying Drag Environment

DTIC Science & Technology

2011-05-06

and used to help address some of the complications and drawbacks of chemical propulsion systems. One such technology is electric propulsion, which...in and out of the orbital plane around its equilibrium point. The motion is similar to a swinging pendulum . These librations are due to the

Total Quality Management and Organizational Behavior Management: An Integration for Continual Improvement.

ERIC Educational Resources Information Center

Mawhinney, Thomas C.

1992-01-01

The history and main features of organizational behavior management (OBM) are compared and integrated with those of total quality management (TQM), with emphasis on W.E. Deming's 14 points and OBM's operant-based approach to performance management. Interventions combining OBM, TQM, and statistical process control are recommended. (DB)

Teachers' Memories of Disciplinary Control Strategies from Their Own School Days

ERIC Educational Resources Information Center

DePalma, Renee; Membiela, Pedro; Pazos, Mercedes Suarez

2011-01-01

This article provides a vision of school disciplinary strategies as provided by childhood school memories of practicing or unemployed teachers. This narrative approach allows us to understand the school and its daily routines and rituals from an insiders' point of view, drawing upon the double perspective teachers employ when reflecting on their…

Innovative Approaches for Urban Watershed Wet-Weather Flow Management and Control: State of Technology Review Report

EPA Science Inventory

This report documents initial efforts to identify innovative strategies for managing the effects of wet-weather flow in an urban setting. It served as a communication tool and a starting point for discussion with experts. As such, the document is a compilation of literature rev...

Workplace Violence, Hate Crime and Free Speech: A Proactive Approach.

ERIC Educational Resources Information Center

Romas, Ted; Parmer, Harry

For community colleges, crime on campus is a complex and pressing issue since most maintain open campuses with no physical security features, such as entry control points or fencing. Workplace crimes can take the form of robbery or other violent crimes, domestic and misdirected affection cases, employer-directed situations, terrorism, and hate…

The role of meat in foodborne disease: Is there a coming revolution in risk assessment and management?

PubMed

Fegan, Narelle; Jenson, Ian

2018-04-20

Meat has featured prominently as a source of foodborne disease and a public health concern. For about the past 20 years the risk management paradigm has dominated international thinking about food safety. Control through the supply chain is supported by risk management concepts, as the public health risk at the point of consumption becomes the accepted outcome based measure. Foodborne pathogens can be detected at several points in the supply chain and determining the source of where these pathogens arise and how they behave throughout meat production and processing are important parts of risk based approaches. Recent improvements in molecular and genetic based technologies and data analysis for investigating source attribution and pathogen behaviour have enabled greater insights into how foodborne outbreaks occur and where controls can be implemented. These new approaches will improve our understanding of the role of meat in foodborne disease and are expected to have a significant impact on our understanding in the coming years. Copyright © 2018 Elsevier Ltd. All rights reserved.

Artificial intelligence programming with LabVIEW: genetic algorithms for instrumentation control and optimization.

PubMed

Moore, J H

1995-06-01

A genetic algorithm for instrumentation control and optimization was developed using the LabVIEW graphical programming environment. The usefulness of this methodology for the optimization of a closed loop control instrument is demonstrated with minimal complexity and the programming is presented in detail to facilitate its adaptation to other LabVIEW applications. Closed loop control instruments have variety of applications in the biomedical sciences including the regulation of physiological processes such as blood pressure. The program presented here should provide a useful starting point for those wishing to incorporate genetic algorithm approaches to LabVIEW mediated optimization of closed loop control instruments.

On-orbit evaluation of the control system/structural mode interactions on OSO-8

NASA Technical Reports Server (NTRS)

Slafer, L. I.

1980-01-01

The Orbiting Solar Observatory-8 experienced severe structural mode/control loop interaction problems during the spacecraft development. Extensive analytical studies, using the hybrid coordinate modeling approach, and comprehensive ground testing were carried out in order to achieve the system's precision pointing performance requirements. A recent series of flight tests were conducted with the spacecraft in which a wide bandwidth, high resolution telemetry system was utilized to evaluate the on-orbit flexible dynamics characteristics of the vehicle along with the control system performance. This paper describes the results of these tests, reviewing the basic design problem, analytical approach taken, ground test philosophy, and on-orbit testing. Data from the tests was used to determine the primary mode frequency, damping, and servo coupling dynamics for the on-orbit condition. Additionally, the test results have verified analytically predicted differences between the on-orbit and ground test environments. The test results have led to a validation of both the analytical modeling and servo design techniques used during the development of the control system, and also verified the approach taken to vehicle and servo ground testing.

Vector disparity sensor with vergence control for active vision systems.

PubMed

Barranco, Francisco; Diaz, Javier; Gibaldi, Agostino; Sabatini, Silvio P; Ros, Eduardo

2012-01-01

This paper presents an architecture for computing vector disparity for active vision systems as used on robotics applications. The control of the vergence angle of a binocular system allows us to efficiently explore dynamic environments, but requires a generalization of the disparity computation with respect to a static camera setup, where the disparity is strictly 1-D after the image rectification. The interaction between vision and motor control allows us to develop an active sensor that achieves high accuracy of the disparity computation around the fixation point, and fast reaction time for the vergence control. In this contribution, we address the development of a real-time architecture for vector disparity computation using an FPGA device. We implement the disparity unit and the control module for vergence, version, and tilt to determine the fixation point. In addition, two on-chip different alternatives for the vector disparity engines are discussed based on the luminance (gradient-based) and phase information of the binocular images. The multiscale versions of these engines are able to estimate the vector disparity up to 32 fps on VGA resolution images with very good accuracy as shown using benchmark sequences with known ground-truth. The performances in terms of frame-rate, resource utilization, and accuracy of the presented approaches are discussed. On the basis of these results, our study indicates that the gradient-based approach leads to the best trade-off choice for the integration with the active vision system.

Active Damping Using Distributed Anisotropic Actuators

NASA Technical Reports Server (NTRS)

Schiller, Noah H.; Cabell, Randolph H.; Quinones, Juan D.; Wier, Nathan C.

2010-01-01

A helicopter structure experiences substantial high-frequency mechanical excitation from powertrain components such as gearboxes and drive shafts. The resulting structure-borne vibration excites the windows which then radiate sound into the passenger cabin. In many cases the radiated sound power can be reduced by adding damping. This can be accomplished using passive or active approaches. Passive treatments such as constrained layer damping tend to reduce window transparency. Therefore this paper focuses on an active approach utilizing compact decentralized control units distributed around the perimeter of the window. Each control unit consists of a triangularly shaped piezoelectric actuator, a miniature accelerometer, and analog electronics. Earlier work has shown that this type of system can increase damping up to approximately 1 kHz. However at higher frequencies the mismatch between the distributed actuator and the point sensor caused control spillover. This paper describes new anisotropic actuators that can be used to improve the bandwidth of the control system. The anisotropic actuators are composed of piezoelectric material sandwiched between interdigitated electrodes, which enables the application of the electric field in a preferred in-plane direction. When shaped correctly the anisotropic actuators outperform traditional isotropic actuators by reducing the mismatch between the distributed actuator and point sensor at high frequencies. Testing performed on a Plexiglas panel, representative of a helicopter window, shows that the control units can increase damping at low frequencies. However high frequency performance was still limited due to the flexible boundary conditions present on the test structure.

Vector Disparity Sensor with Vergence Control for Active Vision Systems

PubMed Central

Barranco, Francisco; Diaz, Javier; Gibaldi, Agostino; Sabatini, Silvio P.; Ros, Eduardo

2012-01-01

This paper presents an architecture for computing vector disparity for active vision systems as used on robotics applications. The control of the vergence angle of a binocular system allows us to efficiently explore dynamic environments, but requires a generalization of the disparity computation with respect to a static camera setup, where the disparity is strictly 1-D after the image rectification. The interaction between vision and motor control allows us to develop an active sensor that achieves high accuracy of the disparity computation around the fixation point, and fast reaction time for the vergence control. In this contribution, we address the development of a real-time architecture for vector disparity computation using an FPGA device. We implement the disparity unit and the control module for vergence, version, and tilt to determine the fixation point. In addition, two on-chip different alternatives for the vector disparity engines are discussed based on the luminance (gradient-based) and phase information of the binocular images. The multiscale versions of these engines are able to estimate the vector disparity up to 32 fps on VGA resolution images with very good accuracy as shown using benchmark sequences with known ground-truth. The performances in terms of frame-rate, resource utilization, and accuracy of the presented approaches are discussed. On the basis of these results, our study indicates that the gradient-based approach leads to the best trade-off choice for the integration with the active vision system. PMID:22438737

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

Studies on the Effects of High Renewable Penetrations on Driving Point Impedance and Voltage Regulator Performance: National Renewable Energy Laboratory/Sacramento Municipal Utility District Load Tap Changer Driving Point Impedance Project

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

Nagarajan, Adarsh; Coddington, Michael H.; Brown, David

Voltage regulators perform as desired when regulating from the source to the load and when regulating from a strong source (utility) to a weak source (distributed generation). (See the glossary for definitions of a strong source and weak source.) Even when the control is provisioned for reverse operation, it has been observed that tap-changing voltage regulators do not perform as desired in reverse when attempting regulation from the weak source to the strong source. The region of performance that is not as well understood is the regulation between sources that are approaching equal strength. As part of this study, wemore » explored all three scenarios: regulator control from a strong source to a weak source (classic case), control from a weak source to a strong source (during reverse power flow), and control between equivalent sources.« less

Alternatives for jet engine control

NASA Technical Reports Server (NTRS)

Leake, R. J.; Sain, M. K.

1978-01-01

General goals of the research were classified into two categories. The first category involves the use of modern multivariable frequency domain methods for control of engine models in the neighborhood of a quiescent point. The second category involves the use of nonlinear modelling and optimization techniques for control of engine models over a more extensive part of the flight envelope. In the frequency domain category, works were published in the areas of low-interaction design, polynomial design, and multiple setpoint studies. A number of these ideas progressed to the point at which they are starting to attract practical interest. In the nonlinear category, advances were made both in engine modelling and in the details associated with software for determination of time optimal controls. Nonlinear models for a two spool turbofan engine were expanded and refined; and a promising new approach to automatic model generation was placed under study. A two time scale scheme was developed to do two-dimensional dynamic programming, and an outward spiral sweep technique has greatly speeded convergence times in time optimal calculations.

System-based strategies for p53 recovery.

PubMed

Azam, Muhammad Rizwan; Fazal, Sahar; Ullah, Mukhtar; Bhatti, Aamer I

2018-06-01

The authors have proposed a systems theory-based novel drug design approach for the p53 pathway. The pathway is taken as a dynamic system represented by ordinary differential equations-based mathematical model. Using control engineering practices, the system analysis and subsequent controller design is performed for the re-activation of wild-type p53. p53 revival is discussed for both modes of operation, i.e. the sustained and oscillatory. To define the problem in control system paradigm, modification in the existing mathematical model is performed to incorporate the effect of Nutlin. Attractor point analysis is carried out to select the suitable domain of attraction. A two-loop negative feedback control strategy is devised to drag the system trajectories to the attractor point and to regulate cellular concentration of Nutlin, respectively. An integrated framework is constituted to incorporate the pharmacokinetic effects of Nutlin in the cancerous cells. Bifurcation analysis is also performed on the p53 model to see the conditions for p53 oscillation.

Comparison of two stand-alone CADe systems at multiple operating points

NASA Astrophysics Data System (ADS)

Sahiner, Berkman; Chen, Weijie; Pezeshk, Aria; Petrick, Nicholas

2015-03-01

Computer-aided detection (CADe) systems are typically designed to work at a given operating point: The device displays a mark if and only if the level of suspiciousness of a region of interest is above a fixed threshold. To compare the standalone performances of two systems, one approach is to select the parameters of the systems to yield a target false-positive rate that defines the operating point, and to compare the sensitivities at that operating point. Increasingly, CADe developers offer multiple operating points, which necessitates the comparison of two CADe systems involving multiple comparisons. To control the Type I error, multiple-comparison correction is needed for keeping the family-wise error rate (FWER) less than a given alpha-level. The sensitivities of a single modality at different operating points are correlated. In addition, the sensitivities of the two modalities at the same or different operating points are also likely to be correlated. It has been shown in the literature that when test statistics are correlated, well-known methods for controlling the FWER are conservative. In this study, we compared the FWER and power of three methods, namely the Bonferroni, step-up, and adjusted step-up methods in comparing the sensitivities of two CADe systems at multiple operating points, where the adjusted step-up method uses the estimated correlations. Our results indicate that the adjusted step-up method has a substantial advantage over other the two methods both in terms of the FWER and power.

Planes, Trains, and Automobiles: Perspectives on CAR T Cells and Other Cellular Therapies for Hematologic Malignancies.

PubMed

Gill, Saar

2016-08-01

Hematologic oncologists now have at their disposal (or a referral away) a myriad of new options to get from point A (a patient with relapsed or poor-risk disease) to point B (potential tumor eradication and long-term disease-free survival). In this perspective piece, we discuss the putative mechanisms of action and the relative strengths and weaknesses of currently available cellular therapy approaches. Notably, while many of these approaches have been published in high impact journals, with the exception of allogeneic stem cell transplantation and of checkpoint inhibitors (PD1/PDL1 or CTLA4 blockade), the published clinical trials have mostly been early phase, uncontrolled studies. Therefore, many of the new cellular therapy approaches have yet to demonstrate incontrovertible evidence of enhanced overall survival compared with controls. Nonetheless, the science behind these is sure to advance our understanding of cancer immunology and ultimately to bring us closer to our goal of curing cancer.

Analysis of nursing home capital reimbursement systems

PubMed Central

Boerstler, Heidi; Carlough, Tom; Schlenker, Robert E.

1991-01-01

An increasing number of States are using a fair-rental approach for reimbursement of nursing home capital costs. In this study, two variants of the fair-rental capital-reimbursement approach are compared with the traditional cost-based approach in terms of after-tax cash flow to the investor, cost to the State, and rate of return to investor. Simulation models were developed to examine the effects of each capital-reimbursement approach both at specific points in time and over various periods of time. Results indicate that although long-term costs were similar for the three systems, both fair-rental approaches may be superior to the traditional cost-based approach in promoting and controlling industry stability and, at the same time, in providing an adequate return to investors. PMID:10110878

Sensitivity, optimal scaling and minimum roundoff errors in flexible structure models

NASA Technical Reports Server (NTRS)

Skelton, Robert E.

1987-01-01

Traditional modeling notions presume the existence of a truth model that relates the input to the output, without advanced knowledge of the input. This has led to the evolution of education and research approaches (including the available control and robustness theories) that treat the modeling and control design as separate problems. The paper explores the subtleties of this presumption that the modeling and control problems are separable. A detailed study of the nature of modeling errors is useful to gain insight into the limitations of traditional control and identification points of view. Modeling errors need not be small but simply appropriate for control design. Furthermore, the modeling and control design processes are inevitably iterative in nature.

Post-stroke Rehabilitation Training with a Motor-Imagery-Based Brain-Computer Interface (BCI)-Controlled Hand Exoskeleton: A Randomized Controlled Multicenter Trial.

PubMed

Frolov, Alexander A; Mokienko, Olesya; Lyukmanov, Roman; Biryukova, Elena; Kotov, Sergey; Turbina, Lydia; Nadareyshvily, Georgy; Bushkova, Yulia

2017-01-01

Repeated use of brain-computer interfaces (BCIs) providing contingent sensory feedback of brain activity was recently proposed as a rehabilitation approach to restore motor function after stroke or spinal cord lesions. However, there are only a few clinical studies that investigate feasibility and effectiveness of such an approach. Here we report on a placebo-controlled, multicenter clinical trial that investigated whether stroke survivors with severe upper limb (UL) paralysis benefit from 10 BCI training sessions each lasting up to 40 min. A total of 74 patients participated: median time since stroke is 8 months, 25 and 75% quartiles [3.0; 13.0]; median severity of UL paralysis is 4.5 points [0.0; 30.0] as measured by the Action Research Arm Test, ARAT, and 19.5 points [11.0; 40.0] as measured by the Fugl-Meyer Motor Assessment, FMMA. Patients in the BCI group ( n = 55) performed motor imagery of opening their affected hand. Motor imagery-related brain electroencephalographic activity was translated into contingent hand exoskeleton-driven opening movements of the affected hand. In a control group ( n = 19), hand exoskeleton-driven opening movements of the affected hand were independent of brain electroencephalographic activity. Evaluation of the UL clinical assessments indicated that both groups improved, but only the BCI group showed an improvement in the ARAT's grasp score from 0 [0.0; 14.0] to 3.0 [0.0; 15.0] points ( p < 0.01) and pinch scores from 0.0 [0.0; 7.0] to 1.0 [0.0; 12.0] points ( p < 0.01). Upon training completion, 21.8% and 36.4% of the patients in the BCI group improved their ARAT and FMMA scores respectively. The corresponding numbers for the control group were 5.1% (ARAT) and 15.8% (FMMA). These results suggests that adding BCI control to exoskeleton-assisted physical therapy can improve post-stroke rehabilitation outcomes. Both maximum and mean values of the percentage of successfully decoded imagery-related EEG activity, were higher than chance level. A correlation between the classification accuracy and the improvement in the upper extremity function was found. An improvement of motor function was found for patients with different duration, severity and location of the stroke.

Temporal Genetic Modifications after Controlled Cortical Impact—Understanding Traumatic Brain Injury through a Systematic Network Approach

PubMed Central

Wong, Yung-Hao; Wu, Chia-Chou; Wu, John Chung-Che; Lai, Hsien-Yong; Chen, Kai-Yun; Jheng, Bo-Ren; Chen, Mien-Cheng; Chang, Tzu-Hao; Chen, Bor-Sen

2016-01-01

Traumatic brain injury (TBI) is a primary injury caused by external physical force and also a secondary injury caused by biological processes such as metabolic, cellular, and other molecular events that eventually lead to brain cell death, tissue and nerve damage, and atrophy. It is a common disease process (as opposed to an event) that causes disabilities and high death rates. In order to treat all the repercussions of this injury, treatment becomes increasingly complex and difficult throughout the evolution of a TBI. Using high-throughput microarray data, we developed a systems biology approach to explore potential molecular mechanisms at four time points post-TBI (4, 8, 24, and 72 h), using a controlled cortical impact (CCI) model. We identified 27, 50, 48, and 59 significant proteins as network biomarkers at these four time points, respectively. We present their network structures to illustrate the protein–protein interactions (PPIs). We also identified UBC (Ubiquitin C), SUMO1, CDKN1A (cyclindependent kinase inhibitor 1A), and MYC as the core network biomarkers at the four time points, respectively. Using the functional analytical tool MetaCore™, we explored regulatory mechanisms and biological processes and conducted a statistical analysis of the four networks. The analytical results support some recent findings regarding TBI and provide additional guidance and directions for future research. PMID:26861311

A new approach for automatic matching of ground control points in urban areas from heterogeneous images

NASA Astrophysics Data System (ADS)

Cong, Chao; Liu, Dingsheng; Zhao, Lingjun

2008-12-01

This paper discusses a new method for the automatic matching of ground control points (GCPs) between satellite remote sensing Image and digital raster graphic (DRG) in urban areas. The key of this method is to automatically extract tie point pairs according to geographic characters from such heterogeneous images. Since there are big differences between such heterogeneous images respect to texture and corner features, more detail analyzations are performed to find similarities and differences between high resolution remote sensing Image and (DRG). Furthermore a new algorithms based on the fuzzy-c means (FCM) method is proposed to extract linear feature in remote sensing Image. Based on linear feature, crossings and corners extracted from these features are chosen as GCPs. On the other hand, similar method was used to find same features from DRGs. Finally, Hausdorff Distance was adopted to pick matching GCPs from above two GCP groups. Experiences shown the method can extract GCPs from such images with a reasonable RMS error.

Point defects in Cd(Zn)Te and TlBr: Theory

NASA Astrophysics Data System (ADS)

Lordi, Vincenzo

2013-09-01

The effects of various crystal defects on the performances of CdTe, CdZnxTe (CZT), and TlBr for room-temperature high-energy radiation detection are examined using first-principles theoretical methods. The predictive, parameter-free, atomistic approaches used provide fundamental understanding of defect properties that are difficult to measure and also allow rapid screening of possibilities for material engineering, such as optimal doping and annealing conditions. Several recent examples from the author's work are reviewed, including: (i) accurate calculations of the thermodynamic and electronic properties of native point defects and point defect complexes in CdTe and CZT; (ii) the effects of Zn alloying on the native point defect properties in CZT; (iii) point defect diffusion and binding leading to Te clustering in Cd(Zn)Te; (iv) the profound effect of native point defects—principally vacancies—on the intrinsic material properties of TlBr, particularly its electronic and ionic conductivity; and (v) a study on doping TlBr to independently control the electronic and ionic conductivity.

Integrated Approach to the Dynamics and Control of Maneuvering Flexible Aircraft

NASA Technical Reports Server (NTRS)

Waszak, Martin R. (Technical Monitor); Meirovitch, Leonard; Tuzcu, Ilhan

2003-01-01

This work uses a fundamental approach to the problem of simulating the flight of flexible aircraft. To this end, it integrates into a single formulation the pertinent disciplines, namely, analytical dynamics, structural dynamics, aerodynamics, and controls. It considers both the rigid body motions of the aircraft, three translations (forward motion, sideslip and plunge) and three rotations (roll, pitch and yaw), and the elastic deformations of every point of the aircraft, as well as the aerodynamic, propulsion, gravity and control forces. The equations of motion are expressed in a form ideally suited for computer processing. A perturbation approach yields a flight dynamics problem for the motions of a quasi-rigid aircraft and an 'extended aeroelasticity' problem for the elastic deformations and perturbations in the rigid body motions, with the solution of the first problem entering as an input into the second problem. The control forces for the flight dynamics problem are obtained by an 'inverse' process and the feedback controls for the extended aeroservoelasticity problem are determined by the LQG theory. A numerical example presents time simulations of rigid body perturbations and elastic deformations about 1) a steady level flight and 2) a level steady turn maneuver.

Coordination control of flexible manufacturing systems

NASA Astrophysics Data System (ADS)

Menon, Satheesh R.

One of the first attempts was made to develop a model driven system for coordination control of Flexible Manufacturing Systems (FMS). The structure and activities of the FMS are modeled using a colored Petri Net based system. This approach has the advantage of being able to model the concurrency inherent in the system. It provides a method for encoding the system state, state transitions and the feasible transitions at any given state. Further structural analysis (for detecting conflicting actions, deadlocks which might occur during operation, etc.) can be performed. The problem is also addressed of implementing and testing the behavior of existing dynamic scheduling approaches in simulations of realistic situations. A simulation architecture was proposed and performance evaluation was carried out for establishing the correctness of the model, stability of the system from a structural (deadlocks) and temporal (boundedness of backlogs) points of view, and for collection of statistics for performance measures such as machine and robot utilizations, average wait times and idle times of resources. A real-time implementation architecture for the coordination controller was also developed and implemented in a software simulated environment. Given the current technology of FMS control, the model-driven colored Petri net-based approach promises to develop a very flexible control environment.

Online machining error estimation method of numerical control gear grinding machine tool based on data analysis of internal sensors

NASA Astrophysics Data System (ADS)

Zhao, Fei; Zhang, Chi; Yang, Guilin; Chen, Chinyin

2016-12-01

This paper presents an online estimation method of cutting error by analyzing of internal sensor readings. The internal sensors of numerical control (NC) machine tool are selected to avoid installation problem. The estimation mathematic model of cutting error was proposed to compute the relative position of cutting point and tool center point (TCP) from internal sensor readings based on cutting theory of gear. In order to verify the effectiveness of the proposed model, it was simulated and experimented in gear generating grinding process. The cutting error of gear was estimated and the factors which induce cutting error were analyzed. The simulation and experiments verify that the proposed approach is an efficient way to estimate the cutting error of work-piece during machining process.

An equation-free approach to agent-based computation: Bifurcation analysis and control of stationary states

NASA Astrophysics Data System (ADS)

Siettos, C. I.; Gear, C. W.; Kevrekidis, I. G.

2012-08-01

We show how the equation-free approach can be exploited to enable agent-based simulators to perform system-level computations such as bifurcation, stability analysis and controller design. We illustrate these tasks through an event-driven agent-based model describing the dynamic behaviour of many interacting investors in the presence of mimesis. Using short bursts of appropriately initialized runs of the detailed, agent-based simulator, we construct the coarse-grained bifurcation diagram of the (expected) density of agents and investigate the stability of its multiple solution branches. When the mimetic coupling between agents becomes strong enough, the stable stationary state loses its stability at a coarse turning point bifurcation. We also demonstrate how the framework can be used to design a wash-out dynamic controller that stabilizes open-loop unstable stationary states even under model uncertainty.

The development of effects-based air quality management regimes

NASA Astrophysics Data System (ADS)

Longhurst, J. W. S.; Irwin, J. G.; Chatterton, T. J.; Hayes, E. T.; Leksmono, N. S.; Symons, J. K.

This paper considers the evolution of attempts to control and manage air pollution, principally but not exclusively focussing upon the challenge of managing air pollution in urban environments. The development and implementation of a range of air pollution control measures are considered. Initially the measures implemented primarily addressed point sources, a small number of fuel types and a limited number of pollutants. The adequacy of such a source-control approach is assessed within the context of a changing and challenging air pollution climate. An assessment of air quality management in the United Kingdom over a 50-year timeframe exemplifies the range of issues and challenges in contemporary air quality management. The need for new approaches is explored and the development and implementation of an effects-based, risk management system for air quality regulation is evaluated.

Structured background grids for generation of unstructured grids by advancing front method

NASA Technical Reports Server (NTRS)

Pirzadeh, Shahyar

1991-01-01

A new method of background grid construction is introduced for generation of unstructured tetrahedral grids using the advancing-front technique. Unlike the conventional triangular/tetrahedral background grids which are difficult to construct and usually inadequate in performance, the new method exploits the simplicity of uniform Cartesian meshes and provides grids of better quality. The approach is analogous to solving a steady-state heat conduction problem with discrete heat sources. The spacing parameters of grid points are distributed over the nodes of a Cartesian background grid by interpolating from a few prescribed sources and solving a Poisson equation. To increase the control over the grid point distribution, a directional clustering approach is used. The new method is convenient to use and provides better grid quality and flexibility. Sample results are presented to demonstrate the power of the method.

Towards free 3D end-point control for robotic-assisted human reaching using binocular eye tracking.

PubMed

Maimon-Dror, Roni O; Fernandez-Quesada, Jorge; Zito, Giuseppe A; Konnaris, Charalambos; Dziemian, Sabine; Faisal, A Aldo

2017-07-01

Eye-movements are the only directly observable behavioural signals that are highly correlated with actions at the task level, and proactive of body movements and thus reflect action intentions. Moreover, eye movements are preserved in many movement disorders leading to paralysis (or amputees) from stroke, spinal cord injury, Parkinson's disease, multiple sclerosis, and muscular dystrophy among others. Despite this benefit, eye tracking is not widely used as control interface for robotic interfaces in movement impaired patients due to poor human-robot interfaces. We demonstrate here how combining 3D gaze tracking using our GT3D binocular eye tracker with custom designed 3D head tracking system and calibration method enables continuous 3D end-point control of a robotic arm support system. The users can move their own hand to any location of the workspace by simple looking at the target and winking once. This purely eye tracking based system enables the end-user to retain free head movement and yet achieves high spatial end point accuracy in the order of 6 cm RMSE error in each dimension and standard deviation of 4 cm. 3D calibration is achieved by moving the robot along a 3 dimensional space filling Peano curve while the user is tracking it with their eyes. This results in a fully automated calibration procedure that yields several thousand calibration points versus standard approaches using a dozen points, resulting in beyond state-of-the-art 3D accuracy and precision.

SeleCon: Scalable IoT Device Selection and Control Using Hand Gestures.

PubMed

Alanwar, Amr; Alzantot, Moustafa; Ho, Bo-Jhang; Martin, Paul; Srivastava, Mani

2017-04-01

Although different interaction modalities have been proposed in the field of human-computer interface (HCI), only a few of these techniques could reach the end users because of scalability and usability issues. Given the popularity and the growing number of IoT devices, selecting one out of many devices becomes a hurdle in a typical smarthome environment. Therefore, an easy-to-learn, scalable, and non-intrusive interaction modality has to be explored. In this paper, we propose a pointing approach to interact with devices, as pointing is arguably a natural way for device selection. We introduce SeleCon for device selection and control which uses an ultra-wideband (UWB) equipped smartwatch. To interact with a device in our system, people can point to the device to select it then draw a hand gesture in the air to specify a control action. To this end, SeleCon employs inertial sensors for pointing gesture detection and a UWB transceiver for identifying the selected device from ranging measurements. Furthermore, SeleCon supports an alphabet of gestures that can be used for controlling the selected devices. We performed our experiment in a 9 m -by-10 m lab space with eight deployed devices. The results demonstrate that SeleCon can achieve 84.5% accuracy for device selection and 97% accuracy for hand gesture recognition. We also show that SeleCon is power efficient to sustain daily use by turning off the UWB transceiver, when a user's wrist is stationary.

SeleCon: Scalable IoT Device Selection and Control Using Hand Gestures

PubMed Central

Alanwar, Amr; Alzantot, Moustafa; Ho, Bo-Jhang; Martin, Paul; Srivastava, Mani

2018-01-01

Although different interaction modalities have been proposed in the field of human-computer interface (HCI), only a few of these techniques could reach the end users because of scalability and usability issues. Given the popularity and the growing number of IoT devices, selecting one out of many devices becomes a hurdle in a typical smarthome environment. Therefore, an easy-to-learn, scalable, and non-intrusive interaction modality has to be explored. In this paper, we propose a pointing approach to interact with devices, as pointing is arguably a natural way for device selection. We introduce SeleCon for device selection and control which uses an ultra-wideband (UWB) equipped smartwatch. To interact with a device in our system, people can point to the device to select it then draw a hand gesture in the air to specify a control action. To this end, SeleCon employs inertial sensors for pointing gesture detection and a UWB transceiver for identifying the selected device from ranging measurements. Furthermore, SeleCon supports an alphabet of gestures that can be used for controlling the selected devices. We performed our experiment in a 9m-by-10m lab space with eight deployed devices. The results demonstrate that SeleCon can achieve 84.5% accuracy for device selection and 97% accuracy for hand gesture recognition. We also show that SeleCon is power efficient to sustain daily use by turning off the UWB transceiver, when a user’s wrist is stationary. PMID:29683151

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

PubMed

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

2010-08-09

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

SMART Fires: A COTS Approach to Tactical Fire Support Using a Smartphone

DTIC Science & Technology

2011-09-01

Battalion Landing Team C2 Command and Control C2PC Command and Control Personal Computer CAC Common Access Card COC Combat Operation Center COIN...functionality to way-points. It is currently available on the iTunes App Store for $5.99 (Tactical NAV, 2010). 11 MILS are a unit...download on both the iTunes App Store and the Android Marketplace. Apps for the Army (A4A) also created a repository for the applications submitted, along

Aerospace Applications of Magnetic Suspension Technology, part 2

NASA Technical Reports Server (NTRS)

Groom, Nelson J. (Editor); Britcher, Colin P. (Editor)

1991-01-01

In order to examine the state of technology of all areas of magnetic suspension with potential aerospace applications, and to review related recent developments in sensors and control approaches, superconducting technology, and design/implementation practices, a workshop was held at NASA-Langley. Areas of concern are pointing and isolation systems, microgravity and vibration isolation, bearing applications, wind tunnel model suspension systems, large gap magnetic suspension systems, controls, rotating machinery, science and applications of superconductivity, and sensors. Papers presented are included.

Flexible Multiplexed Surface Temperature Sensor

NASA Technical Reports Server (NTRS)

Daryabeigi, Kamran; Dillon-Townes, L. A.; Johnson, Preston B.; Ash, Robert L.

1995-01-01

Unitary array of sensors measures temperatures at points distributed over designated area on surface. Useful in measuring surface temperatures of aerodynamic models and thermally controlled objects. Made of combination of integrated-circuit microchips and film circuitry. Temperature-sensing chips scanned at speeds approaching 10 kHz. Operating range minus 40 degrees C to 120 degrees C. Flexibility of array conforms to curved surfaces. Multiplexer eliminates numerous monitoring cables. Control of acquisition and recording of data effected by connecting array to microcomputers via suitable interface circuitry.

Bifurcation to large period oscillations in physical systems controlled by delay

NASA Astrophysics Data System (ADS)

Erneux, Thomas; Walther, Hans-Otto

2005-12-01

An unusual bifurcation to time-periodic oscillations of a class of delay differential equations is investigated. As we approach the bifurcation point, both the amplitude and the frequency of the oscillations go to zero. The class of delay differential equations is a nonlinear extension of a nonevasive control method and is motivated by a recent study of the foreign exchange rate oscillations. By using asymptotic methods, we determine the bifurcation scaling laws for the amplitude and the period of the oscillations.

Sustainable improvement of animal health care by systematic quality risk management according to the HACCP concept.

PubMed

Noordhuizen, J P; Welpelo, H J

1996-12-01

This paper addresses the principles of the Hazard Analysis Critical Control Point (HACCP) concept as applied to animal health management strategy. Characteristics of the concept were analysed and compared with those of current animal health care strategies for disease risk identification and herd health management, insurance, and certification. HACCP is a hybrid strategy of quality control at both production process and product level. Animal health is considered a particular quality feature. We show that process control (expressed in terms of controlling both general and specific disease risk factors) and product control (expressed in terms of testing animals or animal products for specific disease agents) could form the basis for improving animal health. We conclude that HACCP provides ample opportunity for preventive health action and risk management at a relatively low cost in terms of labour, finance and documentation expenditure, at both the farm and sector level. Epidemiological field studies are currently needed to identify critical control points and to design HACCP procedures for livestock producers. In the long run, HACCP based animal health care can be further developed into a quality control systems approach to cover all aspects that are related, either directly or indirectly, to animal health.

Using Deming To Improve Quality in Colleges and Universities.

ERIC Educational Resources Information Center

Cornesky, Robert A.; And Others

Of all the people known for stressing quality in industry, W. Edwards Deming is the pioneer. He stresses statistical process control (SPC) and a 14-point process for managers to improve quality and productivity. His approach is humanistic and treats people as intelligent human beings who want to do a good job. Twelve administrators in a university…

"Clickers" and HACCP: Educating a Diverse Food Industry Audience with Technology

ERIC Educational Resources Information Center

Shaw, Angela; Mendonca, Aubrey; Daraba, Aura

2015-01-01

Hazard Analysis Critical Control Points (HACCP) is a systematic approach to food safety education for the food industry. To receive a HACCP certificate, participants must receive an 80% or higher on the final examination. Language barriers, educational levels, and age have been noted as primary reasons for not passing the final examination.…

A Place for Individual Enquiry? Why We Would Miss Controlled Assessments in History

ERIC Educational Resources Information Center

Fowle, Mark; Egelnick, Ben

2013-01-01

Most history teachers will, at some point, recognise the tension between teaching an engaging history course while at the same time meeting the requirements of an exam specification. Mark Fowle and Ben Egelnick reflect here on how they approached teaching a formal requirement of an exam specification. Rather than see "controlled…

A Change Management, Systems Thinking, or Organizational Development Approach to the No Child Left Behind Act

ERIC Educational Resources Information Center

Galloway, Dominique L.

2007-01-01

Problems with implementation of the No Child Left Behind Act (NCLB) can be assessed in light of change management theory. Viewing stakeholders collectively as a corporate entity supports employing change management strategies to make the NCLB work. Examining ways that organizational controls and change management can work together points to…

[Individual, community, regulatory, and systemic approaches to tobacco control interventions].

PubMed

Gorini, Giuseppe

2011-01-01

During the 60s and the 70s strategies for decreasing initiation or quitting have been developed, in order to find those with high success rates. Unfortunately, interventions with an individual approach involved few smokers, so their impact in decreasing smoking prevalence was limited. The socio-ecological model offers a theoretical framework to community interventions for smoking cessation developed during the 80s, in which smoking was considered not only an individual, but also a social problem. In the 80s and the 90s smoking cessation community trials were developed, such as the Community Intervention Trial for Smoking Cessation (COMMIT). Afterwards, policy interventions (price policy; smoking bans in public places; advertising bans; bans of sales to minors) were developed, such as the American Stop Smoking Intervention Study for Cancer Prevention (ASSIST). California has been the first State all over the world to develop a comprehensive Tobacco Control Program in 1988, becoming the place for an ever-conducted natural experiment. All policy interventions in tobacco control have been finally grouped together in the World Health Organization - Framework Convention on Tobacco Control (WHO-FCTC), the first Public Health Treaty. Study designs have changed, according to the individual, community, or regulatory approaches: the classical randomized controlled trials (RCTs), in which the sampling unit is the individual, have been carried out for the evaluation of smoking cessation treatments, whereas cluster RCTs, in which the sampling unit is the community, have been conducted for evaluating community interventions, such as COMMIT. Finally, quasi-experimental studies (before/after study; prospective cohorts, both with a control group), in which the observational unit is a State, have been used for evaluating tobacco control policies, such as ASSIST and the International Tobacco Control Policy Evaluation Project. Although the successes of the last 20 years, tobacco control is at a critical point: in a reductionist approach, we tried to study its parts, but few efforts have been done to consider tobacco control as a complex network that needs an alternative approach to be understood, the systems thinking approach. New attempts of understanding and solving contradictions within tobacco control using a systems thinking approach are presented.

Closed-Loop and Robust Control of Quantum Systems

PubMed Central

Wang, Lin-Cheng

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H ∞ control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention. PMID:23997680

SKYLAB III - POSTLAUNCH (MISSION CONTROL CENTER [MCC]) - JSC

NASA Image and Video Library

1973-08-06

S73-31964 (5 August 1973) --- This group of flight controllers discuss today's approaching extravehicular activity (EVA) to be performed by the Skylab 3 crewmen. They are, left to right, scientist-astronaut Story Musgrave, a Skylab 3 spacecraft communicator; Robert Kain and Scott Millican, both of the Crew Procedures Division, EVA Procedures Section; William C. Schneider, Skylab Program Director, NASA Headquarters; and Milton Windler, flight director. Windler points to the model of the Skylab space station cluster to indicate the location of the ATM's film magazines. The group stands near consoles in the Mission Operations Control Room (MOCR) of the JSC Mission Control Center (MCC). Photo credit: NASA

The effect of using Indonesian realistic mathematics education (PMRI) approach on the mathematics achievement amongst primary school students

NASA Astrophysics Data System (ADS)

Zubainur, Cut Morina; Veloo, Arsaythamby; Khalid, Rozalina

2015-05-01

This study aims to determine the effects of the Indonesian Realistic Mathematics Education (PMRI) in Aceh primary schools, Indonesia. Although a plethora of research evidence highlights significant outcomes of the incorporation PMRI in mathematics, its use in the teaching and learning process is limited. Total of 50 standard five students from public primary school participated in this study; 25 students in the experimental group and 25 in the control group. The teaching approaches varied between the groups. While the experimental group experienced the PMRI approach, the control group encountered the conventional teaching approach of chalk and talk. Data was collected at two points namely the pre-test and post-test that lasted for five weeks. The results showed significant differences in mathematics achievement among primary students. In addition, PMRI also creates an active learning environment in solving exercises, and discussions among students and teachers. This study provides evidence that learning mathematics with PMRI benefits primary school students.

A point process approach to identifying and tracking transitions in neural spiking dynamics in the subthalamic nucleus of Parkinson's patients

NASA Astrophysics Data System (ADS)

Deng, Xinyi; Eskandar, Emad N.; Eden, Uri T.

2013-12-01

Understanding the role of rhythmic dynamics in normal and diseased brain function is an important area of research in neural electrophysiology. Identifying and tracking changes in rhythms associated with spike trains present an additional challenge, because standard approaches for continuous-valued neural recordings—such as local field potential, magnetoencephalography, and electroencephalography data—require assumptions that do not typically hold for point process data. Additionally, subtle changes in the history dependent structure of a spike train have been shown to lead to robust changes in rhythmic firing patterns. Here, we propose a point process modeling framework to characterize the rhythmic spiking dynamics in spike trains, test for statistically significant changes to those dynamics, and track the temporal evolution of such changes. We first construct a two-state point process model incorporating spiking history and develop a likelihood ratio test to detect changes in the firing structure. We then apply adaptive state-space filters and smoothers to track these changes through time. We illustrate our approach with a simulation study as well as with experimental data recorded in the subthalamic nucleus of Parkinson's patients performing an arm movement task. Our analyses show that during the arm movement task, neurons underwent a complex pattern of modulation of spiking intensity characterized initially by a release of inhibitory control at 20-40 ms after a spike, followed by a decrease in excitatory influence at 40-60 ms after a spike.

Evaluating horizontal positional accuracy of low-cost UAV orthomosaics over forest terrain using ground control points extracted from different sources

NASA Astrophysics Data System (ADS)

Patias, Petros; Giagkas, Fotis; Georgiadis, Charalampos; Mallinis, Giorgos; Kaimaris, Dimitris; Tsioukas, Vassileios

2017-09-01

Within the field of forestry, forest road mapping and inventory plays an important role in management activities related to wood harvesting industry, sentiment and water run-off modelling, biodiversity distribution and ecological connectivity, recreation activities, future planning of forest road networks and wildfire protection and fire-fighting. Especially in countries of the Mediterranean Rim, knowledge at regional and national scales regarding the distribution and the characteristics of rural and forest road network is essential in order to ensure an effective emergency management and rapid response of the fire-fighting mechanism. Yet, the absence of accurate and updated geodatabases and the drawbacks related to the use of traditional cartographic methods arising from the forest environment settings, and the cost and efforts needed, as thousands of meters need to be surveyed per site, trigger the need for new data sources and innovative mapping approaches. Monitoring the condition of unpaved forest roads with unmanned aerial vehicle technology is an attractive option for substituting objective, laboursome surveys. Although photogrammetric processing of UAV imagery can achieve accuracy of 1-2 centimeters and dense point clouds, the process is commonly based on the establishment of control points. In the case of forest road networks, which are linear features, there is a need for a great number of control points. Our aim is to evaluate low-cost UAV orthoimages generated over forest areas with GCP's captured from existing national scale aerial orthoimagery, satellite imagery available through a web mapping service (WMS), field surveys using Mobile Mapping System and GNSS receiver. We also explored the direct georeferencing potential through the GNSS onboard the low cost UAV. The results suggest that the GNSS approach proved to most accurate, while the positional accuracy derived using the WMS and the aerial orthoimagery datasets deemed satisfactory for the specific task at hand. The direct georeferencing procedure seems to be insufficient unless an onboard GNSS with improved specifications or Real-Time Kinematic (RTK) capabilities is used.

Food safety and nutritional quality for the prevention of non communicable diseases: the Nutrient, hazard Analysis and Critical Control Point process (NACCP).

PubMed

Di Renzo, Laura; Colica, Carmen; Carraro, Alberto; Cenci Goga, Beniamino; Marsella, Luigi Tonino; Botta, Roberto; Colombo, Maria Laura; Gratteri, Santo; Chang, Ting Fa Margherita; Droli, Maurizio; Sarlo, Francesca; De Lorenzo, Antonino

2015-04-23

The important role of food and nutrition in public health is being increasingly recognized as crucial for its potential impact on health-related quality of life and the economy, both at the societal and individual levels. The prevalence of non-communicable diseases calls for a reformulation of our view of food. The Hazard Analysis and Critical Control Point (HACCP) system, first implemented in the EU with the Directive 43/93/CEE, later replaced by Regulation CE 178/2002 and Regulation CE 852/2004, is the internationally agreed approach for food safety control. Our aim is to develop a new procedure for the assessment of the Nutrient, hazard Analysis and Critical Control Point (NACCP) process, for total quality management (TMQ), and optimize nutritional levels. NACCP was based on four general principles: i) guarantee of health maintenance; ii) evaluate and assure the nutritional quality of food and TMQ; iii) give correct information to the consumers; iv) ensure an ethical profit. There are three stages for the application of the NACCP process: 1) application of NACCP for quality principles; 2) application of NACCP for health principals; 3) implementation of the NACCP process. The actions are: 1) identification of nutritional markers, which must remain intact throughout the food supply chain; 2) identification of critical control points which must monitored in order to minimize the likelihood of a reduction in quality; 3) establishment of critical limits to maintain adequate levels of nutrient; 4) establishment, and implementation of effective monitoring procedures of critical control points; 5) establishment of corrective actions; 6) identification of metabolic biomarkers; 7) evaluation of the effects of food intake, through the application of specific clinical trials; 8) establishment of procedures for consumer information; 9) implementation of the Health claim Regulation EU 1924/2006; 10) starting a training program. We calculate the risk assessment as follows: Risk (R) = probability (P) × damage (D). The NACCP process considers the entire food supply chain "from farm to consumer"; in each point of the chain it is necessary implement a tight monitoring in order to guarantee optimal nutritional quality.

Applications of pilot scanning behavior to integrated display research

NASA Technical Reports Server (NTRS)

Waller, M. C.

1977-01-01

The oculometer is an electrooptical device designed to measure pilot scanning behavior during instrument approaches and landing operations. An overview of some results from a simulation study is presented to illustrate how information from the oculometer installed in a visual motion simulator, combined with measures of performance and control input data, can provide insight into the behavior and tactics of individual pilots during instrument approaches. Differences in measured behavior of the pilot subjects are pointed out; these differences become apparent in the way the pilots distribute their visual attention, in the amount of control activity, and in selected performance measures. Some of these measured differences have diagnostic implications, suggesting the use of the oculometer along with performance measures as a pilot training tool.

De-boned beef - an example of a commodity for which specific standards could be developed to ensure an appropriate level of protection for international trade.

PubMed

Thomson, G R; Leyland, T J; Donaldson, A I

2009-03-01

De-boned beef from which lymph nodes and risk material associated with bovine spongiform encephalopathy have been removed, is a product which can be produced for safe international trade irrespective of whether the locality of production is recognized as free from so-called transboundary diseases or not. Further processing of such beef provides an additional safety factor. However, this approach requires specific control measures being in place, supported by appropriate auditing and certification procedures. This document presents the arguments supporting this concept and details how safety in respect of both animal diseases and human food safety can be achieved using an integrated hazard analysis and critical control points approach.

Smoothing PV System’s Output by Tuning MPPT Control

NASA Astrophysics Data System (ADS)

Ina, Nobuhiko; Yanagawa, Shigeyuki; Kato, Takeyoshi; Suzuoki, Yasuo

A PV system’s output is not stable and fluctuates depending on a weather condition. Using a battery is one of the feasible ways to stabilize a PV system’s output, although it requires an additional cost and provides an additional waste of the used battery. In this paper, we propose tuning a characteristic of Maxiumum Power Point Tracking (MPPT) control for smoothing a short term change of PV system’s output during a sharp insolation fluctuation, as an approach without additional equipments. In our proposed method, when an insolation increases rapidly, the operation point of MPPT control changes to the new point where the maximum power is not generated with present insolation, so that the speed of PV system’s output increase is limited to a certain value, i. e. 1%/min. In order to evaluate the effect of our proposed method in terms of reducing the additional operation task of the electric power system, we evaluated the additional LFC capacity for a large-scale installation of PV systems. As a result, it was revealed that the additional LFC capacity is not required even if a PV system is installed by 5% of utility system, when our proposed method is applied to all PV systems.

Inter and intra-modal deformable registration: continuous deformations meet efficient optimal linear programming.

PubMed

Glocker, Ben; Paragios, Nikos; Komodakis, Nikos; Tziritas, Georgios; Navab, Nassir

2007-01-01

In this paper we propose a novel non-rigid volume registration based on discrete labeling and linear programming. The proposed framework reformulates registration as a minimal path extraction in a weighted graph. The space of solutions is represented using a set of a labels which are assigned to predefined displacements. The graph topology corresponds to a superimposed regular grid onto the volume. Links between neighborhood control points introduce smoothness, while links between the graph nodes and the labels (end-nodes) measure the cost induced to the objective function through the selection of a particular deformation for a given control point once projected to the entire volume domain, Higher order polynomials are used to express the volume deformation from the ones of the control points. Efficient linear programming that can guarantee the optimal solution up to (a user-defined) bound is considered to recover the optimal registration parameters. Therefore, the method is gradient free, can encode various similarity metrics (simple changes on the graph construction), can guarantee a globally sub-optimal solution and is computational tractable. Experimental validation using simulated data with known deformation, as well as manually segmented data demonstrate the extreme potentials of our approach.

Optimal design of stimulus experiments for robust discrimination of biochemical reaction networks.

PubMed

Flassig, R J; Sundmacher, K

2012-12-01

Biochemical reaction networks in the form of coupled ordinary differential equations (ODEs) provide a powerful modeling tool for understanding the dynamics of biochemical processes. During the early phase of modeling, scientists have to deal with a large pool of competing nonlinear models. At this point, discrimination experiments can be designed and conducted to obtain optimal data for selecting the most plausible model. Since biological ODE models have widely distributed parameters due to, e.g. biologic variability or experimental variations, model responses become distributed. Therefore, a robust optimal experimental design (OED) for model discrimination can be used to discriminate models based on their response probability distribution functions (PDFs). In this work, we present an optimal control-based methodology for designing optimal stimulus experiments aimed at robust model discrimination. For estimating the time-varying model response PDF, which results from the nonlinear propagation of the parameter PDF under the ODE dynamics, we suggest using the sigma-point approach. Using the model overlap (expected likelihood) as a robust discrimination criterion to measure dissimilarities between expected model response PDFs, we benchmark the proposed nonlinear design approach against linearization with respect to prediction accuracy and design quality for two nonlinear biological reaction networks. As shown, the sigma-point outperforms the linearization approach in the case of widely distributed parameter sets and/or existing multiple steady states. Since the sigma-point approach scales linearly with the number of model parameter, it can be applied to large systems for robust experimental planning. An implementation of the method in MATLAB/AMPL is available at http://www.uni-magdeburg.de/ivt/svt/person/rf/roed.html. flassig@mpi-magdeburg.mpg.de Supplementary data are are available at Bioinformatics online.

High-power microwave generation using optically activated semiconductor switches

NASA Astrophysics Data System (ADS)

Nunnally, William C.

1990-12-01

The two prominent types of optically controlled switches, the optically controlled linear (OCL) switch and the optically initiated avalanche (OIA) switch, are described, and their operating parameters are characterized. Two transmission line approaches, one using a frozen-wave generator and the other using an injected-wave generator, for generation of multiple cycles of high-power microwave energy using optically controlled switches are discussed. The point design performances of the series-switch, frozen-wave generator and the parallel-switch, injected-wave generator are compared. The operating and performance limitations of the optically controlled switch types are discussed, and additional research needed to advance the development of the optically controlled, bulk, semiconductor switches is indicated.

Digital controllers for VTOL aircraft

NASA Technical Reports Server (NTRS)

Stengel, R. F.; Broussard, J. R.; Berry, P. W.

1976-01-01

Using linear-optimal estimation and control techniques, digital-adaptive control laws have been designed for a tandem-rotor helicopter which is equipped for fully automatic flight in terminal area operations. Two distinct discrete-time control laws are designed to interface with velocity-command and attitude-command guidance logic, and each incorporates proportional-integral compensation for non-zero-set-point regulation, as well as reduced-order Kalman filters for sensor blending and noise rejection. Adaptation to flight condition is achieved with a novel gain-scheduling method based on correlation and regression analysis. The linear-optimal design approach is found to be a valuable tool in the development of practical multivariable control laws for vehicles which evidence significant coupling and insufficient natural stability.

Statistical approaches for the determination of cut points in anti-drug antibody bioassays.

PubMed

Schaarschmidt, Frank; Hofmann, Matthias; Jaki, Thomas; Grün, Bettina; Hothorn, Ludwig A

2015-03-01

Cut points in immunogenicity assays are used to classify future specimens into anti-drug antibody (ADA) positive or negative. To determine a cut point during pre-study validation, drug-naive specimens are often analyzed on multiple microtiter plates taking sources of future variability into account, such as runs, days, analysts, gender, drug-spiked and the biological variability of un-spiked specimens themselves. Five phenomena may complicate the statistical cut point estimation: i) drug-naive specimens may contain already ADA-positives or lead to signals that erroneously appear to be ADA-positive, ii) mean differences between plates may remain after normalization of observations by negative control means, iii) experimental designs may contain several factors in a crossed or hierarchical structure, iv) low sample sizes in such complex designs lead to low power for pre-tests on distribution, outliers and variance structure, and v) the choice between normal and log-normal distribution has a serious impact on the cut point. We discuss statistical approaches to account for these complex data: i) mixture models, which can be used to analyze sets of specimens containing an unknown, possibly larger proportion of ADA-positive specimens, ii) random effects models, followed by the estimation of prediction intervals, which provide cut points while accounting for several factors, and iii) diagnostic plots, which allow the post hoc assessment of model assumptions. All methods discussed are available in the corresponding R add-on package mixADA. Copyright © 2015 Elsevier B.V. All rights reserved.

In-Flight Study of Helmet-Mounted Symbology System Concepts in Degraded Visual Environments.

PubMed

Cheung, Bob; Craig, Gregory; Steels, Brad; Sceviour, Robert; Cosman, Vaughn; Jennings, Sion; Holst, Peter

2015-08-01

During approach and departure in rotary wing aircraft, a sudden loss of external visual reference precipitates spatial disorientation. There were 10 Royal Canadian Air Force (RCAF) Griffon pilots who participated in an in-flight investigation of a 3-dimensional conformal Helmet Display Tracking System (HDTS) and the BrownOut Symbology System (BOSS) aboard an Advanced System Research Aircraft. For each symbology system, pilots performed a two-stage departure followed by a single-stage approach. The presentation order of the two symbology systems was randomized across the pilots. Subjective measurements included situation awareness, mental effort, perceived performance, perceptual cue rating, NASA Task Load Index, and physiological response. Objective performance included aircraft speed, altitude, attitude, and distance from the landing point, control position, and control activity. Repeated measures analysis of variance and planned comparison tests for the subjective and objective responses were performed. For both maneuvers, the HDTS system afforded better situation awareness, lower workload, better perceptual cueing in attitude, horizontal and vertical translation, and lower overall workload index. During the two-stage departure, HDTS achieved less lateral drift from initial takeoff and hover, lower root mean square error (RMSE) in altitude during hover, and lower track error during the acceleration to forward flight. During the single-stage approach, HDTS achieved less error in lateral and longitudinal position offset from the landing point and lower RMSE in heading. In both maneuvers, pilots exhibited higher control activity when using HDTS, which suggested that more pertinent information was available to the pilots. Pilots preferred the HDTS system.

Collective neurodynamic optimization for economic emission dispatch problem considering valve point effect in microgrid.

PubMed

Wang, Tiancai; He, Xing; Huang, Tingwen; Li, Chuandong; Zhang, Wei

2017-09-01

The economic emission dispatch (EED) problem aims to control generation cost and reduce the impact of waste gas on the environment. It has multiple constraints and nonconvex objectives. To solve it, the collective neurodynamic optimization (CNO) method, which combines heuristic approach and projection neural network (PNN), is attempted to optimize scheduling of an electrical microgrid with ten thermal generators and minimize the plus of generation and emission cost. As the objective function has non-derivative points considering valve point effect (VPE), differential inclusion approach is employed in the PNN model introduced to deal with them. Under certain conditions, the local optimality and convergence of the dynamic model for the optimization problem is analyzed. The capability of the algorithm is verified in a complicated situation, where transmission loss and prohibited operating zones are considered. In addition, the dynamic variation of load power at demand side is considered and the optimal scheduling of generators within 24 h is described. Copyright © 2017 Elsevier Ltd. All rights reserved.

Wind farm electrical system

DOEpatents

Erdman, William L.; Lettenmaier, Terry M.

2006-07-04

An approach to wind farm design using variable speed wind turbines with low pulse number electrical output. The output of multiple wind turbines are aggregated to create a high pulse number electrical output at a point of common coupling with a utility grid network. Power quality at each individual wind turbine falls short of utility standards, but the aggregated output at the point of common coupling is within acceptable tolerances for utility power quality. The approach for aggregating low pulse number electrical output from multiple wind turbines relies upon a pad mounted transformer at each wind turbine that performs phase multiplication on the output of each wind turbine. Phase multiplication converts a modified square wave from the wind turbine into a 6 pulse output. Phase shifting of the 6 pulse output from each wind turbine allows the aggregated output of multiple wind turbines to be a 24 pulse approximation of a sine wave. Additional filtering and VAR control is embedded within the wind farm to take advantage of the wind farm's electrical impedence characteristics to further enhance power quality at the point of common coupling.

Completely optical orientation determination for an unstabilized aerial three-line camera

NASA Astrophysics Data System (ADS)

Wohlfeil, Jürgen

2010-10-01

Aerial line cameras allow the fast acquisition of high-resolution images at low costs. Unfortunately the measurement of the camera's orientation with the necessary rate and precision is related with large effort, unless extensive camera stabilization is used. But also stabilization implicates high costs, weight, and power consumption. This contribution shows that it is possible to completely derive the absolute exterior orientation of an unstabilized line camera from its images and global position measurements. The presented approach is based on previous work on the determination of the relative orientation of subsequent lines using optical information from the remote sensing system. The relative orientation is used to pre-correct the line images, in which homologous points can reliably be determined using the SURF operator. Together with the position measurements these points are used to determine the absolute orientation from the relative orientations via bundle adjustment of a block of overlapping line images. The approach was tested at a flight with the DLR's RGB three-line camera MFC. To evaluate the precision of the resulting orientation the measurements of a high-end navigation system and ground control points are used.

Real time simulation of nonlinear generalized predictive control for wind energy conversion system with nonlinear observer.

PubMed

Ouari, Kamel; Rekioua, Toufik; Ouhrouche, Mohand

2014-01-01

In order to make a wind power generation truly cost-effective and reliable, an advanced control techniques must be used. In this paper, we develop a new control strategy, using nonlinear generalized predictive control (NGPC) approach, for DFIG-based wind turbine. The proposed control law is based on two points: NGPC-based torque-current control loop generating the rotor reference voltage and NGPC-based speed control loop that provides the torque reference. In order to enhance the robustness of the controller, a disturbance observer is designed to estimate the aerodynamic torque which is considered as an unknown perturbation. Finally, a real-time simulation is carried out to illustrate the performance of the proposed controller. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Robust control of flexible space vehicles with minimum structural excitation: On-off pulse control of flexible space vehicles

NASA Technical Reports Server (NTRS)

Wie, Bong; Liu, Qiang

1992-01-01

Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.

Biological tooth replacement

PubMed Central

Sartaj, Rachel; Sharpe, Paul

2006-01-01

Teeth develop from a series of reciprocal interactions that take place between epithelium and mesenchyme during development of the mouth that begin early in mammalian embryogenesis. The molecular control of key processes in tooth development such as initiation, morphogenesis and cytodifferentiation are being increasingly better understood, to the point where this information can be used as the basis for approaches to produce biological replacement teeth (BioTeeth). This review outlines the current approaches, ideas and progress towards the production of BioTeeth that could form an alternative method for replacing lost or damaged teeth. PMID:17005022

Naked singularities are not singular in distorted gravity

NASA Astrophysics Data System (ADS)

Garattini, Remo; Majumder, Barun

2014-07-01

We compute the Zero Point Energy (ZPE) induced by a naked singularity with the help of a reformulation of the Wheele-DeWitt equation. A variational approach is used for the calculation with Gaussian Trial Wave Functionals. The one loop contribution of the graviton to the ZPE is extracted keeping under control the UltraViolet divergences by means of a distorted gravitational field. Two examples of distortion are taken under consideration: Gravity's Rainbow and Noncommutative Geometry. Surprisingly, we find that the ZPE is no more singular when we approach the singularity.

A computational statistics approach for estimating the spatial range of morphogen gradients

PubMed Central

Kanodia, Jitendra S.; Kim, Yoosik; Tomer, Raju; Khan, Zia; Chung, Kwanghun; Storey, John D.; Lu, Hang; Keller, Philipp J.; Shvartsman, Stanislav Y.

2011-01-01

A crucial issue in studies of morphogen gradients relates to their range: the distance over which they can act as direct regulators of cell signaling, gene expression and cell differentiation. To address this, we present a straightforward statistical framework that can be used in multiple developmental systems. We illustrate the developed approach by providing a point estimate and confidence interval for the spatial range of the graded distribution of nuclear Dorsal, a transcription factor that controls the dorsoventral pattern of the Drosophila embryo. PMID:22007136

Point model equations for neutron correlation counting: Extension of Böhnel's equations to any order

DOE PAGES

Favalli, Andrea; Croft, Stephen; Santi, Peter

2015-06-15

Various methods of autocorrelation neutron analysis may be used to extract information about a measurement item containing spontaneously fissioning material. The two predominant approaches being the time correlation analysis (that make use of a coincidence gate) methods of multiplicity shift register logic and Feynman sampling. The common feature is that the correlated nature of the pulse train can be described by a vector of reduced factorial multiplet rates. We call these singlets, doublets, triplets etc. Within the point reactor model the multiplet rates may be related to the properties of the item, the parameters of the detector, and basic nuclearmore » data constants by a series of coupled algebraic equations – the so called point model equations. Solving, or inverting, the point model equations using experimental calibration model parameters is how assays of unknown items is performed. Currently only the first three multiplets are routinely used. In this work we develop the point model equations to higher order multiplets using the probability generating functions approach combined with the general derivative chain rule, the so called Faà di Bruno Formula. Explicit expression up to 5th order are provided, as well the general iterative formula to calculate any order. This study represents the first necessary step towards determining if higher order multiplets can add value to nondestructive measurement practice for nuclear materials control and accountancy.« less

UDE-based control of variable-speed wind turbine systems

NASA Astrophysics Data System (ADS)

Ren, Beibei; Wang, Yeqin; Zhong, Qing-Chang

2017-01-01

In this paper, the control of a PMSG (permanent magnet synchronous generator)-based variable-speed wind turbine system with a back-to-back converter is considered. The uncertainty and disturbance estimator (UDE)-based control approach is applied to the regulation of the DC-link voltage and the control of the RSC (rotor-side converter) and the GSC (grid-side converter). For the rotor-side controller, the UDE-based vector control is developed for the RSC with PMSG control to facilitate the application of the MPPT (maximum power point tracking) algorithm for the maximum wind energy capture. For the grid-side controller, the UDE-based vector control is developed to control the GSC with the power reference generated by a UDE-based DC-link voltage controller. Compared with the conventional vector control, the UDE-based vector control can achieve reliable current decoupling control with fast response. Moreover, the UDE-based DC-link voltage regulation can achieve stable DC-link voltage under model uncertainties and external disturbances, e.g. wind speed variations. The effectiveness of the proposed UDE-based control approach is demonstrated through extensive simulation studies in the presence of coupled dynamics, model uncertainties and external disturbances under varying wind speeds. The UDE-based control is able to generate more energy, e.g. by 5% for the wind profile tested.

Inverse consistent non-rigid image registration based on robust point set matching

PubMed Central

2014-01-01

Background Robust point matching (RPM) has been extensively used in non-rigid registration of images to robustly register two sets of image points. However, except for the location at control points, RPM cannot estimate the consistent correspondence between two images because RPM is a unidirectional image matching approach. Therefore, it is an important issue to make an improvement in image registration based on RPM. Methods In our work, a consistent image registration approach based on the point sets matching is proposed to incorporate the property of inverse consistency and improve registration accuracy. Instead of only estimating the forward transformation between the source point sets and the target point sets in state-of-the-art RPM algorithms, the forward and backward transformations between two point sets are estimated concurrently in our algorithm. The inverse consistency constraints are introduced to the cost function of RPM and the fuzzy correspondences between two point sets are estimated based on both the forward and backward transformations simultaneously. A modified consistent landmark thin-plate spline registration is discussed in detail to find the forward and backward transformations during the optimization of RPM. The similarity of image content is also incorporated into point matching in order to improve image matching. Results Synthetic data sets, medical images are employed to demonstrate and validate the performance of our approach. The inverse consistent errors of our algorithm are smaller than RPM. Especially, the topology of transformations is preserved well for our algorithm for the large deformation between point sets. Moreover, the distance errors of our algorithm are similar to that of RPM, and they maintain a downward trend as whole, which demonstrates the convergence of our algorithm. The registration errors for image registrations are evaluated also. Again, our algorithm achieves the lower registration errors in same iteration number. The determinant of the Jacobian matrix of the deformation field is used to analyse the smoothness of the forward and backward transformations. The forward and backward transformations estimated by our algorithm are smooth for small deformation. For registration of lung slices and individual brain slices, large or small determinant of the Jacobian matrix of the deformation fields are observed. Conclusions Results indicate the improvement of the proposed algorithm in bi-directional image registration and the decrease of the inverse consistent errors of the forward and the reverse transformations between two images. PMID:25559889

Quantum speed limits: from Heisenberg’s uncertainty principle to optimal quantum control

NASA Astrophysics Data System (ADS)

Deffner, Sebastian; Campbell, Steve

2017-11-01

One of the most widely known building blocks of modern physics is Heisenberg’s indeterminacy principle. Among the different statements of this fundamental property of the full quantum mechanical nature of physical reality, the uncertainty relation for energy and time has a special place. Its interpretation and its consequences have inspired continued research efforts for almost a century. In its modern formulation, the uncertainty relation is understood as setting a fundamental bound on how fast any quantum system can evolve. In this topical review we describe important milestones, such as the Mandelstam-Tamm and the Margolus-Levitin bounds on the quantum speed limit, and summarise recent applications in a variety of current research fields—including quantum information theory, quantum computing, and quantum thermodynamics amongst several others. To bring order and to provide an access point into the many different notions and concepts, we have grouped the various approaches into the minimal time approach and the geometric approach, where the former relies on quantum control theory, and the latter arises from measuring the distinguishability of quantum states. Due to the volume of the literature, this topical review can only present a snapshot of the current state-of-the-art and can never be fully comprehensive. Therefore, we highlight but a few works hoping that our selection can serve as a representative starting point for the interested reader.

Pilot estimates of glidepath and aim point during simulated landing approaches

NASA Technical Reports Server (NTRS)

Acree, C. W., Jr.

1981-01-01

Pilot perceptions of glidepath angle and aim point were measured during simulated landings. A fixed-base cockpit simulator was used with video recordings of simulated landing approaches shown on a video projector. Pilots estimated the magnitudes of approach errors during observation without attempting to make corrections. Pilots estimated glidepath angular errors well, but had difficulty estimating aim-point errors. The data make plausible the hypothesis that pilots are little concerned with aim point during most of an approach, concentrating instead on keeping close to the nominal glidepath and trusting this technique to guide them to the proper touchdown point.

Computed torque control of a free-flying cooperat ing-arm robot

NASA Technical Reports Server (NTRS)

Koningstein, Ross; Ullman, Marc; Cannon, Robert H., Jr.

1989-01-01

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Error field optimization in DIII-D using extremum seeking control

NASA Astrophysics Data System (ADS)

Lanctot, M. J.; Olofsson, K. E. J.; Capella, M.; Humphreys, D. A.; Eidietis, N.; Hanson, J. M.; Paz-Soldan, C.; Strait, E. J.; Walker, M. L.

2016-07-01

DIII-D experiments have demonstrated a new real-time approach to tokamak error field control based on maximizing the toroidal angular momentum. This approach uses extremum seeking control theory to optimize the error field in real time without inducing instabilities. Slowly-rotating n  =  1 fields (the dither), generated by external coils, are used to perturb the angular momentum, monitored in real-time using a charge-exchange spectroscopy diagnostic. Simple signal processing of the rotation measurements extracts information about the rotation gradient with respect to the control coil currents. This information is used to converge the control coil currents to a point that maximizes the toroidal angular momentum. The technique is well-suited for multi-coil, multi-harmonic error field optimizations in disruption sensitive devices as it does not require triggering locked tearing modes or plasma current disruptions. Control simulations highlight the importance of the initial search direction on the rate of the convergence, and identify future algorithm upgrades that may allow more rapid convergence that projects to convergence times in ITER on the order of tens of seconds.

Estimation of excitation forces for wave energy converters control using pressure measurements

NASA Astrophysics Data System (ADS)

Abdelkhalik, O.; Zou, S.; Robinett, R.; Bacelli, G.; Wilson, D.

2017-08-01

Most control algorithms of wave energy converters require prediction of wave elevation or excitation force for a short future horizon, to compute the control in an optimal sense. This paper presents an approach that requires the estimation of the excitation force and its derivatives at present time with no need for prediction. An extended Kalman filter is implemented to estimate the excitation force. The measurements in this approach are selected to be the pressures at discrete points on the buoy surface, in addition to the buoy heave position. The pressures on the buoy surface are more directly related to the excitation force on the buoy as opposed to wave elevation in front of the buoy. These pressure measurements are also more accurate and easier to obtain. A singular arc control is implemented to compute the steady-state control using the estimated excitation force. The estimated excitation force is expressed in the Laplace domain and substituted in the control, before the latter is transformed to the time domain. Numerical simulations are presented for a Bretschneider wave case study.

Understanding Semiotic Technology in University Classrooms: A Social Semiotic Approach to PowerPoint-Assisted Cultural Studies Lectures

ERIC Educational Resources Information Center

Zhao, Sumin; van Leeuwen, Theo

2014-01-01

In this paper, we propose a social semiotic approach to studying PowerPoint in university classrooms. Our approach is centred on two premises: (1) PowerPoint is a semiotic technology that can be integrated into the pedagogical discourse of classrooms, and (2) PowerPoint technology encompasses three interrelated dimensions of social semiotic…

Application of the nudged elastic band method to the point-to-point radio wave ray tracing in IRI modeled ionosphere

NASA Astrophysics Data System (ADS)

Nosikov, I. A.; Klimenko, M. V.; Bessarab, P. F.; Zhbankov, G. A.

2017-07-01

Point-to-point ray tracing is an important problem in many fields of science. While direct variational methods where some trajectory is transformed to an optimal one are routinely used in calculations of pathways of seismic waves, chemical reactions, diffusion processes, etc., this approach is not widely known in ionospheric point-to-point ray tracing. We apply the Nudged Elastic Band (NEB) method to a radio wave propagation problem. In the NEB method, a chain of points which gives a discrete representation of the radio wave ray is adjusted iteratively to an optimal configuration satisfying the Fermat's principle, while the endpoints of the trajectory are kept fixed according to the boundary conditions. Transverse displacements define the radio ray trajectory, while springs between the points control their distribution along the ray. The method is applied to a study of point-to-point ionospheric ray tracing, where the propagation medium is obtained with the International Reference Ionosphere model taking into account traveling ionospheric disturbances. A 2-dimensional representation of the optical path functional is developed and used to gain insight into the fundamental difference between high and low rays. We conclude that high and low rays are minima and saddle points of the optical path functional, respectively.

Integrated tools for control-system analysis

NASA Technical Reports Server (NTRS)

Ostroff, Aaron J.; Proffitt, Melissa S.; Clark, David R.

1989-01-01

The basic functions embedded within a user friendly software package (MATRIXx) are used to provide a high level systems approach to the analysis of linear control systems. Various control system analysis configurations are assembled automatically to minimize the amount of work by the user. Interactive decision making is incorporated via menu options and at selected points, such as in the plotting section, by inputting data. There are five evaluations such as the singular value robustness test, singular value loop transfer frequency response, Bode frequency response, steady-state covariance analysis, and closed-loop eigenvalues. Another section describes time response simulations. A time response for random white noise disturbance is available. The configurations and key equations used for each type of analysis, the restrictions that apply, the type of data required, and an example problem are described. One approach for integrating the design and analysis tools is also presented.

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Sanner, Robert M.

2006-01-01

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.

Generating a Double-Scroll Attractor by Connecting a Pair of Mutual Mirror-Image Attractors via Planar Switching Control

NASA Astrophysics Data System (ADS)

Sun, Changchun; Chen, Zhongtang; Xu, Qicheng

2017-12-01

An original three-dimensional (3D) smooth continuous chaotic system and its mirror-image system with eight common parameters are constructed and a pair of symmetric chaotic attractors can be generated simultaneously. Basic dynamical behaviors of two 3D chaotic systems are investigated respectively. A double-scroll chaotic attractor by connecting the pair of mutual mirror-image attractors is generated via a novel planar switching control approach. Chaos can also be controlled to a fixed point, a periodic orbit and a divergent orbit respectively by switching between two chaotic systems. Finally, an equivalent 3D chaotic system by combining two 3D chaotic systems with a switching law is designed by utilizing a sign function. Two circuit diagrams for realizing the double-scroll attractor are depicted by employing an improved module-based design approach.

Model-Free Adaptive Control for Unknown Nonlinear Zero-Sum Differential Game.

PubMed

Zhong, Xiangnan; He, Haibo; Wang, Ding; Ni, Zhen

2018-05-01

In this paper, we present a new model-free globalized dual heuristic dynamic programming (GDHP) approach for the discrete-time nonlinear zero-sum game problems. First, the online learning algorithm is proposed based on the GDHP method to solve the Hamilton-Jacobi-Isaacs equation associated with optimal regulation control problem. By setting backward one step of the definition of performance index, the requirement of system dynamics, or an identifier is relaxed in the proposed method. Then, three neural networks are established to approximate the optimal saddle point feedback control law, the disturbance law, and the performance index, respectively. The explicit updating rules for these three neural networks are provided based on the data generated during the online learning along the system trajectories. The stability analysis in terms of the neural network approximation errors is discussed based on the Lyapunov approach. Finally, two simulation examples are provided to show the effectiveness of the proposed method.

Improving Advanced Inverter Control Convergence in Distribution Power Flow

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

Nagarajan, Adarsh; Palmintier, Bryan; Ding, Fei

Simulation of modern distribution system powerflow increasingly requires capturing the impact of advanced PV inverter voltage regulation on powerflow. With Volt/var control, the inverter adjusts its reactive power flow as a function of the point of common coupling (PCC) voltage. Similarly, Volt/watt control curtails active power production as a function of PCC voltage. However, with larger systems and higher penetrations of PV, this active/reactive power flow itself can cause significant changes to the PCC voltage potentially introducing oscillations that slow the convergence of system simulations. Improper treatment of these advanced inverter functions could potentially lead to incorrect results. This papermore » explores a simple approach to speed such convergence by blending in the previous iteration's reactive power estimate to dampen these oscillations. Results with a single large (5MW) PV system and with multiple 500kW advanced inverters show dramatic improvements using this approach.« less

Multi-Objective Hybrid Optimal Control for Interplanetary Mission Planning

NASA Technical Reports Server (NTRS)

Englander, Jacob; Vavrina, Matthew; Ghosh, Alexander

2015-01-01

Preliminary design of low-thrust interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed and in some cases the final destination. In addition, a time-history of control variables must be chosen which defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated. The customer who commissions a trajectory design is not usually interested in a point solution, but rather the exploration of the trade space of trajectories between several different objective functions. This can be a very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very diserable. This work presents such as an approach by posing the mission design problem as a multi-objective hybrid optimal control problem. The method is demonstrated on a hypothetical mission to the main asteroid belt.

Experimental Evaluation of CTAS/FMS Integration in TRACON Airspace

NASA Technical Reports Server (NTRS)

Romahn, Stephen; Palmer, Everett; Null, Cynthia H. (Technical Monitor)

1999-01-01

A CTAS/FMS integration project at Ames Research Center addresses extensions to the CTAS air traffic management concept, among them the introduction of arrival routes specially designed for the use with a Flight Management System. These FMS arrival routes shall allow for the use of the INS' lateral and vertical navigation capabilities throughout the arrival until final approach. For the use in this project CTAS controller support tools that compliment the concept have been created. These tools offer controllers access to CTAS' prediction and planning capabilities in terms of speed and route advisories. The objective is to allow for a more strategic way of controlling aircraft. Expected benefits are an increase in arrival rate and a reduction of average travel times through TRACER airspace. A real time simulation is being conducted at Ames to investigate how FMS arrivals and approach transitions - with and without the support of CTAS tools - effect the flow of arriving traffic within TRACER airspace and the controllers' task performance. Four conditions will be investigated and compared to today's technique of controlling traffic with tactical vectoring: 1. FMS arrivals and approach transitions are available for controllers to issue to equipped aircraft - traffic permitting; 2. Speed advisories that match CTAS' runway balancing and sequencing plan are displayed to Feeder controllers; 3. Approach transition advisories (e.g., location of the base turn point) are displayed to Final controllers for tactical clearances ("Turn base now"); and 4. Approach transition advisories (voice and data link) are generated by CTAS and displayed to final controllers for strategic voice clearances ("Turn base five miles after waypoint xyz") or prepared in terms of a trajectory description for strategic data link clearance. Scenarios used in the study will represent current traffic and vary in density of arriving traffic and the kind and mix of equipage of arriving aircraft. Data will be collected from experiment runs with active TRACON controllers on the final approach spacing, the aircraft's speed profiles, the controllers interaction with CTAS tools, and number and timing of pilot controllers communications under the described conditions.

Preprocessing: Geocoding of AVIRIS data using navigation, engineering, DEM, and radar tracking system data

NASA Technical Reports Server (NTRS)

Meyer, Peter; Larson, Steven A.; Hansen, Earl G.; Itten, Klaus I.

1993-01-01

Remotely sensed data have geometric characteristics and representation which depend on the type of the acquisition system used. To correlate such data over large regions with other real world representation tools like conventional maps or Geographic Information System (GIS) for verification purposes, or for further treatment within different data sets, a coregistration has to be performed. In addition to the geometric characteristics of the sensor there are two other dominating factors which affect the geometry: the stability of the platform and the topography. There are two basic approaches for a geometric correction on a pixel-by-pixel basis: (1) A parametric approach using the location of the airplane and inertial navigation system data to simulate the observation geometry; and (2) a non-parametric approach using tie points or ground control points. It is well known that the non-parametric approach is not reliable enough for the unstable flight conditions of airborne systems, and is not satisfying in areas with significant topography, e.g. mountains and hills. The present work describes a parametric preprocessing procedure which corrects effects of flight line and attitude variation as well as topographic influences and is described in more detail by Meyer.

Preliminary study of a possible automatic landing system

NASA Technical Reports Server (NTRS)

Sherman, W. L.; Winfrey, S. W.

1974-01-01

Navigation and control laws for a possible automatic landing system have been investigated. The system makes use of data from an inertial table and either an airborne or ground radar to generate signals that guide the airplane to a landing. All landing maneuvers take place within a zone that extends 6000 m out from the touchdown point, 4000 m on each side of the runway center line, and 540 m high. The results show that the system can adequately control the airplane on steep, curved decelerating approaches to a landing that takes place with small errors from the desired landing point and desired airplane attitude. The system studied would interface well with the scanning beam microwave landing system (MLS). The use of this system with the MLS makes it possible to incorporate an independent landing monitor.

Design and Synthesis of Multigraft Copolymer Thermoplastic Elastomers: Superelastomers

DOE PAGES

Wang, Huiqun; Lu, Wei; Wang, Weiyu; ...

2017-09-28

Thermoplastic elastomers (TPEs) have been widely studied because of their recyclability, good processibility, low production cost, and unique performance. The building of graft-type architectures can greatly improve mechanical properties of TPEs. This review focuses on the advances in different approaches to synthesize multigraft copolymer TPEs. Anionic polymerization techniques allow for the synthesis of well-defined macromolecular structures and compositions, with great control over the molecular weight, polydispersity, branch spacing, number of branch points, and branch point functionality. Progress in emulsion polymerization offers potential approaches to commercialize these types of materials with low production cost via simple operations. Moreover, the use ofmore » multigraft architecturesprovides a solution to the limited elongational properties of all-acrylic TPEs, which can greatly expand their potential application range. The combination of different polymerization techniques, the introduction of new chemical compositions, and the incorporation of sustainable sources are expected to be further investigated in this area in coming years.« less

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

Wang, Huiqun; Lu, Wei; Wang, Weiyu

Thermoplastic elastomers (TPEs) have been widely studied because of their recyclability, good processibility, low production cost, and unique performance. The building of graft-type architectures can greatly improve mechanical properties of TPEs. This review focuses on the advances in different approaches to synthesize multigraft copolymer TPEs. Anionic polymerization techniques allow for the synthesis of well-defined macromolecular structures and compositions, with great control over the molecular weight, polydispersity, branch spacing, number of branch points, and branch point functionality. Progress in emulsion polymerization offers potential approaches to commercialize these types of materials with low production cost via simple operations. Moreover, the use ofmore » multigraft architecturesprovides a solution to the limited elongational properties of all-acrylic TPEs, which can greatly expand their potential application range. The combination of different polymerization techniques, the introduction of new chemical compositions, and the incorporation of sustainable sources are expected to be further investigated in this area in coming years.« less

Orienteering with Adventure Education: New Games for the 21st Century

ERIC Educational Resources Information Center

Hammes, Ryan

2007-01-01

Orienteering is an outdoor pursuit in which participants try to locate a series of different control points, using only a map and compass (Laubach, 1998). It is a life-long skill that can be taught to all ages in both a natural and urban setting. Adventure education is an approach to teaching where an individual is placed in an unfamiliar…

Improved methodology to assess modification and completion of landfill gas management in the aftercare period

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

Morris, Jeremy W.F., E-mail: jmorris@geosyntec.com; Crest, Marion, E-mail: marion.crest@suez-env.com; Barlaz, Morton A., E-mail: barlaz@ncsu.edu

Highlights: Black-Right-Pointing-Pointer Performance-based evaluation of landfill gas control system. Black-Right-Pointing-Pointer Analytical framework to evaluate transition from active to passive gas control. Black-Right-Pointing-Pointer Focus on cover oxidation as an alternative means of passive gas control. Black-Right-Pointing-Pointer Integrates research on long-term landfill behavior with practical guidance. - Abstract: Municipal solid waste landfills represent the dominant option for waste disposal in many parts of the world. While some countries have greatly reduced their reliance on landfills, there remain thousands of landfills that require aftercare. The development of cost-effective strategies for landfill aftercare is in society's interest to protect human health and the environmentmore » and to prevent the emergence of landfills with exhausted aftercare funding. The Evaluation of Post-Closure Care (EPCC) methodology is a performance-based approach in which landfill performance is assessed in four modules including leachate, gas, groundwater, and final cover. In the methodology, the objective is to evaluate landfill performance to determine when aftercare monitoring and maintenance can be reduced or possibly eliminated. This study presents an improved gas module for the methodology. While the original version of the module focused narrowly on regulatory requirements for control of methane migration, the improved gas module also considers best available control technology for landfill gas in terms of greenhouse gas emissions, air quality, and emissions of odoriferous compounds. The improved module emphasizes the reduction or elimination of fugitive methane by considering the methane oxidation capacity of the cover system. The module also allows for the installation of biologically active covers or other features designed to enhance methane oxidation. A methane emissions model, CALMIM, was used to assist with an assessment of the methane oxidation capacity of landfill covers.« less

On constraining pilot point calibration with regularization in PEST

USGS Publications Warehouse

Fienen, M.N.; Muffels, C.T.; Hunt, R.J.

2009-01-01

Ground water model calibration has made great advances in recent years with practical tools such as PEST being instrumental for making the latest techniques available to practitioners. As models and calibration tools get more sophisticated, however, the power of these tools can be misapplied, resulting in poor parameter estimates and/or nonoptimally calibrated models that do not suit their intended purpose. Here, we focus on an increasingly common technique for calibrating highly parameterized numerical models - pilot point parameterization with Tikhonov regularization. Pilot points are a popular method for spatially parameterizing complex hydrogeologic systems; however, additional flexibility offered by pilot points can become problematic if not constrained by Tikhonov regularization. The objective of this work is to explain and illustrate the specific roles played by control variables in the PEST software for Tikhonov regularization applied to pilot points. A recent study encountered difficulties implementing this approach, but through examination of that analysis, insight into underlying sources of potential misapplication can be gained and some guidelines for overcoming them developed. ?? 2009 National Ground Water Association.

External quality assurance for HIV point-of-care testing in Africa: A collaborative country-partner approach to strengthen diagnostic services

PubMed Central

2016-01-01

It is important to consider the role of diagnostics and the critical need for quality diagnostics services in resource-limited settings. Accurate diagnostic tests play a key role in patient management and the prevention and control of most infectious diseases. As countries plan for implementation of HIV early infant diagnosis and viral load point-of-care testing, the London School of Hygiene & Tropical Medicine has worked with countries and partners with an interest in external quality assurance to support quality point-of-care testing on the continent. Through a series of collaborative consultations and workshops, the London School of Hygiene & Tropical Medicine has gathered lessons learned, tools, and resources and developed quality assurance models that will support point-of-care testing. The London School of Hygiene & Tropical Medicine is committed to the continued advancement of laboratory diagnostics in Africa and quality laboratory services and point-of-care testing. PMID:28879132

Nonpoint and Point Sources of Nitrogen in Major Watersheds of the United States

USGS Publications Warehouse

Puckett, Larry J.

1994-01-01

Estimates of nonpoint and point sources of nitrogen were made for 107 watersheds located in the U.S. Geological Survey's National Water-Quality Assessment Program study units throughout the conterminous United States. The proportions of nitrogen originating from fertilizer, manure, atmospheric deposition, sewage, and industrial sources were found to vary with climate, hydrologic conditions, land use, population, and physiography. Fertilizer sources of nitrogen are proportionally greater in agricultural areas of the West and the Midwest than in other parts of the Nation. Animal manure contributes large proportions of nitrogen in the South and parts of the Northeast. Atmospheric deposition of nitrogen is generally greatest in areas of greatest precipitation, such as the Northeast. Point sources (sewage and industrial) generally are predominant in watersheds near cities, where they may account for large proportions of the nitrogen in streams. The transport of nitrogen in streams increases as amounts of precipitation and runoff increase and is greatest in the Northeastern United States. Because no single nonpoint nitrogen source is dominant everywhere, approaches to control nitrogen must vary throughout the Nation. Watershed-based approaches to understanding nonpoint and point sources of contamination, as used by the National Water-Quality Assessment Program, will aid water-quality and environmental managers to devise methods to reduce nitrogen pollution.

Effects of placement point of background music on shopping website.

PubMed

Lai, Chien-Jung; Chiang, Chia-Chi

2012-01-01

Consumer on-line behaviors are more important than ever due to highly growth of on-line shopping. The purposes of this study were to design placement methods of background music for shopping website and examine the effect on browsers' emotional and cognitive response. Three placement points of background music during the browsing, i.e. 2 min., 4 min., and 6 min. from the start of browsing were considered for entry points. Both browsing without music (no music) and browsing with constant music volume (full music) were treated as control groups. Participants' emotional state, approach-avoidance behavior intention, and action to adjust music volume were collected. Results showed that participants had a higher level of pleasure, arousal and approach behavior intention for the three placement points than for no music and full music. Most of the participants for full music (5/6) adjusted the background music. Only 16.7% (3/18) participants for other levels turn off the background music. The results indicate that playing background music after the start of browsing is benefit for on-line shopping atmosphere. It is inappropriate to place background music at the start of browsing shopping website. The marketer must manipulated placement methods of background music for a web store carefully.

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.

An approach to optimised control of HVAC systems in indoor swimming pools

NASA Astrophysics Data System (ADS)

Ribeiro, Eliseu M. A.; Jorge, Humberto M. M.; Quintela, Divo A. A.

2016-04-01

Indoor swimming pools are recognised as having a high level of energy consumption and present a great potential for energy saving. The energy is spent in several ways such as evaporation heat loss from the pool, high rates of ventilation required to guarantee the indoor air quality, and ambient temperatures with expressive values (typically 28-30°C) required to maintain conditions of comfort. This paper presents an approach to optimising control of heat ventilation and air conditioning systems that could be implemented in a building energy management system. It is easily adapted to any kind of pool and results in significant energy consumption reduction. The development and validation of the control model were carried out with a building thermal simulation software. The use of this control model in the case study building could reduce the energy efficiency index by 7.14 points (7.4% of total) which adds up to an energy cost saving of 15,609€ (7.5% of total).

Slewing and vibration control of the SCOLE

NASA Technical Reports Server (NTRS)

Lin, Jiguan Gene

1988-01-01

A discussion of Slewing and Vibration Control makes the following conclusions: (1) A 2-stage approach is feasible and promising for rapid slewing and precision pointing of SCOLE; (2) Not all bang-bang type of time-minimized slew maneuvers will excite large structural vibrations in SCOLE; and (3) Modal dashpots can be a concentrated high-power vibration control, as well as the usual diffuse (broadband, low-power (low-authority) control. The following recommendations are made: (1) Limit the magnitude of applied forces on reflector to either the 25-lb limit of vernier thrusters on the real Space Shuttle or the 150-lb level equivalent to the cold-gas jets of laboratory SCOLE; (2) to complete stage 2, add an integrated design of LQF/LTR (Linear-Quadratic-Gaussian/Loop-Transfer Recovery) and Modal Dashpots; and, (3) Validate the 2-stage approach using the SCOLE laboratory facility with a comprehensive sequence of integrated designs and experiments coupling nonlinear rigid-body motions with flexible-body dynamics.

In-orbit evaluation of the control system/structural mode interactions of the OSO-8 spacecraft

NASA Technical Reports Server (NTRS)

Slafer, L. I.

1979-01-01

The Orbiting Solar Observatory-8 experienced severe structural mode/control loop interaction problems during the spacecraft development. Extensive analytical studies, using the hybrid coordinate modeling approach, and comprehensive ground testing were carried out in order to achieve the system's precision pointing performance requirements. A recent series of flight tests were conducted with the spacecraft in which a wide bandwidth, high resolution telemetry system was utilized to evaluate the on-orbit flexible dynamics characteristics of the vehicle along with the control system performance. The paper describes the results of these tests, reviewing the basic design problem, analytical approach taken, ground test philosophy, and on-orbit testing. Data from the tests was used to determine the primary mode frequency, damping, and servo coupling dynamics for the on-orbit condition. Additionally, the test results have verified analytically predicted differences between the on-orbit and ground test environments, and have led to a validation of both the analytical modeling and servo design techniques used during the development of the control system.

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.

OAST Space Theme Workshop. Volume 3: Working group summary. 1: Navigation, guidance, control (E-1) A. Statement. B. Technology needs (form 1). C. Priority assessment (form 2)

NASA Technical Reports Server (NTRS)

1976-01-01

The six themes identified by the Workshop have many common navigation guidance and control needs. All the earth orbit themes have a strong requirement for attitude, figure and stabilization control of large space structures, a requirement not currently being supported. All but the space transportation theme have need for precision pointing of spacecraft and instruments. In addition all the themes have requirements for increasing autonomous operations for such activities as spacecraft and experiment operations, onboard mission modification, rendezvous and docking, spacecraft assembly and maintenance, navigation and guidance, and self-checkout, test and repair. Major new efforts are required to conceptualize new approaches to large space antennas and arrays that are lightweight, readily deployable, and capable of precise attitude and figure control. Conventional approaches offer little hope of meeting these requirements. Functions that can benefit from increasing automation or autonomous operations are listed.

Online control of reaching and pointing to visual, auditory, and multimodal targets: Effects of target modality and method of determining correction latency.

PubMed

Holmes, Nicholas P; Dakwar, Azar R

2015-12-01

Movements aimed towards objects occasionally have to be adjusted when the object moves. These online adjustments can be very rapid, occurring in as little as 100ms. More is known about the latency and neural basis of online control of movements to visual than to auditory target objects. We examined the latency of online corrections in reaching-to-point movements to visual and auditory targets that could change side and/or modality at movement onset. Visual or auditory targets were presented on the left or right sides, and participants were instructed to reach and point to them as quickly and as accurately as possible. On half of the trials, the targets changed side at movement onset, and participants had to correct their movements to point to the new target location as quickly as possible. Given different published approaches to measuring the latency for initiating movement corrections, we examined several different methods systematically. What we describe here as the optimal methods involved fitting a straight-line model to the velocity of the correction movement, rather than using a statistical criterion to determine correction onset. In the multimodal experiment, these model-fitting methods produced significantly lower latencies for correcting movements away from the auditory targets than away from the visual targets. Our results confirm that rapid online correction is possible for auditory targets, but further work is required to determine whether the underlying control system for reaching and pointing movements is the same for auditory and visual targets. Copyright © 2015 Elsevier Ltd. All rights reserved.

Brute Force Matching Between Camera Shots and Synthetic Images from Point Clouds

NASA Astrophysics Data System (ADS)

Boerner, R.; Kröhnert, M.

2016-06-01

3D point clouds, acquired by state-of-the-art terrestrial laser scanning techniques (TLS), provide spatial information about accuracies up to several millimetres. Unfortunately, common TLS data has no spectral information about the covered scene. However, the matching of TLS data with images is important for monoplotting purposes and point cloud colouration. Well-established methods solve this issue by matching of close range images and point cloud data by fitting optical camera systems on top of laser scanners or rather using ground control points. The approach addressed in this paper aims for the matching of 2D image and 3D point cloud data from a freely moving camera within an environment covered by a large 3D point cloud, e.g. a 3D city model. The key advantage of the free movement affects augmented reality applications or real time measurements. Therefore, a so-called real image, captured by a smartphone camera, has to be matched with a so-called synthetic image which consists of reverse projected 3D point cloud data to a synthetic projection centre whose exterior orientation parameters match the parameters of the image, assuming an ideal distortion free camera.

Generation of digitized microfluidic filling flow by vent control.

PubMed

Yoon, Junghyo; Lee, Eundoo; Kim, Jaehoon; Han, Sewoon; Chung, Seok

2017-06-15

Quantitative microfluidic point-of-care testing has been translated into clinical applications to support a prompt decision on patient treatment. A nanointerstice-driven filling technique has been developed to realize the fast and robust filling of microfluidic channels with liquid samples, but it has failed to provide a consistent filling time owing to the wide variation in liquid viscosity, resulting in an increase in quantification errors. There is a strong demand for simple and quick flow control to ensure accurate quantification, without a serious increase in system complexity. A new control mechanism employing two-beam refraction and one solenoid valve was developed and found to successfully generate digitized filling flow, completely free from errors due to changes in viscosity. The validity of digitized filling flow was evaluated by the immunoassay, using liquids with a wide range of viscosity. This digitized microfluidic filling flow is a novel approach that could be applied in conventional microfluidic point-of-care testing. Copyright © 2016 Elsevier B.V. All rights reserved.

A study of attitude control concepts for precision-pointing non-rigid spacecraft

NASA Technical Reports Server (NTRS)

Likins, P. W.

1975-01-01

Attitude control concepts for use onboard structurally nonrigid spacecraft that must be pointed with great precision are examined. The task of determining the eigenproperties of a system of linear time-invariant equations (in terms of hybrid coordinates) representing the attitude motion of a flexible spacecraft is discussed. Literal characteristics are developed for the associated eigenvalues and eigenvectors of the system. A method is presented for determining the poles and zeros of the transfer function describing the attitude dynamics of a flexible spacecraft characterized by hybrid coordinate equations. Alterations are made to linear regulator and observer theory to accommodate modeling errors. The results show that a model error vector, which evolves from an error system, can be added to a reduced system model, estimated by an observer, and used by the control law to render the system less sensitive to uncertain magnitudes and phase relations of truncated modes and external disturbance effects. A hybrid coordinate formulation using the provided assumed mode shapes, rather than incorporating the usual finite element approach is provided.

Novel Formulation of Adaptive MPC as EKF Using ANN Model: Multiproduct Semibatch Polymerization Reactor Case Study.

PubMed

Kamesh, Reddi; Rani, Kalipatnapu Yamuna

2017-12-01

In this paper, a novel formulation for nonlinear model predictive control (MPC) has been proposed incorporating the extended Kalman filter (EKF) control concept using a purely data-driven artificial neural network (ANN) model based on measurements for supervisory control. The proposed scheme consists of two modules focusing on online parameter estimation based on past measurements and control estimation over control horizon based on minimizing the deviation of model output predictions from set points along the prediction horizon. An industrial case study for temperature control of a multiproduct semibatch polymerization reactor posed as a challenge problem has been considered as a test bed to apply the proposed ANN-EKFMPC strategy at supervisory level as a cascade control configuration along with proportional integral controller [ANN-EKFMPC with PI (ANN-EKFMPC-PI)]. The proposed approach is formulated incorporating all aspects of MPC including move suppression factor for control effort minimization and constraint-handling capability including terminal constraints. The nominal stability analysis and offset-free tracking capabilities of the proposed controller are proved. Its performance is evaluated by comparison with a standard MPC-based cascade control approach using the same adaptive ANN model. The ANN-EKFMPC-PI control configuration has shown better controller performance in terms of temperature tracking, smoother input profiles, as well as constraint-handling ability compared with the ANN-MPC with PI approach for two products in summer and winter. The proposed scheme is found to be versatile although it is based on a purely data-driven model with online parameter estimation.

Patterning nanofibrils through the templated growth of multiple modified amyloid peptides

PubMed Central

Sakai, Hiroki; Watanabe, Ken; Kudoh, Fuki; Kamada, Rui; Chuman, Yoshiro; Sakaguchi, Kazuyasu

2016-01-01

There has been considerable interest in the patterning of functionalized nanowires because of the potential applications of these materials to the construction of nanodevices. A variety of biomolecular building blocks containing amyloid peptides have been used to functionalize nanowires. However, the patterning of self-assembled nanowires can be challenging because of the difficulties associated with controlling the self-assembly of these functionalized building blocks. Herein, we present a versatile approach for the patterning of nanowires based on the combination of templated fibril growth with a versatile functionalization method using our structure-controllable amyloid peptides (SCAPs). Using this approach, we have succeeded in the formation of multi-type nanowires with tandem domain structures in high yields. Given that the mixing-SCAP method can lead to the formation of tandem fibrils, it is noteworthy that our method allowed us to control the initiation of fibril formation from the gold nanoparticles, which were attached to a short fibril as initiation points. This approach could be used to prepare a wide variety of fibril patterns, and therefore holds great potential for the development of novel self-assembled nanodevices. PMID:27559011

Nonlinear Multiobjective MPC-Based Optimal Operation of a High Consistency Refining System in Papermaking

DOE PAGES

Li, Mingjie; Zhou, Ping; Wang, Hong; ...

2017-09-19

As one of the most important unit in the papermaking industry, the high consistency (HC) refining system is confronted with challenges such as improving pulp quality, energy saving, and emissions reduction in its operation processes. Here in this correspondence, an optimal operation of HC refining system is presented using nonlinear multiobjective model predictive control strategies that aim at set-point tracking objective of pulp quality, economic objective, and specific energy (SE) consumption objective, respectively. First, a set of input and output data at different times are employed to construct the subprocess model of the state process model for the HC refiningmore » system, and then the Wiener-type model can be obtained through combining the mechanism model of Canadian Standard Freeness and the state process model that determines their structures based on Akaike information criterion. Second, the multiobjective optimization strategy that optimizes both the set-point tracking objective of pulp quality and SE consumption is proposed simultaneously, which uses NSGA-II approach to obtain the Pareto optimal set. Furthermore, targeting at the set-point tracking objective of pulp quality, economic objective, and SE consumption objective, the sequential quadratic programming method is utilized to produce the optimal predictive controllers. In conclusion, the simulation results demonstrate that the proposed methods can make the HC refining system provide a better performance of set-point tracking of pulp quality when these predictive controllers are employed. In addition, while the optimal predictive controllers orienting with comprehensive economic objective and SE consumption objective, it has been shown that they have significantly reduced the energy consumption.« less

Nonlinear Multiobjective MPC-Based Optimal Operation of a High Consistency Refining System in Papermaking

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

Li, Mingjie; Zhou, Ping; Wang, Hong

As one of the most important unit in the papermaking industry, the high consistency (HC) refining system is confronted with challenges such as improving pulp quality, energy saving, and emissions reduction in its operation processes. Here in this correspondence, an optimal operation of HC refining system is presented using nonlinear multiobjective model predictive control strategies that aim at set-point tracking objective of pulp quality, economic objective, and specific energy (SE) consumption objective, respectively. First, a set of input and output data at different times are employed to construct the subprocess model of the state process model for the HC refiningmore » system, and then the Wiener-type model can be obtained through combining the mechanism model of Canadian Standard Freeness and the state process model that determines their structures based on Akaike information criterion. Second, the multiobjective optimization strategy that optimizes both the set-point tracking objective of pulp quality and SE consumption is proposed simultaneously, which uses NSGA-II approach to obtain the Pareto optimal set. Furthermore, targeting at the set-point tracking objective of pulp quality, economic objective, and SE consumption objective, the sequential quadratic programming method is utilized to produce the optimal predictive controllers. In conclusion, the simulation results demonstrate that the proposed methods can make the HC refining system provide a better performance of set-point tracking of pulp quality when these predictive controllers are employed. In addition, while the optimal predictive controllers orienting with comprehensive economic objective and SE consumption objective, it has been shown that they have significantly reduced the energy consumption.« less

Urban tree cover change in Detroit and Atlanta, USA, 1951-2010

Treesearch

Krista Merry; Jacek Siry; Pete Bettinger; J.M. Bowker

2014-01-01

We assessed tree cover using random points and polygons distributed within the administrative boundaries of Detroit, MI and Atlanta, GA. Two approaches were tested, a point-based approach using 1000 randomly located sample points, and polygon-based approach using 250 circular areas, 200 m in radius (12.56 ha). In the case of Atlanta, both approaches arrived at similar...

Construction of a WMR for trajectory tracking control: experimental results.

PubMed

Silva-Ortigoza, R; Márquez-Sánchez, C; Marcelino-Aranda, M; Marciano-Melchor, M; Silva-Ortigoza, G; Bautista-Quintero, R; Ramos-Silvestre, E R; Rivera-Díaz, J C; Muñoz-Carrillo, D

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Construction of a WMR for Trajectory Tracking Control: Experimental Results

PubMed Central

Silva-Ortigoza, R.; Márquez-Sánchez, C.; Marcelino-Aranda, M.; Marciano-Melchor, M.; Silva-Ortigoza, G.; Bautista-Quintero, R.; Ramos-Silvestre, E. R.; Rivera-Díaz, J. C.; Muñoz-Carrillo, D.

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. PMID:23997679

Patterned photostimulation with digital micromirror devices to investigate dendritic integration across branch points.

PubMed

Liang, Conrad W; Mohammadi, Michael; Santos, M Daniel; Santos, M Danial; Tang, Cha-Min

2011-03-02

Light is a versatile and precise means to control neuronal excitability. The recent introduction of light sensitive effectors such as channel-rhodopsin and caged neurotransmitters have led to interests in developing better means to control patterns of light in space and time that are useful for experimental neuroscience. One conventional strategy, employed in confocal and 2-photon microscopy, is to focus light to a diffraction limited spot and then scan that single spot sequentially over the region of interest. This approach becomes problematic if large areas have to be stimulated within a brief time window, a problem more applicable to photostimulation than for imaging. An alternate strategy is to project the complete spatial pattern on the target with the aid of a digital micromirror device (DMD). The DMD approach is appealing because the hardware components are relatively inexpensive and is supported by commercial interests. Because such a system is not available for upright microscopes, we will discuss the critical issues in the construction and operations of such a DMD system. Even though we will be primarily describing the construction of the system for UV photolysis, the modifications for building the much simpler visible light system for optogenetic experiments will also be provided. The UV photolysis system was used to carryout experiments to study a fundamental question in neuroscience, how are spatially distributed inputs integrated across distal dendritic branch points. The results suggest that integration can be non-linear across branch points and the supralinearity is largely mediated by NMDA receptors.

Achieving the Earth Science Enterprise Vision for the 21st Century: Platform Challenges

NASA Technical Reports Server (NTRS)

Lemmerman, Loren; Komar, George (Technical Monitor)

2001-01-01

The ESE observational architecture of the future vision is dramatically different from that of today. The vision suggests observations from multiple orbits, collaborating space assets, and even seamless integration of space and other assets. Observations from GEO or from Libration points rather than from LEO suggest spacecraft carrying instruments with large deployable apertures. Minimization of launch costs suggests that these large apertures have long life, be extremely mass and volume efficient, and have low life cycle cost. Another significant challenge associated with high latitude orbits is high precision pointing and control. Finally, networks of spacecraft flying in predetermined constellation will be required either to apply complementary assets to an observation or to extend the virtual aperture beyond that attainable with a single spacecraft. These changes dictate development of new technology on several fronts, which are outlined in this paper. A section on high speed communications will outline requirements and approaches now envisioned. Sensorwebs will be developed from the viewpoint of work already begun for both space and for terrestrial networks. Precision guidance, navigation and control will be addressed from the perspective of precision flying for repeat pass interferometry and extreme pointing stability for advanced altimetry. A separate section will address requirements for distributed systems. Large lightweight deployables will be discussed with an emphasis on inflatable technology and its predicted benefits for large aperture instruments. For each technology area listed, current state-of-the-art, technological approaches for future development, and projected levels of performance are outlined.

Using Motor Imagery to Study the Neural Substrates of Dynamic Balance

PubMed Central

Ferraye, Murielle Ursulla; Debû, Bettina; Heil, Lieke; Carpenter, Mark; Bloem, Bastiaan Roelof; Toni, Ivan

2014-01-01

This study examines the cerebral structures involved in dynamic balance using a motor imagery (MI) protocol. We recorded cerebral activity with functional magnetic resonance imaging while subjects imagined swaying on a balance board along the sagittal plane to point a laser at target pairs of different sizes (small, large). We used a matched visual imagery (VI) control task and recorded imagery durations during scanning. MI and VI durations were differentially influenced by the sway accuracy requirement, indicating that MI of balance is sensitive to the increased motor control necessary to point at a smaller target. Compared to VI, MI of dynamic balance recruited additional cortical and subcortical portions of the motor system, including frontal cortex, basal ganglia, cerebellum and mesencephalic locomotor region, the latter showing increased effective connectivity with the supplementary motor area. The regions involved in MI of dynamic balance were spatially distinct but contiguous to those involved in MI of gait (Bakker et al., 2008; Snijders et al., 2011; Crémers et al., 2012), in a pattern consistent with existing somatotopic maps of the trunk (for balance) and legs (for gait). These findings validate a novel, quantitative approach for studying the neural control of balance in humans. This approach extends previous reports on MI of static stance (Jahn et al., 2004, 2008), and opens the way for studying gait and balance impairments in patients with neurodegenerative disorders. PMID:24663383

Using motor imagery to study the neural substrates of dynamic balance.

PubMed

Ferraye, Murielle Ursulla; Debû, Bettina; Heil, Lieke; Carpenter, Mark; Bloem, Bastiaan Roelof; Toni, Ivan

2014-01-01

This study examines the cerebral structures involved in dynamic balance using a motor imagery (MI) protocol. We recorded cerebral activity with functional magnetic resonance imaging while subjects imagined swaying on a balance board along the sagittal plane to point a laser at target pairs of different sizes (small, large). We used a matched visual imagery (VI) control task and recorded imagery durations during scanning. MI and VI durations were differentially influenced by the sway accuracy requirement, indicating that MI of balance is sensitive to the increased motor control necessary to point at a smaller target. Compared to VI, MI of dynamic balance recruited additional cortical and subcortical portions of the motor system, including frontal cortex, basal ganglia, cerebellum and mesencephalic locomotor region, the latter showing increased effective connectivity with the supplementary motor area. The regions involved in MI of dynamic balance were spatially distinct but contiguous to those involved in MI of gait (Bakker et al., 2008; Snijders et al., 2011; Crémers et al., 2012), in a pattern consistent with existing somatotopic maps of the trunk (for balance) and legs (for gait). These findings validate a novel, quantitative approach for studying the neural control of balance in humans. This approach extends previous reports on MI of static stance (Jahn et al., 2004, 2008), and opens the way for studying gait and balance impairments in patients with neurodegenerative disorders.

A biologically inspired controller to solve the coverage problem in robotics.

PubMed

Rañó, Iñaki; Santos, José A

2017-06-05

The coverage problem consists on computing a path or trajectory for a robot to pass over all the points in some free area and has applications ranging from floor cleaning to demining. Coverage is solved as a planning problem-providing theoretical validation of the solution-or through heuristic techniques which rely on experimental validation. Through a combination of theoretical results and simulations, this paper presents a novel solution to the coverage problem that exploits the chaotic behaviour of a simple biologically inspired motion controller, the Braitenberg vehicle 2b. Although chaos has been used for coverage, our approach has much less restrictive assumptions about the environment and can be implemented using on-board sensors. First, we prove theoretically that this vehicle-a well known model of animal tropotaxis-behaves as a charge in an electro-magnetic field. The motion equations can be reduced to a Hamiltonian system, and, therefore the vehicle follows quasi-periodic or chaotic trajectories, which pass arbitrarily close to any point in the work-space, i.e. it solves the coverage problem. Secondly, through a set of extensive simulations, we show that the trajectories cover regions of bounded workspaces, and full coverage is achieved when the perceptual range of the vehicle is short. We compare the performance of this new approach with different types of random motion controllers in the same bounded environments.

Robust synergetic control design under inputs and states constraints

NASA Astrophysics Data System (ADS)

Rastegar, Saeid; Araújo, Rui; Sadati, Jalil

2018-03-01

In this paper, a novel robust-constrained control methodology for discrete-time linear parameter-varying (DT-LPV) systems is proposed based on a synergetic control theory (SCT) approach. It is shown that in DT-LPV systems without uncertainty, and for any unmeasured bounded additive disturbance, the proposed controller accomplishes the goal of stabilising the system by asymptotically driving the error of the controlled variable to a bounded set containing the origin and then maintaining it there. Moreover, given an uncertain DT-LPV system jointly subject to unmeasured and constrained additive disturbances, and constraints in states, input commands and reference signals (set points), then invariant set theory is used to find an appropriate polyhedral robust invariant region in which the proposed control framework is guaranteed to robustly stabilise the closed-loop system. Furthermore, this is achieved even for the case of varying non-zero control set points in such uncertain DT-LPV systems. The controller is characterised to have a simple structure leading to an easy implementation, and a non-complex design process. The effectiveness of the proposed method and the implications of the controller design on feasibility and closed-loop performance are demonstrated through application examples on the temperature control on a continuous-stirred tank reactor plant, on the control of a real-coupled DC motor plant, and on an open-loop unstable system example.

From Invention to Innovation: Risk Analysis to Integrate One Health Technology in the Dairy Farm

PubMed Central

Lombardo, Andrea; Boselli, Carlo; Amatiste, Simonetta; Ninci, Simone; Frazzoli, Chiara; Dragone, Roberto; De Rossi, Alberto; Grasso, Gerardo; Mantovani, Alberto; Brajon, Giovanni

2017-01-01

Current Hazard Analysis Critical Control Points (HACCP) approaches mainly fit for food industry, while their application in primary food production is still rudimentary. The European food safety framework calls for science-based support to the primary producers’ mandate for legal, scientific, and ethical responsibility in food supply. The multidisciplinary and interdisciplinary project ALERT pivots on the development of the technological invention (BEST platform) and application of its measurable (bio)markers—as well as scientific advances in risk analysis—at strategic points of the milk chain for time and cost-effective early identification of unwanted and/or unexpected events of both microbiological and toxicological nature. Health-oriented innovation is complex and subject to multiple variables. Through field activities in a dairy farm in central Italy, we explored individual components of the dairy farm system to overcome concrete challenges for the application of translational science in real life and (veterinary) public health. Based on an HACCP-like approach in animal production, the farm characterization focused on points of particular attention (POPAs) and critical control points to draw a farm management decision tree under the One Health view (environment, animal health, food safety). The analysis was based on the integrated use of checklists (environment; agricultural and zootechnical practices; animal health and welfare) and laboratory analyses of well water, feed and silage, individual fecal samples, and bulk milk. The understanding of complex systems is a condition to accomplish true innovation through new technologies. BEST is a detection and monitoring system in support of production security, quality and safety: a grid of its (bio)markers can find direct application in critical points for early identification of potential hazards or anomalies. The HACCP-like self-monitoring in primary production is feasible, as well as the biomonitoring of live food producing animals as sentinel population for One Health. PMID:29218304

From Invention to Innovation: Risk Analysis to Integrate One Health Technology in the Dairy Farm.

PubMed

Lombardo, Andrea; Boselli, Carlo; Amatiste, Simonetta; Ninci, Simone; Frazzoli, Chiara; Dragone, Roberto; De Rossi, Alberto; Grasso, Gerardo; Mantovani, Alberto; Brajon, Giovanni

2017-01-01

Current Hazard Analysis Critical Control Points (HACCP) approaches mainly fit for food industry, while their application in primary food production is still rudimentary. The European food safety framework calls for science-based support to the primary producers' mandate for legal, scientific, and ethical responsibility in food supply. The multidisciplinary and interdisciplinary project ALERT pivots on the development of the technological invention (BEST platform) and application of its measurable (bio)markers-as well as scientific advances in risk analysis-at strategic points of the milk chain for time and cost-effective early identification of unwanted and/or unexpected events of both microbiological and toxicological nature. Health-oriented innovation is complex and subject to multiple variables. Through field activities in a dairy farm in central Italy, we explored individual components of the dairy farm system to overcome concrete challenges for the application of translational science in real life and (veterinary) public health. Based on an HACCP-like approach in animal production, the farm characterization focused on points of particular attention (POPAs) and critical control points to draw a farm management decision tree under the One Health view (environment, animal health, food safety). The analysis was based on the integrated use of checklists (environment; agricultural and zootechnical practices; animal health and welfare) and laboratory analyses of well water, feed and silage, individual fecal samples, and bulk milk. The understanding of complex systems is a condition to accomplish true innovation through new technologies. BEST is a detection and monitoring system in support of production security, quality and safety: a grid of its (bio)markers can find direct application in critical points for early identification of potential hazards or anomalies. The HACCP-like self-monitoring in primary production is feasible, as well as the biomonitoring of live food producing animals as sentinel population for One Health.

Shape and rotational elements of comet 67P/ Churyumov-Gerasimenko derived by stereo-photogrammetric analysis of OSIRIS NAC image data

NASA Astrophysics Data System (ADS)

Preusker, Frank; Scholten, Frank; Matz, Klaus-Dieter; Roatsch, Thomas; Willner, Konrad; Hviid, Stubbe; Knollenberg, Jörg; Kührt, Ekkehard; Sierks, Holger

2015-04-01

The European Space Agency's Rosetta spacecraft is equipped with the OSIRIS imaging system which consists of a wide-angle and a narrow-angle camera (WAC and NAC). After the approach phase, Rosetta was inserted into a descent trajectory of comet 67P/Churyumov-Gerasimenko (C-G) in early August 2014. Until early September, OSIRIS acquired several hundred NAC images of C-G's surface at different scales (from ~5 m/pixel during approach to ~0.9 m/pixel during descent). In that one month observation period, the surface was imaged several times within different mapping sequences. With the comet's rotation period of ~12.4 h and the low spacecraft velocity (< 1 m/s), the entire NAC dataset provides multiple NAC stereo coverage, adequate for stereo-photogrammetric (SPG) analysis towards the derivation of 3D surface models. We constrained the OSIRIS NAC images with our stereo requirements (15° < stereo angles < 45°, incidence angles <85°, emission angles <45°, differences in illumination < 10°, scale better than 5 m/pixel) and extracted about 220 NAC images that provide at least triple stereo image coverage for the entire illuminated surface in about 250 independent multi-stereo image combinations. For each image combination we determined tie points by multi-image matching in order to set-up a 3D control network and a dense surface point cloud for the precise reconstruction of C-G's shape. The control point network defines the input for a stereo-photogrammetric least squares adjustment. Based on the statistical analysis of adjustments we first refined C-G's rotational state (pole orientation and rotational period) and its behavior over time. Based upon this description of the orientation of C-G's body-fixed reference frame, we derived corrections for the nominal navigation data (pointing and position) within a final stereo-photogrammetric block adjustment where the mean 3D point accuracy of more than 100 million surface points has been improved from ~10 m to the sub-meter range. We finally applied point filtering and interpolation techniques to these surface 3D points and show the resulting SPG-based 3D surface model with a lateral sampling rate of about 2 m.

To the question about the states of workability for automatic control systems with complicated structure

NASA Astrophysics Data System (ADS)

Kuznetsov, P. A.; Kovalev, I. V.; Losev, V. V.; Kalinin, A. O.; Murygin, A. V.

2016-04-01

The article discusses the reliability of automated control systems. Analyzes the approach to the classification systems for health States. This approach can be as traditional binary approach, operating with the concept of "serviceability", and other variants of estimation of the system state. This article provides one such option, providing selective evaluation of components for the reliability of the entire system. Introduced description of various automatic control systems and their elements from the point of view of health and risk, mathematical method of determining the transition object from state to state, they differ from each other in the implementation of the objective function. Explores the interplay of elements in different States, the aggregate state of the elements connected in series or in parallel. Are the tables of various logic States and the principles of their calculation in series and parallel connection. Through simulation the proposed approach is illustrated by finding the probability of getting into the system state data in parallel and serially connected elements, with their different probabilities of moving from state to state. In general, the materials of article will be useful for analyzing of the reliability the automated control systems and engineering of the highly-reliable systems. Thus, this mechanism to determine the State of the system provides more detailed information about it and allows a selective approach to the reliability of the system as a whole. Detailed results when assessing the reliability of the automated control systems allows the engineer to make an informed decision when designing means of improving reliability.

Shape determination and control for large space structures

NASA Technical Reports Server (NTRS)

Weeks, C. J.

1981-01-01

An integral operator approach is used to derive solutions to static shape determination and control problems associated with large space structures. Problem assumptions include a linear self-adjoint system model, observations and control forces at discrete points, and performance criteria for the comparison of estimates or control forms. Results are illustrated by simulations in the one dimensional case with a flexible beam model, and in the multidimensional case with a finite model of a large space antenna. Modal expansions for terms in the solution algorithms are presented, using modes from the static or associated dynamic mode. These expansions provide approximated solutions in the event that a used form analytical solution to the system boundary value problem is not available.

A human factors approach to range scheduling for satellite control

NASA Technical Reports Server (NTRS)

Wright, Cameron H. G.; Aitken, Donald J.

1991-01-01

Range scheduling for satellite control presents a classical problem: supervisory control of a large-scale dynamic system, with unwieldy amounts of interrelated data used as inputs to the decision process. Increased automation of the task, with the appropriate human-computer interface, is highly desirable. The development and user evaluation of a semi-automated network range scheduling system is described. The system incorporates a synergistic human-computer interface consisting of a large screen color display, voice input/output, a 'sonic pen' pointing device, a touchscreen color CRT, and a standard keyboard. From a human factors standpoint, this development represents the first major improvement in almost 30 years to the satellite control network scheduling task.

Comparison Between One-Point Calibration and Two-Point Calibration Approaches in a Continuous Glucose Monitoring Algorithm

PubMed Central

Mahmoudi, Zeinab; Johansen, Mette Dencker; Christiansen, Jens Sandahl

2014-01-01

Background: The purpose of this study was to investigate the effect of using a 1-point calibration approach instead of a 2-point calibration approach on the accuracy of a continuous glucose monitoring (CGM) algorithm. Method: A previously published real-time CGM algorithm was compared with its updated version, which used a 1-point calibration instead of a 2-point calibration. In addition, the contribution of the corrective intercept (CI) to the calibration performance was assessed. Finally, the sensor background current was estimated real-time and retrospectively. The study was performed on 132 type 1 diabetes patients. Results: Replacing the 2-point calibration with the 1-point calibration improved the CGM accuracy, with the greatest improvement achieved in hypoglycemia (18.4% median absolute relative differences [MARD] in hypoglycemia for the 2-point calibration, and 12.1% MARD in hypoglycemia for the 1-point calibration). Using 1-point calibration increased the percentage of sensor readings in zone A+B of the Clarke error grid analysis (EGA) in the full glycemic range, and also enhanced hypoglycemia sensitivity. Exclusion of CI from calibration reduced hypoglycemia accuracy, while slightly increased euglycemia accuracy. Both real-time and retrospective estimation of the sensor background current suggest that the background current can be considered zero in the calibration of the SCGM1 sensor. Conclusions: The sensor readings calibrated with the 1-point calibration approach indicated to have higher accuracy than those calibrated with the 2-point calibration approach. PMID:24876420

Synergies in the space of control variables within the equilibrium-point hypothesis.

PubMed

Ambike, S; Mattos, D; Zatsiorsky, V M; Latash, M L

2016-02-19

We use an approach rooted in the recent theory of synergies to analyze possible co-variation between two hypothetical control variables involved in finger force production based on the equilibrium-point (EP) hypothesis. These control variables are the referent coordinate (R) and apparent stiffness (C) of the finger. We tested a hypothesis that inter-trial co-variation in the {R; C} space during repeated, accurate force production trials stabilizes the fingertip force. This was expected to correspond to a relatively low amount of inter-trial variability affecting force and a high amount of variability keeping the force unchanged. We used the "inverse piano" apparatus to apply small and smooth positional perturbations to fingers during force production tasks. Across trials, R and C showed strong co-variation with the data points lying close to a hyperbolic curve. Hyperbolic regressions accounted for over 99% of the variance in the {R; C} space. Another analysis was conducted by randomizing the original {R; C} data sets and creating surrogate data sets that were then used to compute predicted force values. The surrogate sets always showed much higher force variance compared to the actual data, thus reinforcing the conclusion that finger force control was organized in the {R; C} space, as predicted by the EP hypothesis, and involved co-variation in that space stabilizing total force. Copyright © 2015 IBRO. Published by Elsevier Ltd. All rights reserved.

Hazard Analysis of Critical Control Points Assessment as a Tool to Respond to Emerging Infectious Disease Outbreaks

PubMed Central

Edmunds, Kelly L.; Hunter, Paul R.; Few, Roger; Bell, Diana J.

2013-01-01

Highly pathogenic avian influenza virus (HPAI) strain H5N1 has had direct and indirect economic impacts arising from direct mortality and control programmes in over 50 countries reporting poultry outbreaks. HPAI H5N1 is now reported as the most widespread and expensive zoonotic disease recorded and continues to pose a global health threat. The aim of this research was to assess the potential of utilising Hazard Analysis of Critical Control Points (HACCP) assessments in providing a framework for a rapid response to emerging infectious disease outbreaks. This novel approach applies a scientific process, widely used in food production systems, to assess risks related to a specific emerging health threat within a known zoonotic disease hotspot. We conducted a HACCP assessment for HPAI viruses within Vietnam’s domestic poultry trade and relate our findings to the existing literature. Our HACCP assessment identified poultry flock isolation, transportation, slaughter, preparation and consumption as critical control points for Vietnam’s domestic poultry trade. Introduction of the preventative measures highlighted through this HACCP evaluation would reduce the risks posed by HPAI viruses and pressure on the national economy. We conclude that this HACCP assessment provides compelling evidence for the future potential that HACCP analyses could play in initiating a rapid response to emerging infectious diseases. PMID:23967294

The NASTRAN user's manual (level 17.0)

NASA Technical Reports Server (NTRS)

1979-01-01

NASTRAN embodies a lumped element approach, wherein the distributed physical properties of a structure are represented by a model consisting of a finite number of idealized substructures or elements that are interconnected at a finite of grid points, to which loads are applied. All input and output data pertain to the idealized structural model. The general procedures for defining structural models are described and instructions are given for each of the bulk data cards and case control cards. Additional information on the case control cards and use of parameters is included for each rigid format.

Common embezzlement myths.

PubMed

Harris, David

2013-01-01

With published statistics suggesting that embezzlement strikes three in five doctors at some point in their careers, this topic is of interest to every professional owning a medical or dental office, and tackles some of the biggest areas of misunderstanding concerning embezzlement in professional offices. Many readers will be surprised to learn that many of the steps that are frequently advocated to control embezzlement are, in fact, ineffective. This article suggests an approach that is quite different from what is normally recommended, and yet is far easier to implement than conventional embezzlement-control strategies.

Space station environmental control and life support systems conceptual studies

NASA Technical Reports Server (NTRS)

Humphries, W. R.; Powell, L. E.

1985-01-01

It is pointed out that the establishment of a permanent manned Space Station requires the development of a comprehensive approach which combines new technologies and existing spacecraft subsystem capabilities into an optimum design. The present paper is concerned with studies which were conducted in connection with the development of the regenerative Environmental Control and Life Support Systems (ECLSS) for the Space Station. Attention is given to the current state of the ECLSS subsystems and system level analytical selection and group studies related to the integrated system conceptual design.

EMC analysis of MOS-1

NASA Astrophysics Data System (ADS)

Ishizawa, Y.; Abe, K.; Shirako, G.; Takai, T.; Kato, H.

The electromagnetic compatibility (EMC) control method, system EMC analysis method, and system test method which have been applied to test the components of the MOS-1 satellite are described. The merits and demerits of the problem solving, specification, and system approaches to EMC control are summarized, and the data requirements of the SEMCAP (specification and electromagnetic compatibility analysis program) computer program for verifying the EMI safety margin of the components are sumamrized. Examples of EMC design are mentioned, and the EMC design process and selection method for EMC critical points are shown along with sample EMC test results.

Floating-to-Fixed-Point Conversion for Digital Signal Processors

NASA Astrophysics Data System (ADS)

Menard, Daniel; Chillet, Daniel; Sentieys, Olivier

2006-12-01

Digital signal processing applications are specified with floating-point data types but they are usually implemented in embedded systems with fixed-point arithmetic to minimise cost and power consumption. Thus, methodologies which establish automatically the fixed-point specification are required to reduce the application time-to-market. In this paper, a new methodology for the floating-to-fixed point conversion is proposed for software implementations. The aim of our approach is to determine the fixed-point specification which minimises the code execution time for a given accuracy constraint. Compared to previous methodologies, our approach takes into account the DSP architecture to optimise the fixed-point formats and the floating-to-fixed-point conversion process is coupled with the code generation process. The fixed-point data types and the position of the scaling operations are optimised to reduce the code execution time. To evaluate the fixed-point computation accuracy, an analytical approach is used to reduce the optimisation time compared to the existing methods based on simulation. The methodology stages are described and several experiment results are presented to underline the efficiency of this approach.

A comparison of design variables for control theory based airfoil optimization

NASA Technical Reports Server (NTRS)

Reuther, James; Jameson, Antony

1995-01-01

This paper describes the implementation of optimization techniques based on control theory for airfoil design. In our previous work in the area it was shown that control theory could be employed to devise effective optimization procedures for two-dimensional profiles by using either the potential flow or the Euler equations with either a conformal mapping or a general coordinate system. We have also explored three-dimensional extensions of these formulations recently. The goal of our present work is to demonstrate the versatility of the control theory approach by designing airfoils using both Hicks-Henne functions and B-spline control points as design variables. The research also demonstrates that the parameterization of the design space is an open question in aerodynamic design.

Executive function, approach sensitivity, and emotional decision making as influences on risk behaviors in young adults.

PubMed

Patrick, Megan E; Blair, Clancy; Maggs, Jennifer L

2008-05-01

Relations among executive function, behavioral approach sensitivity, emotional decision making, and risk behaviors (alcohol use, drug use, and delinquent behavior) were examined in single female college students (N = 72). Hierarchical multiple regressions indicated a significant Approach Sensitivity x Working Memory interaction in which higher levels of alcohol use were associated with the combination of greater approach tendency and better working memory. This Approach Sensitivity x Working Memory interaction was also marginally significant for drug use and delinquency. Poor emotional decision making, as measured by a gambling task, was also associated with higher levels of alcohol use, but only for individuals low in inhibitory control. Findings point to the complexity of relations among aspects of self-regulation and personality and provide much needed data on neuropsychological correlates of risk behaviors in a nonclinical population.

Control of minimum member size in parameter-free structural shape optimization by a medial axis approximation

NASA Astrophysics Data System (ADS)

Schmitt, Oliver; Steinmann, Paul

2018-06-01

We introduce a manufacturing constraint for controlling the minimum member size in structural shape optimization problems, which is for example of interest for components fabricated in a molding process. In a parameter-free approach, whereby the coordinates of the FE boundary nodes are used as design variables, the challenging task is to find a generally valid definition for the thickness of non-parametric geometries in terms of their boundary nodes. Therefore we use the medial axis, which is the union of all points with at least two closest points on the boundary of the domain. Since the effort for the exact computation of the medial axis of geometries given by their FE discretization highly increases with the number of surface elements we use the distance function instead to approximate the medial axis by a cloud of points. The approximation is demonstrated on three 2D examples. Moreover, the formulation of a minimum thickness constraint is applied to a sensitivity-based shape optimization problem of one 2D and one 3D model.

Libration Orbit Mission Design: Applications of Numerical & Dynamical Methods

NASA Technical Reports Server (NTRS)

Bauer, Frank (Technical Monitor); Folta, David; Beckman, Mark

2002-01-01

Sun-Earth libration point orbits serve as excellent locations for scientific investigations. These orbits are often selected to minimize environmental disturbances and maximize observing efficiency. Trajectory design in support of libration orbits is ever more challenging as more complex missions are envisioned in the next decade. Trajectory design software must be further enabled to incorporate better understanding of the libration orbit solution space and thus improve the efficiency and expand the capabilities of current approaches. The Goddard Space Flight Center (GSFC) is currently supporting multiple libration missions. This end-to-end support consists of mission operations, trajectory design, and control. It also includes algorithm and software development. The recently launched Microwave Anisotropy Probe (MAP) and upcoming James Webb Space Telescope (JWST) and Constellation-X missions are examples of the use of improved numerical methods for attaining constrained orbital parameters and controlling their dynamical evolution at the collinear libration points. This paper presents a history of libration point missions, a brief description of the numerical and dynamical design techniques including software used, and a sample of future GSFC mission designs.

Control of minimum member size in parameter-free structural shape optimization by a medial axis approximation

NASA Astrophysics Data System (ADS)

Schmitt, Oliver; Steinmann, Paul

2017-09-01

We introduce a manufacturing constraint for controlling the minimum member size in structural shape optimization problems, which is for example of interest for components fabricated in a molding process. In a parameter-free approach, whereby the coordinates of the FE boundary nodes are used as design variables, the challenging task is to find a generally valid definition for the thickness of non-parametric geometries in terms of their boundary nodes. Therefore we use the medial axis, which is the union of all points with at least two closest points on the boundary of the domain. Since the effort for the exact computation of the medial axis of geometries given by their FE discretization highly increases with the number of surface elements we use the distance function instead to approximate the medial axis by a cloud of points. The approximation is demonstrated on three 2D examples. Moreover, the formulation of a minimum thickness constraint is applied to a sensitivity-based shape optimization problem of one 2D and one 3D model.

Statistical process control: A feasibility study of the application of time-series measurement in early neurorehabilitation after acquired brain injury.

PubMed

Markovic, Gabriela; Schult, Marie-Louise; Bartfai, Aniko; Elg, Mattias

2017-01-31

Progress in early cognitive recovery after acquired brain injury is uneven and unpredictable, and thus the evaluation of rehabilitation is complex. The use of time-series measurements is susceptible to statistical change due to process variation. To evaluate the feasibility of using a time-series method, statistical process control, in early cognitive rehabilitation. Participants were 27 patients with acquired brain injury undergoing interdisciplinary rehabilitation of attention within 4 months post-injury. The outcome measure, the Paced Auditory Serial Addition Test, was analysed using statistical process control. Statistical process control identifies if and when change occurs in the process according to 3 patterns: rapid, steady or stationary performers. The statistical process control method was adjusted, in terms of constructing the baseline and the total number of measurement points, in order to measure a process in change. Statistical process control methodology is feasible for use in early cognitive rehabilitation, since it provides information about change in a process, thus enabling adjustment of the individual treatment response. Together with the results indicating discernible subgroups that respond differently to rehabilitation, statistical process control could be a valid tool in clinical decision-making. This study is a starting-point in understanding the rehabilitation process using a real-time-measurements approach.

Measuring the development of inhibitory control: The challenge of heterotypic continuity

PubMed Central

Petersen, Isaac T.; Hoyniak, Caroline P.; McQuillan, Maureen E.; Bates, John E.; Staples, Angela D.

2016-01-01

Inhibitory control is thought to demonstrate heterotypic continuity, in other words, continuity in its purpose or function but changes in its behavioral manifestation over time. This creates major methodological challenges for studying the development of inhibitory control in childhood including construct validity, developmental appropriateness and sensitivity of measures, and longitudinal factorial invariance. We meta-analyzed 198 studies using measures of inhibitory control, a key aspect of self-regulation, to estimate age ranges of usefulness for each measure. The inhibitory control measures showed limited age ranges of usefulness owing to ceiling/floor effects. Tasks were useful, on average, for a developmental span of less than 3 years. This suggests that measuring inhibitory control over longer spans of development may require use of different measures at different time points, seeking to measure heterotypic continuity. We suggest ways to study the development of inhibitory control, with overlapping measurement in a structural equation modeling framework and tests of longitudinal factorial or measurement invariance. However, as valuable as this would be for the area, we also point out that establishing longitudinal factorial invariance is neither sufficient nor necessary for examining developmental change. Any study of developmental change should be guided by theory and construct validity, aiming toward a better empirical and theoretical approach to the selection and combination of measures. PMID:27346906

Mathematics reflecting sensorimotor organization.

PubMed

McCollum, Gin

2003-02-01

This review combines short presentations of several mathematical approaches that conceptualize issues in sensorimotor neuroscience from different perspectives and levels of analysis. The intricate organization of neural structures and sensorimotor performance calls for characterization using a variety of mathematical approaches. This review points out the prospects for mathematical neuroscience: in addition to computational approaches, there is a wide variety of mathematical approaches that provide insight into the organization of neural systems. By starting from the perspective that provides the greatest clarity, a mathematical approach avoids specificity that is inaccurate in characterizing the inherent biological organization. Approaches presented include the mathematics of ordered structures, motion-phase space, subject-coincident coordinates, equivalence classes, topological biodynamics, rhythm space metric, and conditional dynamics. Issues considered in this paper include unification of levels of analysis, response equivalence, convergence, relationship of physics to motor control, support of rhythms, state transitions, and focussing on low-dimensional subspaces of a high-dimensional sensorimotor space.

Modeling, control, and simulation of grid connected intelligent hybrid battery/photovoltaic system using new hybrid fuzzy-neural method.

PubMed

Rezvani, Alireza; Khalili, Abbas; Mazareie, Alireza; Gandomkar, Majid

2016-07-01

Nowadays, photovoltaic (PV) generation is growing increasingly fast as a renewable energy source. Nevertheless, the drawback of the PV system is its dependence on weather conditions. Therefore, battery energy storage (BES) can be considered to assist for a stable and reliable output from PV generation system for loads and improve the dynamic performance of the whole generation system in grid connected mode. In this paper, a novel topology of intelligent hybrid generation systems with PV and BES in a DC-coupled structure is presented. Each photovoltaic cell has a specific point named maximum power point on its operational curve (i.e. current-voltage or power-voltage curve) in which it can generate maximum power. Irradiance and temperature changes affect these operational curves. Therefore, the nonlinear characteristic of maximum power point to environment has caused to development of different maximum power point tracking techniques. In order to capture the maximum power point (MPP), a hybrid fuzzy-neural maximum power point tracking (MPPT) method is applied in the PV system. Obtained results represent the effectiveness and superiority of the proposed method, and the average tracking efficiency of the hybrid fuzzy-neural is incremented by approximately two percentage points in comparison to the conventional methods. It has the advantages of robustness, fast response and good performance. A detailed mathematical model and a control approach of a three-phase grid-connected intelligent hybrid system have been proposed using Matlab/Simulink. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Socio-ecological dynamics and challenges to the governance of Neglected Tropical Disease control.

PubMed

Michael, Edwin; Madon, Shirin

2017-02-06

The current global attempts to control the so-called "Neglected Tropical Diseases (NTDs)" have the potential to significantly reduce the morbidity suffered by some of the world's poorest communities. However, the governance of these control programmes is driven by a managerial rationality that assumes predictability of proposed interventions, and which thus primarily seeks to improve the cost-effectiveness of implementation by measuring performance in terms of pre-determined outputs. Here, we argue that this approach has reinforced the narrow normal-science model for controlling parasitic diseases, and in doing so fails to address the complex dynamics, uncertainty and socio-ecological context-specificity that invariably underlie parasite transmission. We suggest that a new governance approach is required that draws on a combination of non-equilibrium thinking about the operation of complex, adaptive, systems from the natural sciences and constructivist social science perspectives that view the accumulation of scientific knowledge as contingent on historical interests and norms, if more effective control approaches sufficiently sensitive to local disease contexts are to be devised, applied and managed. At the core of this approach is an emphasis on the need for a process that assists with the inclusion of diverse perspectives, social learning and deliberation, and a reflexive approach to addressing system complexity and incertitude, while balancing this flexibility with stability-focused structures. We derive and discuss a possible governance framework and outline an organizational structure that could be used to effectively deal with the complexity of accomplishing global NTD control. We also point to examples of complexity-based management structures that have been used in parasite control previously, which could serve as practical templates for developing similar governance structures to better manage global NTD control. Our results hold important wider implications for global health policy aiming to effectively control and eradicate parasitic diseases across the world.

Axial-Stereo 3-D Optical Metrology for Inner Profile of Pipes Using a Scanning Laser Endoscope

NASA Astrophysics Data System (ADS)

Gong, Yuanzheng; Johnston, Richard S.; Melville, C. David; Seibel, Eric J.

2015-07-01

As the rapid progress in the development of optoelectronic components and computational power, 3-D optical metrology becomes more and more popular in manufacturing and quality control due to its flexibility and high speed. However, most of the optical metrology methods are limited to external surfaces. This article proposed a new approach to measure tiny internal 3-D surfaces with a scanning fiber endoscope and axial-stereo vision algorithm. A dense, accurate point cloud of internally machined threads was generated to compare with its corresponding X-ray 3-D data as ground truth, and the quantification was analyzed by Iterative Closest Points algorithm.

High accuracy heat capacity measurements through the lambda transition of helium with very high temperature resolution

NASA Technical Reports Server (NTRS)

Fairbanks, W. M.; Lipa, J. A.

1984-01-01

A measurement of the heat capacity singularity of helium at the lambda transition was performed with the aim of improving tests of the Renormalization Group (RG) predictions for the static thermodynamic behavior near the singularity. The goal was to approach as closely as possible to the lambda-point while making heat capacity measurements of high accuracy. To do this, a new temperature sensor capable of unprecedented resolution near the lambda-point, and two thermal control systems were used. A short description of the theoretical background and motivation is given. The initial apparatus and results are also described.

Quantum spin circulator in Y junctions of Heisenberg chains

NASA Astrophysics Data System (ADS)

Buccheri, Francesco; Egger, Reinhold; Pereira, Rodrigo G.; Ramos, Flávia B.

2018-06-01

We show that a quantum spin circulator, a nonreciprocal device that routes spin currents without any charge transport, can be achieved in Y junctions of identical spin-1 /2 Heisenberg chains coupled by a chiral three-spin interaction. Using bosonization, boundary conformal field theory, and density matrix renormalization group simulations, we find that a chiral fixed point with maximally asymmetric spin conductance arises at a critical point separating a regime of disconnected chains from a spin-only version of the three-channel Kondo effect. We argue that networks of spin-chain Y junctions provide a controllable approach to construct long-sought chiral spin-liquid phases.

A Computational Model of Human Table Tennis for Robot Application

NASA Astrophysics Data System (ADS)

Mülling, Katharina; Peters, Jan

Table tennis is a difficult motor skill which requires all basic components of a general motor skill learning system. In order to get a step closer to such a generic approach to the automatic acquisition and refinement of table tennis, we study table tennis from a human motor control point of view. We make use of the basic models of discrete human movement phases, virtual hitting points, and the operational timing hypothesis. Using these components, we create a computational model which is aimed at reproducing human-like behavior. We verify the functionality of this model in a physically realistic simulation of a Barrett WAM.

Decentralized Control of Sound Radiation using a High-Authority/Low-Authority Control Strategy with Anisotropic Actuators

NASA Technical Reports Server (NTRS)

Schiller, Noah H.; Cabell, Randolph H.; Fuller, Chris R.

2008-01-01

This paper describes a combined control strategy designed to reduce sound radiation from stiffened aircraft-style panels. The control architecture uses robust active damping in addition to high-authority linear quadratic Gaussian (LQG) control. Active damping is achieved using direct velocity feedback with triangularly shaped anisotropic actuators and point velocity sensors. While active damping is simple and robust, stability is guaranteed at the expense of performance. Therefore the approach is often referred to as low-authority control. In contrast, LQG control strategies can achieve substantial reductions in sound radiation. Unfortunately, the unmodeled interaction between neighboring control units can destabilize decentralized control systems. Numerical simulations show that combining active damping and decentralized LQG control can be beneficial. In particular, augmenting the in-bandwidth damping supplements the performance of the LQG control strategy and reduces the destabilizing interaction between neighboring control units.

Nonlinear Burn Control and Operating Point Optimization in ITER

NASA Astrophysics Data System (ADS)

Boyer, Mark; Schuster, Eugenio

2013-10-01

Control of the fusion power through regulation of the plasma density and temperature will be essential for achieving and maintaining desired operating points in fusion reactors and burning plasma experiments like ITER. In this work, a volume averaged model for the evolution of the density of energy, deuterium and tritium fuel ions, alpha-particles, and impurity ions is used to synthesize a multi-input multi-output nonlinear feedback controller for stabilizing and modulating the burn condition. Adaptive control techniques are used to account for uncertainty in model parameters, including particle confinement times and recycling rates. The control approach makes use of the different possible methods for altering the fusion power, including adjusting the temperature through auxiliary heating, modulating the density and isotopic mix through fueling, and altering the impurity density through impurity injection. Furthermore, a model-based optimization scheme is proposed to drive the system as close as possible to desired fusion power and temperature references. Constraints are considered in the optimization scheme to ensure that, for example, density and beta limits are avoided, and that optimal operation is achieved even when actuators reach saturation. Supported by the NSF CAREER award program (ECCS-0645086).

Sensing mode atomic force microscope

DOEpatents

Hough, Paul V. C.; Wang, Chengpu

2003-01-01

An atomic force microscope utilizes a pulse release system and improved method of operation to minimize contact forces between a probe tip affixed to a flexible cantilever and a specimen being measured. The pulse release system includes a magnetic particle affixed proximate the probe tip and an electromagnetic coil. When energized, the electromagnetic coil generates a magnetic field which applies a driving force on the magnetic particle sufficient to overcome adhesive forces exhibited between the probe tip and specimen. The atomic force microscope includes two independently displaceable piezo elements operable along a Z-axis. A controller drives the first Z-axis piezo element to provide a controlled approach between the probe tip and specimen up to a point of contact between the probe tip and specimen. The controller then drives the first Z-axis piezo element to withdraw the cantilever from the specimen. The controller also activates the pulse release system which drives the probe tip away from the specimen during withdrawal. Following withdrawal, the controller adjusts the height of the second Z-axis piezo element to maintain a substantially constant approach distance between successive samples.

An LMI approach to design H(infinity) controllers for discrete-time nonlinear systems based on unified models.

PubMed

Liu, Meiqin; Zhang, Senlin

2008-10-01

A unified neural network model termed standard neural network model (SNNM) is advanced. Based on the robust L(2) gain (i.e. robust H(infinity) performance) analysis of the SNNM with external disturbances, a state-feedback control law is designed for the SNNM to stabilize the closed-loop system and eliminate the effect of external disturbances. The control design constraints are shown to be a set of linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms (e.g. interior-point algorithms) to determine the control law. Most discrete-time recurrent neural network (RNNs) and discrete-time nonlinear systems modelled by neural networks or Takagi and Sugeno (T-S) fuzzy models can be transformed into the SNNMs to be robust H(infinity) performance analyzed or robust H(infinity) controller synthesized in a unified SNNM's framework. Finally, some examples are presented to illustrate the wide application of the SNNMs to the nonlinear systems, and the proposed approach is compared with related methods reported in the literature.

Energy storage requirements of dc microgrids with high penetration renewables under droop control

DOE PAGES

Weaver, Wayne W.; Robinett, Rush D.; Parker, Gordon G.; ...

2015-01-09

Energy storage is a important design component in microgrids with high penetration renewable sources to maintain the system because of the highly variable and sometimes stochastic nature of the sources. Storage devices can be distributed close to the sources and/or at the microgrid bus. In addition, storage requirements can be minimized with a centralized control architecture, but this creates a single point of failure. Distributed droop control enables a completely decentralized architecture but, the energy storage optimization becomes more difficult. Our paper presents an approach to droop control that enables the local and bus storage requirements to be determined. Givenmore » a priori knowledge of the design structure of a microgrid and the basic cycles of the renewable sources, we found that the droop settings of the sources are such that they minimize both the bus voltage variations and overall energy storage capacity required in the system. This approach can be used in the design phase of a microgrid with a decentralized control structure to determine appropriate droop settings as well as the sizing of energy storage devices.« less

Geotechnical approaches to coal ash content control in mining of complex structure deposits

NASA Astrophysics Data System (ADS)

Batugin, SA; Gavrilov, VL; Khoyutanov, EA

2017-02-01

Coal deposits having complex structure and nonuniform quality coal reserves require improved processes of production quality control. The paper proposes a method to present coal ash content as components of natural and technological dilution. It is chosen to carry out studies on the western site of Elginsk coal deposit, composed of four coal beds of complex structure. The reported estimates of coal ash content in the beds with respect to five components point at the need to account for such data in confirmation exploration, mine planning and actual mining. Basic means of analysis and control of overall ash content and its components are discussed.

A multiple-point geostatistical approach to quantifying uncertainty for flow and transport simulation in geologically complex environments

NASA Astrophysics Data System (ADS)

Cronkite-Ratcliff, C.; Phelps, G. A.; Boucher, A.

2011-12-01

In many geologic settings, the pathways of groundwater flow are controlled by geologic heterogeneities which have complex geometries. Models of these geologic heterogeneities, and consequently, their effects on the simulated pathways of groundwater flow, are characterized by uncertainty. Multiple-point geostatistics, which uses a training image to represent complex geometric descriptions of geologic heterogeneity, provides a stochastic approach to the analysis of geologic uncertainty. Incorporating multiple-point geostatistics into numerical models provides a way to extend this analysis to the effects of geologic uncertainty on the results of flow simulations. We present two case studies to demonstrate the application of multiple-point geostatistics to numerical flow simulation in complex geologic settings with both static and dynamic conditioning data. Both cases involve the development of a training image from a complex geometric description of the geologic environment. Geologic heterogeneity is modeled stochastically by generating multiple equally-probable realizations, all consistent with the training image. Numerical flow simulation for each stochastic realization provides the basis for analyzing the effects of geologic uncertainty on simulated hydraulic response. The first case study is a hypothetical geologic scenario developed using data from the alluvial deposits in Yucca Flat, Nevada. The SNESIM algorithm is used to stochastically model geologic heterogeneity conditioned to the mapped surface geology as well as vertical drill-hole data. Numerical simulation of groundwater flow and contaminant transport through geologic models produces a distribution of hydraulic responses and contaminant concentration results. From this distribution of results, the probability of exceeding a given contaminant concentration threshold can be used as an indicator of uncertainty about the location of the contaminant plume boundary. The second case study considers a characteristic lava-flow aquifer system in Pahute Mesa, Nevada. A 3D training image is developed by using object-based simulation of parametric shapes to represent the key morphologic features of rhyolite lava flows embedded within ash-flow tuffs. In addition to vertical drill-hole data, transient pressure head data from aquifer tests can be used to constrain the stochastic model outcomes. The use of both static and dynamic conditioning data allows the identification of potential geologic structures that control hydraulic response. These case studies demonstrate the flexibility of the multiple-point geostatistics approach for considering multiple types of data and for developing sophisticated models of geologic heterogeneities that can be incorporated into numerical flow simulations.

Solar tower cavity receiver aperture optimization based on transient optical and thermo-hydraulic modeling

NASA Astrophysics Data System (ADS)

Schöttl, Peter; Bern, Gregor; van Rooyen, De Wet; Heimsath, Anna; Fluri, Thomas; Nitz, Peter

2017-06-01

A transient simulation methodology for cavity receivers for Solar Tower Central Receiver Systems with molten salt as heat transfer fluid is described. Absorbed solar radiation is modeled with ray tracing and a sky discretization approach to reduce computational effort. Solar radiation re-distribution in the cavity as well as thermal radiation exchange are modeled based on view factors, which are also calculated with ray tracing. An analytical approach is used to represent convective heat transfer in the cavity. Heat transfer fluid flow is simulated with a discrete tube model, where the boundary conditions at the outer tube surface mainly depend on inputs from the previously mentioned modeling aspects. A specific focus is put on the integration of optical and thermo-hydraulic models. Furthermore, aiming point and control strategies are described, which are used during the transient performance assessment. Eventually, the developed simulation methodology is used for the optimization of the aperture opening size of a PS10-like reference scenario with cavity receiver and heliostat field. The objective function is based on the cumulative gain of one representative day. Results include optimized aperture opening size, transient receiver characteristics and benefits of the implemented aiming point strategy compared to a single aiming point approach. Future work will include annual simulations, cost assessment and optimization of a larger range of receiver parameters.

A nonlinear optimal control approach to stabilization of a macroeconomic development model

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Ghosh, T.; Sarno, D.

2017-11-01

A nonlinear optimal (H-infinity) control approach is proposed for the problem of stabilization of the dynamics of a macroeconomic development model that is known as the Grossman-Helpman model of endogenous product cycles. The dynamics of the macroeconomic development model is divided in two parts. The first one describes economic activities in a developed country and the second part describes variation of economic activities in a country under development which tries to modify its production so as to serve the needs of the developed country. The article shows that through control of the macroeconomic model of the developed country, one can finally control the dynamics of the economy in the country under development. The control method through which this is achieved is the nonlinear H-infinity control. The macroeconomic model for the country under development undergoes approximate linearization round a temporary operating point. This is defined at each time instant by the present value of the system's state vector and the last value of the control input vector that was exerted on it. The linearization is based on Taylor series expansion and the computation of the associated Jacobian matrices. For the linearized model an H-infinity feedback controller is computed. The controller's gain is calculated by solving an algebraic Riccati equation at each iteration of the control method. The asymptotic stability of the control approach is proven through Lyapunov analysis. This assures that the state variables of the macroeconomic model of the country under development will finally converge to the designated reference values.

Motor control theories and their applications.

PubMed

Latash, Mark L; Levin, Mindy F; Scholz, John P; Schöner, Gregor

2010-01-01

We describe several influential hypotheses in the field of motor control including the equilibrium-point (referent configuration) hypothesis, the uncontrolled manifold hypothesis, and the idea of synergies based on the principle of motor abundance. The equilibrium-point hypothesis is based on the idea of control with thresholds for activation of neuronal pools; it provides a framework for analysis of both voluntary and involuntary movements. In particular, control of a single muscle can be adequately described with changes in the threshold of motor unit recruitment during slow muscle stretch (threshold of the tonic stretch reflex). Unlike the ideas of internal models, the equilibrium-point hypothesis does not assume neural computations of mechanical variables. The uncontrolled manifold hypothesis is based on the dynamic system approach to movements; it offers a toolbox to analyze synergic changes within redundant sets of elements related to stabilization of potentially important performance variables. The referent configuration hypothesis and the principle of abundance can be naturally combined into a single coherent scheme of control of multi-element systems. A body of experimental data on healthy persons and patients with movement disorders are reviewed in support of the mentioned hypotheses. In particular, movement disorders associated with spasticity are considered as consequences of an impaired ability to shift threshold of the tonic stretch reflex within the whole normal range. Technical details and applications of the mentioned hypo-theses to studies of motor learning are described. We view the mentioned hypotheses as the most promising ones in the field of motor control, based on a solid physical and neurophysiological foundation.

Knowledge Management for Command and Control

DTIC Science & Technology

2004-06-01

interfaces relies on rich visual and conceptual understanding of what is sketched, rather than the pattern-recognition technologies that most systems use...recognizers) required by other approaches. • The underlying conceptual representations that nuSketch uses enable it to serve as a front end to knowledge...constructing enemy-intent hypotheses via mixed visual and conceptual analogies. II.C. Multi-ViewPoint Clustering Analysis (MVP-CA) technology To

Onboard utilization of ground control points for image correction. Volume 2: Analysis and simulation results

NASA Technical Reports Server (NTRS)

1981-01-01

An approach to remote sensing that meets future mission requirements was investigated. The deterministic acquisition of data and the rapid correction of data for radiometric effects and image distortions are the most critical limitations of remote sensing. The following topics are discussed: onboard image correction systems, GCP navigation system simulation, GCP analysis, and image correction analysis measurement.

QuickBird and OrbView-3 Geopositional Accuracy Assessment

NASA Technical Reports Server (NTRS)

Helder, Dennis; Ross, Kenton

2006-01-01

Objective: Compare vendor-provided image coordinates with known references visible in the imagery. Approach: Use multiple, well-characterized sites with >40 ground control points (GCPs); sites that are a) Well distributed; b) Accurately surveyed; and c) Easily found in imagery. Perform independent assessments with independent teams. Each team has slightly different measurement techniques and data processing methods. NASA Stennis Space Center. South Dakota State University.

Predictive Flow Control to Minimize Convective Time Delays

DTIC Science & Technology

2013-08-19

simulation. The CFO solver used is Cobalt, an unstructured finite-volume code developed for the solution of the compress- ible Navier-Stokes...cell-centered fin ite volume approach applicable to arbitrary cell topologies (e.g, hexahedra, prisms, tetrahedra). The spatial operator uses a Riemann ... solver , least squares gradient calculations using QR factorizati on to provide second order accuracy in space. A point implicit method using

[Rational drug use: an economic approach to decision making].

PubMed

Mota, Daniel Marques; da Silva, Marcelo Gurgel Carlos; Sudo, Elisa Cazue; Ortún, Vicente

2008-04-01

The present article approaches rational drug use (RDU) from the economical point of view. The implementation of RDU implies in costs and involves acquisition of knowledge and behavioral changes of several agents. The difficulties in implementing RDU may be due to shortage problems, information asymmetry, lack of information, uncertain clinical decisions, externalities, time-price, incentives for drug prescribers and dispensers, drug prescriber preferences and marginal utility. Health authorities, among other agencies, must therefore regularize, rationalize and control drug use to minimize inefficiency in pharmaceutical care and to prevent exposing the population to unnecessary health risks.

Nutrition in Diabetes.

PubMed

Hamdy, Osama; Barakatun-Nisak, Mohd-Yusof

2016-12-01

Medical nutrition therapy (MNT) is a key component of diabetes management. The importance of balancing macronutrients, reducing carbohydrate load, lowering glycemic index, and implementing an overall healthy dietary pattern are emerging as better approaches for MNT in diabetes. Recent research points to improved glycemic control, reduction in body weight, and improvement in many cardiovascular risk factors when these approaches are provided by registered dietitians or health care providers. This review article discusses the current evidence about the role of sensible nutrition in diabetes management. Specific eating plans for weight reduction and for patients with type 1 diabetes are also discussed. Copyright © 2016 Elsevier Inc. All rights reserved.

A nonlinear optimal control approach for chaotic finance dynamics

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Loia, V.; Tommasetti, A.; Troisi, O.

2017-11-01

A new nonlinear optimal control approach is proposed for stabilization of the dynamics of a chaotic finance model. The dynamic model of the financial system, which expresses interaction between the interest rate, the investment demand, the price exponent and the profit margin, undergoes approximate linearization round local operating points. These local equilibria are defined at each iteration of the control algorithm and consist of the present value of the systems state vector and the last value of the control inputs vector that was exerted on it. The approximate linearization makes use of Taylor series expansion and of the computation of the associated Jacobian matrices. The truncation of higher order terms in the Taylor series expansion is considered to be a modelling error that is compensated by the robustness of the control loop. As the control algorithm runs, the temporary equilibrium is shifted towards the reference trajectory and finally converges to it. The control method needs to compute an H-infinity feedback control law at each iteration, and requires the repetitive solution of an algebraic Riccati equation. Through Lyapunov stability analysis it is shown that an H-infinity tracking performance criterion holds for the control loop. This implies elevated robustness against model approximations and external perturbations. Moreover, under moderate conditions the global asymptotic stability of the control loop is proven.

Protease-modulating polyacrylate-based hydrogel stimulates wound bed preparation in venous leg ulcers – a randomized controlled trial

PubMed Central

Humbert, P; Faivre, B; Véran, Y; Debure, C; Truchetet, F; Bécherel, P-A; Plantin, P; Kerihuel, J-C; Eming, SA; Dissemond, J; Weyandt, G; Kaspar, D; Smola, H; Zöllner, P

2014-01-01

Background Stringent control of proteolytic activity represents a major therapeutic approach for wound-bed preparation. Objectives We tested whether a protease-modulating polyacrylate- (PA-) containing hydrogel resulted in a more efficient wound-bed preparation of venous leg ulcers when compared to an amorphous hydrogel without known protease-modulating properties. Methods Patients were randomized to the polyacrylate-based hydrogel (n = 34) or to an amorphous hydrogel (n = 41). Wound beds were evaluated by three blinded experts using photographs taken on days 0, 7 and 14. Results After 14 days of treatment there was an absolute decrease in fibrin and necrotic tissue of 37.6 ± 29.9 percentage points in the PA-based hydrogel group and by 16.8 ± 23.0 percentage points in the amorphous hydrogel group. The absolute increase in the proportion of ulcer area covered by granulation tissue was 36.0 ± 27.4 percentage points in the PA-based hydrogel group and 14.5 ± 22.0 percentage points in the control group. The differences between the groups were significant (decrease in fibrin and necrotic tissue P = 0.004 and increase in granulation tissue P = 0.0005, respectively). Conclusion In particular, long-standing wounds profited from the treatment with the PA-based hydrogel. These data suggest that PA-based hydrogel dressings can stimulate normalization of the wound environment, particularly in hard-to-heal ulcers. PMID:24612304

Comparision of photogrammetric point clouds with BIM building elements for construction progress monitoring

NASA Astrophysics Data System (ADS)

Tuttas, S.; Braun, A.; Borrmann, A.; Stilla, U.

2014-08-01

For construction progress monitoring a planned state of the construction at a certain time (as-planed) has to be compared to the actual state (as-built). The as-planed state is derived from a building information model (BIM), which contains the geometry of the building and the construction schedule. In this paper we introduce an approach for the generation of an as-built point cloud by photogrammetry. It is regarded that that images on a construction cannot be taken from everywhere it seems to be necessary. Because of this we use a combination of structure from motion process together with control points to create a scaled point cloud in a consistent coordinate system. Subsequently this point cloud is used for an as-built - as-planed comparison. For that voxels of an octree are marked as occupied, free or unknown by raycasting based on the triangulated points and the camera positions. This allows to identify not existing building parts. For the verification of the existence of building parts a second test based on the points in front and behind the as-planed model planes is performed. The proposed procedure is tested based on an inner city construction site under real conditions.

Statistical plant set estimation using Schroeder-phased multisinusoidal input design

NASA Technical Reports Server (NTRS)

Bayard, D. S.

1992-01-01

A frequency domain method is developed for plant set estimation. The estimation of a plant 'set' rather than a point estimate is required to support many methods of modern robust control design. The approach here is based on using a Schroeder-phased multisinusoid input design which has the special property of placing input energy only at the discrete frequency points used in the computation. A detailed analysis of the statistical properties of the frequency domain estimator is given, leading to exact expressions for the probability distribution of the estimation error, and many important properties. It is shown that, for any nominal parametric plant estimate, one can use these results to construct an overbound on the additive uncertainty to any prescribed statistical confidence. The 'soft' bound thus obtained can be used to replace 'hard' bounds presently used in many robust control analysis and synthesis methods.

Experimental Tracking of Limit-Point Bifurcations and Backbone Curves Using Control-Based Continuation

NASA Astrophysics Data System (ADS)

Renson, Ludovic; Barton, David A. W.; Neild, Simon A.

Control-based continuation (CBC) is a means of applying numerical continuation directly to a physical experiment for bifurcation analysis without the use of a mathematical model. CBC enables the detection and tracking of bifurcations directly, without the need for a post-processing stage as is often the case for more traditional experimental approaches. In this paper, we use CBC to directly locate limit-point bifurcations of a periodically forced oscillator and track them as forcing parameters are varied. Backbone curves, which capture the overall frequency-amplitude dependence of the system’s forced response, are also traced out directly. The proposed method is demonstrated on a single-degree-of-freedom mechanical system with a nonlinear stiffness characteristic. Results are presented for two configurations of the nonlinearity — one where it exhibits a hardening stiffness characteristic and one where it exhibits softening-hardening.

An intelligent data acquisition system for fluid mechanics research

NASA Technical Reports Server (NTRS)

Cantwell, E. R.; Zilliac, G.; Fukunishi, Y.

1989-01-01

This paper describes a novel data acquisition system for use with wind-tunnel probe-based measurements, which incorporates a degree of specific fluid dynamics knowledge into a simple expert system-like control program. The concept was developed with a rudimentary expert system coupled to a probe positioning mechanism operating in a small-scale research wind tunnel. The software consisted of two basic elements, a general-purpose data acquisition system and the rulebased control element to take and analyze data and supplying decisions as to where to measure, how many data points to take, and when to stop. The system was validated in an experiment involving a vortical flow field, showing that it was possible to increase the resolution of the experiment or, alternatively, reduce the total number of data points required, to achieve parity with the results of most conventional data acquisition approaches.

Mission design for NISAR repeat-pass Interferometric SAR

NASA Astrophysics Data System (ADS)

Alvarez-Salazar, Oscar; Hatch, Sara; Rocca, Jennifer; Rosen, Paul; Shaffer, Scott; Shen, Yuhsyen; Sweetser, Theodore; Xaypraseuth, Peter

2014-10-01

The proposed spaceborne NASA-ISRO SAR (NISAR) mission would use the repeat-pass interferometric Synthetic Aperture Radar (InSAR) technique to measure the changing shape of Earth's surface at the centimeter scale in support of investigations in solid Earth and cryospheric sciences. Repeat-pass InSAR relies on multiple SAR observations acquired from nearly identical positions of the spacecraft as seen from the ground. Consequently, there are tight constraints on the repeatability of the orbit, and given the narrow field of view of the radar antenna beam, on the repeatability of the beam pointing. The quality and accuracy of the InSAR data depend on highly precise control of both orbital position and observatory pointing throughout the science observation life of the mission. This paper describes preliminary NISAR requirements and rationale for orbit repeatability and attitude control in order to meet science requirements. A preliminary error budget allocation and an implementation approach to meet these allocations are also discussed.

Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots

PubMed Central

Cabanes, Itziar; Mancisidor, Aitziber; Pinto, Charles

2017-01-01

The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software. PMID:28832510

a Method for Simultaneous Aerial and Terrestrial Geodata Acquisition for Corridor Mapping

NASA Astrophysics Data System (ADS)

Molina, P.; Blázquez, M.; Sastre, J.; Colomina, I.

2015-08-01

In this paper, we present mapKITE, a new mobile, simultaneous terrestrial and aerial, geodata collection and post-processing method. On one side, the method combines a terrestrial mobile mapping system (TMMS) with an unmanned aerial mapping one, both equipped with remote sensing payloads (at least, a nadir-looking visible-band camera in the UA) by means of which aerial and terrestrial geodata are acquired simultaneously. This tandem geodata acquisition system is based on a terrestrial vehicle (TV) and on an unmanned aircraft (UA) linked by a 'virtual tether', that is, a mechanism based on the real-time supply of UA waypoints by the TV. By means of the TV-to-UA tether, the UA follows the TV keeping a specific relative TV-to-UA spatial configuration enabling the simultaneous operation of both systems to obtain highly redundant and complementary geodata. On the other side, mapKITE presents a novel concept for geodata post-processing favoured by the rich geometrical aspects derived from the mapKITE tandem simultaneous operation. The approach followed for sensor orientation and calibration of the aerial images captured by the UA inherits the principles of Integrated Sensor Orientation (ISO) and adds the pointing-and-scaling photogrammetric measurement of a distinctive element observed in every UA image, which is a coded target mounted on the roof of the TV. By means of the TV navigation system, the orientation of the TV coded target is performed and used in the post-processing UA image orientation approach as a Kinematic Ground Control Point (KGCP). The geometric strength of a mapKITE ISO network is therefore high as it counts with the traditional tie point image measurements, static ground control points, kinematic aerial control and the new point-and-scale measurements of the KGCPs. With such a geometry, reliable system and sensor orientation and calibration and eventual further reduction of the number of traditional ground control points is feasible. The different technical concepts, challenges and breakthroughs behind mapKITE are presented in this paper, such as the TV-to-UA virtual tether and the use of KGCP measurements for UA sensor orientation. In addition, the use in mapKITE of new European GNSS signals such as the Galileo E5 AltBOC is discussed. Because of the critical role of GNSS technologies and the potential impact on the corridor mapping market, the European Commission and the European GNSS Agency, in the frame of the European Union Framework Programme for Research and Innovation "Horizon 2020," have recently awarded the "mapKITE" project to an international consortium of organizations coordinated by GeoNumerics S.L.

The influence of control parameter estimation on large scale geomorphological interpretation of pointclouds

NASA Astrophysics Data System (ADS)

Dorninger, P.; Koma, Z.; Székely, B.

2012-04-01

In recent years, laser scanning, also referred to as LiDAR, has proved to be an important tool for topographic data acquisition. Basically, laser scanning acquires a more or less homogeneously distributed point cloud. These points represent all natural objects like terrain and vegetation as well as man-made objects such as buildings, streets, powerlines, or other constructions. Due to the enormous amount of data provided by current scanning systems capturing up to several hundred thousands of points per second, the immediate application of such point clouds for large scale interpretation and analysis is often prohibitive due to restrictions of the hard- and software infrastructure. To overcome this, numerous methods for the determination of derived products do exist. Commonly, Digital Terrain Models (DTM) or Digital Surface Models (DSM) are derived to represent the topography using a regular grid as datastructure. The obvious advantages are a significant reduction of the amount of data and the introduction of an implicit neighborhood topology enabling the application of efficient post processing methods. The major disadvantages are the loss of 3D information (i.e. overhangs) as well as the loss of information due to the interpolation approach used. We introduced a segmentation approach enabling the determination of planar structures within a given point cloud. It was originally developed for the purpose of building modeling but has proven to be well suited for large scale geomorphological analysis as well. The result is an assignment of the original points to a set of planes. Each plane is represented by its plane parameters. Additionally, numerous quality and quantity parameters are determined (e.g. aspect, slope, local roughness, etc.). In this contribution, we investigate the influence of the control parameters required for the plane segmentation on the geomorphological interpretation of the derived product. The respective control parameters may be determined either automatically (i.e. estimated of the given data) or manually (i.e. supervised parameter estimation). Additionally, the result might be influenced if data processing is performed locally (i.e. using tiles) or globally. Local processing of the data has the advantages of generally performing faster, having less hardware requirements, and enabling the determination of more detailed information. By contrast, especially in geomorphological interpretation, a global data processing enables determining large scale relations within the dataset analyzed. We investigated the influence of control parameter settings on the geomorphological interpretation on airborne and terrestrial laser scanning data sets of the landslide at Doren (Vorarlberg, Austria), on airborne laser scanning data of the western cordilleras of the central Andes, and on HRSC terrain data of the Mars surface. Topics discussed are the suitability of automated versus manual determination of control parameters, the influence of the definition of the area of interest (local versus global application) as well as computational performance.

Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

NASA Astrophysics Data System (ADS)

Tang, T. F.; Chong, S. H.

2017-06-01

This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

A system identification approach for developing model predictive controllers of antibody quality attributes in cell culture processes

PubMed Central

Schmitt, John; Beller, Justin; Russell, Brian; Quach, Anthony; Hermann, Elizabeth; Lyon, David; Breit, Jeffrey

2017-01-01

As the biopharmaceutical industry evolves to include more diverse protein formats and processes, more robust control of Critical Quality Attributes (CQAs) is needed to maintain processing flexibility without compromising quality. Active control of CQAs has been demonstrated using model predictive control techniques, which allow development of processes which are robust against disturbances associated with raw material variability and other potentially flexible operating conditions. Wide adoption of model predictive control in biopharmaceutical cell culture processes has been hampered, however, in part due to the large amount of data and expertise required to make a predictive model of controlled CQAs, a requirement for model predictive control. Here we developed a highly automated, perfusion apparatus to systematically and efficiently generate predictive models using application of system identification approaches. We successfully created a predictive model of %galactosylation using data obtained by manipulating galactose concentration in the perfusion apparatus in serialized step change experiments. We then demonstrated the use of the model in a model predictive controller in a simulated control scenario to successfully achieve a %galactosylation set point in a simulated fed‐batch culture. The automated model identification approach demonstrated here can potentially be generalized to many CQAs, and could be a more efficient, faster, and highly automated alternative to batch experiments for developing predictive models in cell culture processes, and allow the wider adoption of model predictive control in biopharmaceutical processes. © 2017 The Authors Biotechnology Progress published by Wiley Periodicals, Inc. on behalf of American Institute of Chemical Engineers Biotechnol. Prog., 33:1647–1661, 2017 PMID:28786215

Tracking Nitrogen Sources, Transformation, and Transport at a Basin Scale with Complex Plain River Networks.

PubMed

Yi, Qitao; Chen, Qiuwen; Hu, Liuming; Shi, Wenqing

2017-05-16

This research developed an innovative approach to reveal nitrogen sources, transformation, and transport in large and complex river networks in the Taihu Lake basin using measurement of dual stable isotopes of nitrate. The spatial patterns of δ 15 N corresponded to the urbanization level, and the nitrogen cycle was associated with the hydrological regime at the basin level. During the high flow season of summer, nonpoint sources from fertilizer/soils and atmospheric deposition constituted the highest proportion of the total nitrogen load. The point sources from sewage/manure, with high ammonium concentrations and high δ 15 N and δ 18 O contents in the form of nitrate, accounted for the largest inputs among all sources during the low flow season of winter. Hot spot areas with heavy point source pollution were identified, and the pollutant transport routes were revealed. Nitrification occurred widely during the warm seasons, with decreased δ 18 O values; whereas great potential for denitrification existed during the low flow seasons of autumn and spring. The study showed that point source reduction could have effects over the short-term; however, long-term efforts to substantially control agriculture nonpoint sources are essential to eutrophication alleviation for the receiving lake, which clarifies the relationship between point and nonpoint source control.

Surgical management of insertional calcific achilles tendinosis with a central tendon splitting approach.

PubMed

Johnson, Keith W; Zalavras, Charalampos; Thordarson, David B

2006-04-01

Insertional calcific Achilles tendinosis is a painful, frequently disabling condition. Numerous operative approaches for this problem have been described. This study evaluated the outcome of a central tendon splitting approach. Twenty-two patients were evaluated after a central tendon splitting approach for persistent insertional calcific Achilles tendinosis. Followup averaged 34 (11 to 64) months. Suture anchors were routinely used to augment the tendon insertion after debridement. An American Orthopaedic Foot and Ankle Society (AOFAS) hindfoot score, shoewear comfort, and return to work were evaluated. A paired t-test was used to evaluate the results. Pain significantly improved from 7 points preoperatively to 33 points postoperatively (p < 0.001). Function improved significantly from 36 points to 46 points (p < 0.001). The ankle-hindfoot score improved from 53 points to 89 points (p < 0.001). Age older or younger than 50 years did not affect outcome. A central tendon splitting approach yielded good relief of pain with improved function, shoewear, and ability to work without painful postoperative scars.

Robust decentralized control laws for the ACES structure

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Phillips, Douglas J.; Hyland, David C.

1991-01-01

Control system design for the Active Control Technique Evaluation for Spacecraft (ACES) structure at NASA Marshall Space Flight Center is discussed. The primary objective of this experiment is to design controllers that provide substantial reduction of the line-of-sight pointing errors. Satisfaction of this objective requires the controllers to attenuate beam vibration significantly. The primary method chosen for control design is the optimal projection approach for uncertain systems (OPUS). The OPUS design process allows the simultaneous tradeoff of five fundamental issues in control design: actuator sizing, sensor accuracy, controller order, robustness, and system performance. A brief description of the basic ACES configuration is given. The development of the models used for control design and control design for eight system loops that were selected by analysis of test data collected from the structure are discussed. Experimental results showing that very significant performance improvement is achieved when all eight feedback loops are closed are presented.

Controlled manipulation of flexible carbon nanotubes through shape-dependent pushing by atomic force microscopy.

PubMed

Yang, Seung-Cheol; Qian, Xiaoping

2013-09-17

A systematic approach to manipulating flexible carbon nanotubes (CNTs) has been developed on the basis of atomic force microscope (AFM) based pushing. Pushing CNTs enables efficient transport and precise location of individual CNTs. A key issue for pushing CNTs is preventing defective distortion in repetitive bending and unbending deformation. The approach presented here controls lateral movement of an AFM tip to bend CNTs without permanent distortion. The approach investigates possible defects caused by tensile strain of the outer tube under uniform bending and radial distortion by kinking. Using the continuum beam model and experimental bending tests, dependency of maximum bending strain on the length of bent CNTs and radial distortion on bending angles at a bent point have been demonstrated. Individual CNTs are manipulated by limiting the length of bent CNTs and the bending angle. In our approach, multiwalled CNTs with 5-15 nm diameter subjected to bending deformation produce no outer tube breakage under uniform bending and reversible radial deformation with bending angles less than 110°. The lateral tip movement is determined by a simple geometric model that relies on the shape of multiwalled CNTs. The model effectively controls deforming CNT length and bending angle for given CNT shape. Experimental results demonstrate successful manipulation of randomly dispersed CNTs without visual defects. This approach to pushing can be extended to develop a wide range of CNT based nanodevice applications.

Report on SNL RCBC control options

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

Ponciroli, R.; Vilim, R. B.

The attractive performance of the S-CO 2 recompression cycle arises from the thermo-physical properties of carbon dioxide near the critical point. However, to ensure efficient operation of the cycle near the critical point, precise control of the heat removal rate by the Printed Circuit Heat Exchanger (PCHE) upstream of the main compressor is required. Accomplishing this task is not trivial because of the large variations in fluid properties with respect to temperature and pressure near the critical point. The use of a model-based approach for the design of a robust feedback regulator is being investigated to achieve acceptable control ofmore » heat removal rate at different operating conditions. A first step in this procedure is the development of a dynamic model of the heat exchanger. In this work, a one-dimensional (1-D) control-oriented model of the PCHE was developed using the General Plant Analyzer and System Simulator (GPASS) code. GPASS is a transient simulation code that supports analysis and control of power conversion cycles based on the S-CO 2 Brayton cycle. This modeling capability was used this fiscal year to analyze experiment data obtained from the heat exchanger in the SNL recompression Brayton cycle. The analysis suggested that the error in the water flowrate measurement was greater than required for achieving precise control of heat removal rate. Accordingly, a new water flowmeter was installed, significantly improving the quality of the measurement. Comparison of heat exchanger measurements in subsequent experiments with code simulations yielded good agreement establishing a reliable basis for the use of the GPASS PCHE model for future development of a model-based feedback controller.« less

Input design for identification of aircraft stability and control derivatives

NASA Technical Reports Server (NTRS)

Gupta, N. K.; Hall, W. E., Jr.

1975-01-01

An approach for designing inputs to identify stability and control derivatives from flight test data is presented. This approach is based on finding inputs which provide the maximum possible accuracy of derivative estimates. Two techniques of input specification are implemented for this objective - a time domain technique and a frequency domain technique. The time domain technique gives the control input time history and can be used for any allowable duration of test maneuver, including those where data lengths can only be of short duration. The frequency domain technique specifies the input frequency spectrum, and is best applied for tests where extended data lengths, much longer than the time constants of the modes of interest, are possible. These technqiues are used to design inputs to identify parameters in longitudinal and lateral linear models of conventional aircraft. The constraints of aircraft response limits, such as on structural loads, are realized indirectly through a total energy constraint on the input. Tests with simulated data and theoretical predictions show that the new approaches give input signals which can provide more accurate parameter estimates than can conventional inputs of the same total energy. Results obtained indicate that the approach has been brought to the point where it should be used on flight tests for further evaluation.

Autonomous formation flight of helicopters: Model predictive control approach

NASA Astrophysics Data System (ADS)

Chung, Hoam

Formation flight is the primary movement technique for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams are required to fly in tight formations and under harsh conditions. This dissertation proposes that the automation of helicopter formations is a realistic solution capable of alleviating risks. Helicopter formation flight operations in battlefield situations are highly dynamic and dangerous, and, therefore, we maintain that both a high-level formation management system and a distributed coordinated control algorithm should be implemented to help ensure safe formations. The starting point for safe autonomous formation flights is to design a distributed control law attenuating external disturbances coming into a formation, so that each vehicle can safely maintain sufficient clearance between it and all other vehicles. While conventional methods are limited to homogeneous formations, our decentralized model predictive control (MPC) approach allows for heterogeneity in a formation. In order to avoid the conservative nature inherent in distributed MPC algorithms, we begin by designing a stable MPC for individual vehicles, and then introducing carefully designed inter-agent coupling terms in a performance index. Thus the proposed algorithm works in a decentralized manner, and can be applied to the problem of helicopter formations comprised of heterogenous vehicles. Individual vehicles in a team may be confronted by various emerging situations that will require the capability for in-flight reconfiguration. We propose the concept of a formation manager to manage separation, join, and synchronization of flight course changes. The formation manager accepts an operator's commands, information from neighboring vehicles, and its own vehicle states. Inside the formation manager, there are multiple modes and complex mode switchings represented as a finite state machine (FSM). Based on the current mode and collected information, the FSM generates discrete reference points in state space. Then, the reference trajectory generator makes smooth trajectories from discrete reference points using interpolation and/or an online optimization scheme. By modifying the reference trajectory and triggering mode changes, the formation manager can override behaviors of the MPC controller. When a vehicle outside of the formation approaches a vehicle at the edge of the formation, the motion of the vehicle at the formation edge acts like a disturbance with respect to the vehicle attempting to join the formation. The vehicle at the edge of the formation cannot cooperate with any vehicle outside of the formation due to constraints on maintaining the existing formation. (Abstract shortened by UMI.)

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

PubMed

Fei, Juntao; Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

Forecast Method of Solar Irradiance with Just-In-Time Modeling

NASA Astrophysics Data System (ADS)

Suzuki, Takanobu; Goto, Yusuke; Terazono, Takahiro; Wakao, Shinji; Oozeki, Takashi

PV power output mainly depends on the solar irradiance which is affected by various meteorological factors. So, it is required to predict solar irradiance in the future for the efficient operation of PV systems. In this paper, we develop a novel approach for solar irradiance forecast, in which we introduce to combine the black-box model (JIT Modeling) with the physical model (GPV data). We investigate the predictive accuracy of solar irradiance over wide controlled-area of each electric power company by utilizing the measured data on the 44 observation points throughout Japan offered by JMA and the 64 points around Kanto by NEDO. Finally, we propose the application forecast method of solar irradiance to the point which is difficulty in compiling the database. And we consider the influence of different GPV default time on solar irradiance prediction.

In-Flight Guidance, Navigation, and Control Performance Results for the GOES-16 Spacecraft

NASA Technical Reports Server (NTRS)

Chapel, Jim; Stancliffe, Devin; Bevacqua, Tim; Winkler, Stephen; Clapp, Brian; Rood, Tim; Freesland, Doug; Reth, Alan; Early, Derrick; Walsh, Tim;

Learning-based position control of a closed-kinematic chain robot end-effector

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Real-Time Control of an Ensemble of Heterogeneous Resources

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

Bernstein, Andrey; Bouman, Niek J.; Le Boudec, Jean-Yves

This paper focuses on the problem of controlling an ensemble of heterogeneous resources connected to an electrical grid at the same point of common coupling (PCC). The controller receives an aggregate power setpoint for the ensemble in real time and tracks this setpoint by issuing individual optimal setpoints to the resources. The resources can have continuous or discrete nature (e.g., heating systems consisting of a finite number of heaters that each can be either switched on or off) and/or can be highly uncertain (e.g., photovoltaic (PV) systems or residential loads). A naive approach would lead to a stochastic mixed-integer optimizationmore » problem to be solved at the controller at each time step, which might be infeasible in real time. Instead, we allow the controller to solve a continuous convex optimization problem and compensate for the errors at the resource level by using a variant of the well-known error diffusion algorithm. We give conditions guaranteeing that our algorithm tracks the power setpoint at the PCC on average while issuing optimal setpoints to individual resources. We illustrate the approach numerically by controlling a collection of batteries, PV systems, and discrete loads.« less

Algorithms for a Closed-Loop Artificial Pancreas: The Case for Model Predictive Control

PubMed Central

Bequette, B. Wayne

2013-01-01

The relative merits of model predictive control (MPC) and proportional-integral-derivative (PID) control are discussed, with the end goal of a closed-loop artificial pancreas (AP). It is stressed that neither MPC nor PID are single algorithms, but rather are approaches or strategies that may be implemented very differently by different engineers. The primary advantages to MPC are that (i) constraints on the insulin delivery rate (and/or insulin on board) can be explicitly included in the control calculation; (ii) it is a general framework that makes it relatively easy to include the effect of meals, exercise, and other events that are a function of the time of day; and (iii) it is flexible enough to include many different objectives, from set-point tracking (target) to zone (control to range). In the end, however, it is recognized that the control algorithm, while important, represents only a portion of the effort required to develop a closed-loop AP. Thus, any number of algorithms/approaches can be successful—the engineers involved in the design must have experience with the particular technique, including the important experience of implementing the algorithm in human studies and not simply through simulation studies. PMID:24351190

A model-based gain scheduling approach for controlling the common-rail system for GDI engines

NASA Astrophysics Data System (ADS)

di Gaeta, Alessandro; Montanaro, Umberto; Fiengo, Giovanni; Palladino, Angelo; Giglio, Veniero

2012-04-01

The progressive reduction in vehicle emission requirements have forced the automotive industry to invest in research for developing alternative and more efficient control strategies. All control features and resources are permanently active in an electronic control unit (ECU), ensuring the best performance with respect to emissions, fuel economy, driveability and diagnostics, independently from engine working point. In this article, a considerable step forward has been achieved by the common-rail technology which has made possible to vary the injection pressure over the entire engine speed range. As a consequence, the injection of a fixed amount of fuel is more precise and multiple injections in a combustion cycle can be made. In this article, a novel gain scheduling pressure controller for gasoline direct injection (GDI) engine is designed to stabilise the mean fuel pressure into the rail and to track demanded pressure trajectories. By exploiting a simple control-oriented model describing the mean pressure dynamics in the rail, the control structure turns to be simple enough to be effectively implemented in commercial ECUs. Experimental results in a wide range of operating points confirm the effectiveness of the proposed control method to tame efficiently the mean value pressure dynamics of the plant showing a good accuracy and robustness with respect to unavoidable parameters uncertainties, unmodelled dynamics, and hidden coupling terms.

The positional relationship between facial nerve and round window niche in patients with congenital aural atresia and stenosis.

PubMed

Chen, Keguang; Lyu, Huiying; Xie, Youzhou; Yang, Lin; Zhang, Tianyu; Dai, Peidong

2016-03-01

To investigate whether differences existing in the distance between facial nerve (FN) and round window niche opening among congenital aural atresia (CAA), congenital aural stenosis (CAS) and a normal control group and to assess its effect on the round window implantation of vibrant soundbridge, CT images of 10 normal subjects (20 ears), 27 CAS patients (30 ears) and 25 CAA patients (30 ears) were analyzed. The distances from the central point of round window niche opening to the terminal point of the horizontal segment, the salient point of pyramidal segment, the beginning point of the vertical segment, and the vertical segment of the facial nerve (abbreviate as OA, OB, OC, OE, respectively) were calculated based on three-dimensional reconstruction using mimics software. The results suggested that the pyramidal segment of the FN was positioned more closely to round window niche opening in patients with both CAA and CAS groups than that in control group, whereas there was no significant difference between CAA and CAS group (P < 0.05). The vertical portion of the FN was positioned more closely to round window niche opening in the CAA group than those in both the CAS and control groups with statistical significance (P < 0.05). Furthermore, the vertical portion of the FN was positioned more closely to round window niche opening in the CAS group than that in control group (P < 0.05). In conclusion, the dislocation between facial nerve and round window niche in patients with congenital auditory canal malformations could have significant effects on the round window implantation of vibrant soundbridge. Moreover, three-dimensional measurements and assessments before surgery might be helpful for a safer surgical approach and implantation of vibrant soundbridge.

Endovascular therapy for acute ischemic stroke.

PubMed

Broderick, Joseph P

2009-03-01

To review advances in endovascular therapy for acute ischemic stroke. Data from primate studies, randomized studies of intravenous recombinant tissue-type plasminogen activator, and nonrandomized and randomized studies of endovascular therapy were reviewed. Clinical trial data demonstrate the superiority of endovascular treatment with thrombolytic medication or mechanical methods to reopen arteries compared with control patients from the PROACT II Trial treated with heparin alone. However, these same clinical trials, as well as preclinical primate models, indicate that recanalization, whether by endovascular approaches or standard-dose recombinant tissue-type plasminogen activator, is unlikely to improve clinical outcome after a certain time point. Although the threshold beyond which reperfusion has no or little benefit has yet to be conclusively defined, accumulated data to this point indicate an overall threshold of approximately 6 to 7 hours. In addition, although the risk of symptomatic intracerebral hemorrhage is similar in trials of intravenous lytics and endovascular approaches, endovascular approaches have distinctive risk profiles that can impact outcome. The treatment of acute ischemic stroke is evolving with new tools to reopen arteries and salvage the ischemic brain. Ongoing randomized trials of these new approaches are prerequisite next steps to demonstrate whether reperfusion translates into clinical effectiveness. Physiologic time to reperfusion will remain critical no matter which tools prove most effective and safest.

Paper-based microfluidic approach for surface-enhanced raman spectroscopy and highly reproducible detection of proteins beyond picomolar concentration.

PubMed

Saha, Arindam; Jana, Nikhil R

2015-01-14

Although microfluidic approach is widely used in various point of care diagnostics, its implementation in surface enhanced Raman spectroscopy (SERS)-based detection is challenging. This is because SERS signal depends on plasmonic nanoparticle aggregation induced generation of stable electromagnetic hot spots and in currently available microfluidic platform this condition is difficult to adapt. Here we show that SERS can be adapted using simple paper based microfluidic system where both the plasmonic nanomaterials and analyte are used in mobile phase. This approach allows analyte induced controlled particle aggregation and electromagnetic hot spot generation inside the microfluidic channel with the resultant SERS signal, which is highly reproducible and sensitive. This approach has been used for reproducible detection of protein in the pico to femtomolar concentration. Presented approach is simple, rapid, and cost-effective, and requires low sample volume. Method can be extended for SERS-based detection of other biomolecules.

Initial flight and simulator evaluation of a head up display for standard and noise abatement visual approaches

NASA Technical Reports Server (NTRS)

Bourquin, K.; Palmer, E. A.; Cooper, G.; Gerdes, R. M.

1973-01-01

A preliminary assessment was made of the adequacy of a simple head up display (HUD) for providing vertical guidance for flying noise abatement and standard visual approaches in a jet transport. The HUD featured gyro-stabilized approach angle scales which display the angle of declination to any point on the ground and a horizontal flight path bar which aids the pilot in his control of the aircraft flight path angle. Thirty-three standard and noise abatement approaches were flown in a Boeing 747 aircraft equipped with a head up display. The HUD was also simulated in a research simulator. The simulator was used to familiarize the pilots with the display and to determine the most suitable way to use the HUD for making high capture noise abatement approaches. Preliminary flight and simulator data are presented and problem areas that require further investigation are identified.

Application of variable-gain output feedback for high-alpha control

NASA Technical Reports Server (NTRS)

Ostroff, Aaron J.

1990-01-01

A variable-gain, optimal, discrete, output feedback design approach that is applied to a nonlinear flight regime is described. The flight regime covers a wide angle-of-attack range that includes stall and post stall. The paper includes brief descriptions of the variable-gain formulation, the discrete-control structure and flight equations used to apply the design approach, and the high performance airplane model used in the application. Both linear and nonlinear analysis are shown for a longitudinal four-model design case with angles of attack of 5, 15, 35, and 60 deg. Linear and nonlinear simulations are compared for a single-point longitudinal design at 60 deg angle of attack. Nonlinear simulations for the four-model, multi-mode, variable-gain design include a longitudinal pitch-up and pitch-down maneuver and high angle-of-attack regulation during a lateral maneuver.

Precision Pointing Control to and Accurate Target Estimation of a Non-Cooperative Vehicle

NASA Technical Reports Server (NTRS)

VanEepoel, John; Thienel, Julie; Sanner, Robert M.

2006-01-01

In 2004, NASA began investigating a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates in order to achieve capture by the proposed Hubble Robotic Vehicle (HRV), but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST. To generalize the situation, HST is the target vehicle and HRV is the chaser. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a control scheme. Non-cooperative in this context relates to the target vehicle no longer having the ability to maintain attitude control or transmit attitude knowledge.

The use of locally optimal trajectory management for base reaction control of robots in a microgravity environment

NASA Technical Reports Server (NTRS)

Lin, N. J.; Quinn, R. D.

1991-01-01

A locally-optimal trajectory management (LOTM) approach is analyzed, and it is found that care should be taken in choosing the Ritz expansion and cost function. A modified cost function for the LOTM approach is proposed which includes the kinetic energy along with the base reactions in a weighted and scale sum. The effects of the modified functions are demonstrated with numerical examples for robots operating in two- and three-dimensional space. It is pointed out that this modified LOTM approach shows good performance, the reactions do not fluctuate greatly, joint velocities reach their objectives at the end of the manifestation, and the CPU time is slightly more than twice the manipulation time.

Design of a broadband active silencer using μ-synthesis

NASA Astrophysics Data System (ADS)

Bai, Mingsian R.; Zeung, Pingshun

2004-01-01

A robust spatially feedforward controller is developed for broadband attenuation of noise in ducts. To meet the requirements of robust performance and robust stability in the presence of plant uncertainties, a μ-synthesis procedure via D- K iteration is exploited to obtain the optimal controller. This approach considers uncertainties as modelling errors of the nominal plant in high frequency and is implemented using a floating point digital signal processor (DSP). Experimental investigation was undertaken on a finite-length duct to justify the proposed controller. The μ- controller is compared to other control algorithms such as the H2 method, the H∞ method and the filtered-U least mean square (FULMS) algorithm. Experimental results indicate that the proposed system has attained 25.8 dB maximal attenuation in the band 250-650 Hz.

A biologically inspired approach to modeling unmanned vehicle teams

NASA Astrophysics Data System (ADS)

Cortesi, Roger S.; Galloway, Kevin S.; Justh, Eric W.

2008-04-01

Cooperative motion control of teams of agile unmanned vehicles presents modeling challenges at several levels. The "microscopic equations" describing individual vehicle dynamics and their interaction with the environment may be known fairly precisely, but are generally too complicated to yield qualitative insights at the level of multi-vehicle trajectory coordination. Interacting particle models are suitable for coordinating trajectories, but require care to ensure that individual vehicles are not driven in a "costly" manner. From the point of view of the cooperative motion controller, the individual vehicle autopilots serve to "shape" the microscopic equations, and we have been exploring the interplay between autopilots and cooperative motion controllers using a multivehicle hardware-in-the-loop simulator. Specifically, we seek refinements to interacting particle models in order to better describe observed behavior, without sacrificing qualitative understanding. A recent analogous example from biology involves introducing a fixed delay into a curvature-control-based feedback law for prey capture by an echolocating bat. This delay captures both neural processing time and the flight-dynamic response of the bat as it uses sensor-driven feedback. We propose a comparable approach for unmanned vehicle modeling; however, in contrast to the bat, with unmanned vehicles we have an additional freedom to modify the autopilot. Simulation results demonstrate the effectiveness of this biologically guided modeling approach.

Touchless attitude correction for satellite with constant magnetic moment

NASA Astrophysics Data System (ADS)

Ao, Hou-jun; Yang, Le-ping; Zhu, Yan-wei; Zhang, Yuan-wen; Huang, Huan

2017-09-01

Rescue of satellite with attitude fault is of great value. Satellite with improper injection attitude may lose contact with ground as the antenna points to the wrong direction, or encounter energy problems as solar arrays are not facing the sun. Improper uploaded command may set the attitude out of control, exemplified by Japanese Hitomi spacecraft. In engineering practice, traditional physical contact approaches have been applied, yet with a potential risk of collision and a lack of versatility since the mechanical systems are mission-specific. This paper puts forward a touchless attitude correction approach, in which three satellites are considered, one having constant dipole and two having magnetic coils to control attitude of the first. Particular correction configurations are designed and analyzed to maintain the target's orbit during the attitude correction process. A reference coordinate system is introduced to simplify the control process and avoid the singular value problem of Euler angles. Based on the spherical triangle basic relations, the accurate varying geomagnetic field is considered in the attitude dynamic mode. Sliding mode control method is utilized to design the correction law. Finally, numerical simulation is conducted to verify the theoretical derivation. It can be safely concluded that the no-contact attitude correction approach for the satellite with uniaxial constant magnetic moment is feasible and potentially applicable to on-orbit operations.

Patterned Photostimulation with Digital Micromirror Devices to Investigate Dendritic Integration Across Branch Points

PubMed Central

Santos, M. Daniel; Tang, Cha-Min

2011-01-01

Light is a versatile and precise means to control neuronal excitability. The recent introduction of light sensitive effectors such as channel-rhodopsin and caged neurotransmitters have led to interests in developing better means to control patterns of light in space and time that are useful for experimental neuroscience. One conventional strategy, employed in confocal and 2-photon microscopy, is to focus light to a diffraction limited spot and then scan that single spot sequentially over the region of interest. This approach becomes problematic if large areas have to be stimulated within a brief time window, a problem more applicable to photostimulation than for imaging. An alternate strategy is to project the complete spatial pattern on the target with the aid of a digital micromirror device (DMD). The DMD approach is appealing because the hardware components are relatively inexpensive and is supported by commercial interests. Because such a system is not available for upright microscopes, we will discuss the critical issues in the construction and operations of such a DMD system. Even though we will be primarily describing the construction of the system for UV photolysis, the modifications for building the much simpler visible light system for optogenetic experiments will also be provided. The UV photolysis system was used to carryout experiments to study a fundamental question in neuroscience, how are spatially distributed inputs integrated across distal dendritic branch points. The results suggest that integration can be non-linear across branch points and the supralinearity is largely mediated by NMDA receptors. PMID:21403635

A Multifaceted Approach to Modernizing NASA's Advanced Multi-Mission Operations System (AMMOS) System Architecture

NASA Technical Reports Server (NTRS)

Estefan, Jeff A.; Giovannoni, Brian J.

2014-01-01

The Advanced Multi-Mission Operations Systems (AMMOS) is NASA's premier space mission operations product line offering for use in deep-space robotic and astrophysics missions. The general approach to AMMOS modernization over the course of its 29-year history exemplifies a continual, evolutionary approach with periods of sponsor investment peaks and valleys in between. Today, the Multimission Ground Systems and Services (MGSS) office-the program office that manages the AMMOS for NASA-actively pursues modernization initiatives and continues to evolve the AMMOS by incorporating enhanced capabilities and newer technologies into its end-user tool and service offerings. Despite the myriad of modernization investments that have been made over the evolutionary course of the AMMOS, pain points remain. These pain points, based on interviews with numerous flight project mission operations personnel, can be classified principally into two major categories: 1) information-related issues, and 2) process-related issues. By information-related issues, we mean pain points associated with the management and flow of MOS data across the various system interfaces. By process-related issues, we mean pain points associated with the MOS activities performed by mission operators (i.e., humans) and supporting software infrastructure used in support of those activities. In this paper, three foundational concepts-Timeline, Closed Loop Control, and Separation of Concerns-collectively form the basis for expressing a set of core architectural tenets that provides a multifaceted approach to AMMOS system architecture modernization intended to address the information- and process-related issues. Each of these architectural tenets will be further explored in this paper. Ultimately, we envision the application of these core tenets resulting in a unified vision of a future-state architecture for the AMMOS-one that is intended to result in a highly adaptable, highly efficient, and highly cost-effective set of multimission MOS products and services.

Annual Statement of Assurance. Fiscal Year 1991

DTIC Science & Technology

1991-01-01

risk) assessment rating process. In orientation sessions, we made a pointed effort to emphasize the statutory root of the IMC Program. We undertook... rating process. Training in the development of the management control plan was also provided using examples and a sample format. To illustrate the...application of IMC principles to the risk rating process, a case study approach was presented in a workshop mode with questions and answers following

An Interpolation Approach to Optimal Trajectory Planning for Helicopter Unmanned Aerial Vehicles

DTIC Science & Technology

2012-06-01

Armament Data Line DOF Degree of Freedom PS Pseudospectral LGL Legendre -Gauss-Lobatto quadrature nodes ODE Ordinary Differential Equation xiv...low order polynomials patched together in such away so that the resulting trajectory has several continuous derivatives at all points. In [7], Murray...claims that splines are ideal for optimal control problems because each segment of the spline’s piecewise polynomials approximate the trajectory

Molecular Genetic and Gene Therapy Studies of the Musculoskeletal System

DTIC Science & Technology

2007-02-01

cavity has begun forming above the third pha- lange’s joint . By 21 days postdissection, the cells have re- differentiated, the nail has begun reforming...involved in digit tip regeneration, bone size, skeletal repair and anabolic response to mechanical loading . The molecular genetic approaches have...small number of replicates. Biomechanical Properties: The breaking load for femurs from 14104 and control mice was measured by three-point

A Stem Cell-Seeded Nanofibrous Scaffold for Auditory Nerve Replacement

DTIC Science & Technology

2015-10-01

guinea pigs . Initial results show improved electrically-evoked auditory brainstem responses in cell-seeded implants compared to control, cell-free...scaffold’s conduit, but the IAM of the guinea pig and limits imposed by the surgical approach make this difficult. Alternatives are being pursued...transplantation of the seeded nanofibrous scaffold Task 13. Group 1: Pilot deafening. Confirm efficacy of ß-bungarotoxin in guinea pig and time point of

Accurate segmentation framework for the left ventricle wall from cardiac cine MRI

NASA Astrophysics Data System (ADS)

Sliman, H.; Khalifa, F.; Elnakib, A.; Soliman, A.; Beache, G. M.; Gimel'farb, G.; Emam, A.; Elmaghraby, A.; El-Baz, A.

2013-10-01

We propose a novel, fast, robust, bi-directional coupled parametric deformable model to segment the left ventricle (LV) wall borders using first- and second-order visual appearance features. These features are embedded in a new stochastic external force that preserves the topology of LV wall to track the evolution of the parametric deformable models control points. To accurately estimate the marginal density of each deformable model control point, the empirical marginal grey level distributions (first-order appearance) inside and outside the boundary of the deformable model are modeled with adaptive linear combinations of discrete Gaussians (LCDG). The second order visual appearance of the LV wall is accurately modeled with a new rotationally invariant second-order Markov-Gibbs random field (MGRF). We tested the proposed segmentation approach on 15 data sets in 6 infarction patients using the Dice similarity coefficient (DSC) and the average distance (AD) between the ground truth and automated segmentation contours. Our approach achieves a mean DSC value of 0.926±0.022 and AD value of 2.16±0.60 compared to two other level set methods that achieve 0.904±0.033 and 0.885±0.02 for DSC; and 2.86±1.35 and 5.72±4.70 for AD, respectively.

Rubbertown NGEM Demonstration Project Planning meetings ...

EPA Pesticide Factsheets

From the shared perspective of industrial facilities, workers, regulators, and communities, cost-effective detection and assessment of significant onset fugitive leaks or process issues, is a mutually beneficial concept. If emissions that require mitigation can be detected and fixed quickly, benefits such as safer working environments, cost saving through reduced product loss, lower air shed pollutant impacts, and improved transparency and community relations can be realized. Under its next generation emission measurement program (NGEM), EPA’s Office of Research and Development (ORD), National Risk Management Research Laboratory (NRMRL) is working collaboratively with industry, instrument /information companies, state and local agencies, communities, and academic groups to explore new technical approaches for non-point source detection and migration. Techniques such as mobile and fixed point sensors and passive samplers employed on various spatial scales are being explored. With collaboration of the project team including EPA R4, the Louisville Metro Air Pollution Control District (LMAPCD), industrial facilities, and contractors to the EPA, a select subset of these NGEM approaches will be demonstrated in this project as per the quality assurance project plan. From April 17-20, 2017, E. Thoma will travel to Louisville KY to work with the Louisville Metro Air Pollution Control District (LMAPCD) and other parties for planning activities related to the

FAST TRACK COMMUNICATION: Ground-state fidelity and entanglement entropy for the quantum three-state Potts model in one spatial dimension

NASA Astrophysics Data System (ADS)

Dai, Yan-Wei; Hu, Bing-Quan; Zhao, Jian-Hui; Zhou, Huan-Qiang

2010-09-01

The ground-state fidelity per lattice site is computed for the quantum three-state Potts model in a transverse magnetic field on an infinite-size lattice in one spatial dimension in terms of the infinite matrix product state algorithm. It is found that, on the one hand, a pinch point is identified on the fidelity surface around the critical point, and on the other hand, the ground-state fidelity per lattice site exhibits bifurcations at pseudo critical points for different values of the truncation dimension, which in turn approach the critical point as the truncation dimension becomes large. This implies that the ground-state fidelity per lattice site enables us to capture spontaneous symmetry breaking when the control parameter crosses the critical value. In addition, a finite-entanglement scaling of the von Neumann entropy is performed with respect to the truncation dimension, resulting in a precise determination of the central charge at the critical point. Finally, we compute the transverse magnetization, from which the critical exponent β is extracted from the numerical data.

Pointing control for the International Comet Mission

NASA Technical Reports Server (NTRS)

Leblanc, D. R.; Schumacher, L. L.

1980-01-01

The design of the pointing control system for the proposed International Comet Mission, intended to fly by Comet Halley and rendezvous with Comet Tempel-2 is presented. Following a review of mission objectives and the spacecraft configuration, design constraints on the pointing control system controlling the two-axis gimballed scan platform supporting the science instruments are discussed in relation to the scientific requirements of the mission. The primary design options considered for the pointing control system design for the baseline spacecraft are summarized, and the design selected, which employs a target-referenced, inertially stabilized control system, is described in detail. The four basic modes of operation of the pointing control subsystem (target acquisition, inertial hold, target track and slew) are discussed as they relate to operations at Halley and Tempel-2. It is pointed that the pointing control system design represents a significant advance in the state of the art of pointing controls for planetary missions.

49 CFR 236.403 - Signals at controlled point.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Signals at controlled point. 236.403 Section 236..., INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Traffic Control Systems Standards § 236.403 Signals at controlled point. Signals at controlled point shall be so...

49 CFR 236.403 - Signals at controlled point.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 4 2011-10-01 2011-10-01 false Signals at controlled point. 236.403 Section 236..., INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Traffic Control Systems Standards § 236.403 Signals at controlled point. Signals at controlled point shall be so...

49 CFR 236.403 - Signals at controlled point.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 4 2012-10-01 2012-10-01 false Signals at controlled point. 236.403 Section 236..., INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Traffic Control Systems Standards § 236.403 Signals at controlled point. Signals at controlled point shall be so...

49 CFR 236.403 - Signals at controlled point.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 4 2014-10-01 2014-10-01 false Signals at controlled point. 236.403 Section 236..., INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Traffic Control Systems Standards § 236.403 Signals at controlled point. Signals at controlled point shall be so...

49 CFR 236.403 - Signals at controlled point.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 4 2013-10-01 2013-10-01 false Signals at controlled point. 236.403 Section 236..., INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Traffic Control Systems Standards § 236.403 Signals at controlled point. Signals at controlled point shall be so...

Extremely broadband, on-chip optical nonreciprocity enabled by mimicking nonlinear anti-adiabatic quantum jumps near exceptional points

NASA Astrophysics Data System (ADS)

Choi, Youngsun; Hahn, Choloong; Yoon, Jae Woong; Song, Seok Ho; Berini, Pierre

2017-01-01

Time-asymmetric state-evolution properties while encircling an exceptional point are presently of great interest in search of new principles for controlling atomic and optical systems. Here, we show that encircling-an-exceptional-point interactions that are essentially reciprocal in the linear interaction regime make a plausible nonlinear integrated optical device architecture highly nonreciprocal over an extremely broad spectrum. In the proposed strategy, we describe an experimentally realizable coupled-waveguide structure that supports an encircling-an-exceptional-point parametric evolution under the influence of a gain saturation nonlinearity. Using an intuitive time-dependent Hamiltonian and rigorous numerical computations, we demonstrate strictly nonreciprocal optical transmission with a forward-to-backward transmission ratio exceeding 10 dB and high forward transmission efficiency (~100%) persisting over an extremely broad bandwidth approaching 100 THz. This predicted performance strongly encourages experimental realization of the proposed concept to establish a practical on-chip optical nonreciprocal element for ultra-short laser pulses and broadband high-density optical signal processing.

Fitting a Point Cloud to a 3d Polyhedral Surface

NASA Astrophysics Data System (ADS)

Popov, E. V.; Rotkov, S. I.

2017-05-01

The ability to measure parameters of large-scale objects in a contactless fashion has a tremendous potential in a number of industrial applications. However, this problem is usually associated with an ambiguous task to compare two data sets specified in two different co-ordinate systems. This paper deals with the study of fitting a set of unorganized points to a polyhedral surface. The developed approach uses Principal Component Analysis (PCA) and Stretched grid method (SGM) to substitute a non-linear problem solution with several linear steps. The squared distance (SD) is a general criterion to control the process of convergence of a set of points to a target surface. The described numerical experiment concerns the remote measurement of a large-scale aerial in the form of a frame with a parabolic shape. The experiment shows that the fitting process of a point cloud to a target surface converges in several linear steps. The method is applicable to the geometry remote measurement of large-scale objects in a contactless fashion.

Analysis of the quality of image data acquired by the LANDSAT-4 Thematic Mapper and Multispectral Scanners

NASA Technical Reports Server (NTRS)

Colwell, R. N. (Principal Investigator)

1984-01-01

The geometric quality of TM film and digital products is evaluated by making selective photomeasurements and by measuring the coordinates of known features on both the TM products and map products. These paired observations are related using a standard linear least squares regression approach. Using regression equations and coefficients developed from 225 (TM film product) and 20 (TM digital product) control points, map coordinates of test points are predicted. The residual error vectors and analysis of variance (ANOVA) were performed on the east and north residual using nine image segments (blocks) as treatments. Based on the root mean square error of the 223 (TM film product) and 22 (TM digital product) test points, users of TM data expect the planimetric accuracy of mapped points to be within 91 meters and within 117 meters for the film products, and to be within 12 meters and within 14 meters for the digital products.

Tropomodulin isoforms regulate thin filament pointed-end capping and skeletal muscle physiology

PubMed Central

Gokhin, David S.; Lewis, Raymond A.; McKeown, Caroline R.; Nowak, Roberta B.; Kim, Nancy E.; Littlefield, Ryan S.; Lieber, Richard L.

2010-01-01

During myofibril assembly, thin filament lengths are precisely specified to optimize skeletal muscle function. Tropomodulins (Tmods) are capping proteins that specify thin filament lengths by controlling actin dynamics at pointed ends. In this study, we use a genetic targeting approach to explore the effects of deleting Tmod1 from skeletal muscle. Myofibril assembly, skeletal muscle structure, and thin filament lengths are normal in the absence of Tmod1. Tmod4 localizes to thin filament pointed ends in Tmod1-null embryonic muscle, whereas both Tmod3 and -4 localize to pointed ends in Tmod1-null adult muscle. Substitution by Tmod3 and -4 occurs despite their weaker interactions with striated muscle tropomyosins. However, the absence of Tmod1 results in depressed isometric stress production during muscle contraction, systemic locomotor deficits, and a shift to a faster fiber type distribution. Thus, Tmod3 and -4 compensate for the absence of Tmod1 structurally but not functionally. We conclude that Tmod1 is a novel regulator of skeletal muscle physiology. PMID:20368620

Randomized controlled trial on the effects of a combined sleep hygiene education and behavioral approach program on sleep quality in workers with insomnia.

PubMed

Kaku, Akiko; Nishinoue, Nao; Takano, Tomoki; Eto, Risa; Kato, Noritada; Ono, Yutaka; Tanaka, Katsutoshi

2012-01-01

To evaluate the effects of a combined sleep hygiene education and behavioral approach program on sleep quality in workers with insomnia, we conducted a randomized controlled trial at a design engineering unit in Japan. Employees evaluated for insomnia by the Athens Insomnia Scale (≥6 points) were divided into an intervention and control group. The intervention group received a short-term intervention (30 min) program that included sleep hygiene education and behavioral approaches (relaxation training, stimulus control, and sleep restriction) performed by occupational health professionals. We calculated differences in change in Pittsburgh Sleep Quality Index (PSQI) scores between the two groups from baseline to three months after the start of intervention after adjusting for gender, age, job title, job category, average number of hours of overtime during the study period, marital status, smoking habit, average number of days of alcohol consumption per week, exercise habits, K6 score, and baseline PSQI score. Results showed that the average PSQI score decreased by 1.0 in the intervention group but increased by 0.9 in the control group. Additionally, the difference in variation between the two groups was 1.9 (95% confidence interval: 0.6 to 3.4), which was significant. Taken together, these results indicate that the intervention program significantly improved the sleep quality of workers with insomnia.

Constrained Multipoint Aerodynamic Shape Optimization Using an Adjoint Formulation and Parallel Computers

NASA Technical Reports Server (NTRS)

Reuther, James; Jameson, Antony; Alonso, Juan Jose; Rimlinger, Mark J.; Saunders, David

1997-01-01

An aerodynamic shape optimization method that treats the design of complex aircraft configurations subject to high fidelity computational fluid dynamics (CFD), geometric constraints and multiple design points is described. The design process will be greatly accelerated through the use of both control theory and distributed memory computer architectures. Control theory is employed to derive the adjoint differential equations whose solution allows for the evaluation of design gradient information at a fraction of the computational cost required by previous design methods. The resulting problem is implemented on parallel distributed memory architectures using a domain decomposition approach, an optimized communication schedule, and the MPI (Message Passing Interface) standard for portability and efficiency. The final result achieves very rapid aerodynamic design based on a higher order CFD method. In order to facilitate the integration of these high fidelity CFD approaches into future multi-disciplinary optimization (NW) applications, new methods must be developed which are capable of simultaneously addressing complex geometries, multiple objective functions, and geometric design constraints. In our earlier studies, we coupled the adjoint based design formulations with unconstrained optimization algorithms and showed that the approach was effective for the aerodynamic design of airfoils, wings, wing-bodies, and complex aircraft configurations. In many of the results presented in these earlier works, geometric constraints were satisfied either by a projection into feasible space or by posing the design space parameterization such that it automatically satisfied constraints. Furthermore, with the exception of reference 9 where the second author initially explored the use of multipoint design in conjunction with adjoint formulations, our earlier works have focused on single point design efforts. Here we demonstrate that the same methodology may be extended to treat complete configuration designs subject to multiple design points and geometric constraints. Examples are presented for both transonic and supersonic configurations ranging from wing alone designs to complex configuration designs involving wing, fuselage, nacelles and pylons.

Adaptive control of Parkinson's state based on a nonlinear computational model with unknown parameters.

PubMed

Su, Fei; Wang, Jiang; Deng, Bin; Wei, Xi-Le; Chen, Ying-Yuan; Liu, Chen; Li, Hui-Yan

2015-02-01

The objective here is to explore the use of adaptive input-output feedback linearization method to achieve an improved deep brain stimulation (DBS) algorithm for closed-loop control of Parkinson's state. The control law is based on a highly nonlinear computational model of Parkinson's disease (PD) with unknown parameters. The restoration of thalamic relay reliability is formulated as the desired outcome of the adaptive control methodology, and the DBS waveform is the control input. The control input is adjusted in real time according to estimates of unknown parameters as well as the feedback signal. Simulation results show that the proposed adaptive control algorithm succeeds in restoring the relay reliability of the thalamus, and at the same time achieves accurate estimation of unknown parameters. Our findings point to the potential value of adaptive control approach that could be used to regulate DBS waveform in more effective treatment of PD.

Experimental Validation of an Integrated Controls-Structures Design Methodology

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Gupta, Sandeep; Elliot, Kenny B.; Walz, Joseph E.

1996-01-01

The first experimental validation of an integrated controls-structures design methodology for a class of large order, flexible space structures is described. Integrated redesign of the controls-structures-interaction evolutionary model, a laboratory testbed at NASA Langley, was described earlier. The redesigned structure was fabricated, assembled in the laboratory, and experimentally tested against the original structure. Experimental results indicate that the structure redesigned using the integrated design methodology requires significantly less average control power than the nominal structure with control-optimized designs, while maintaining the required line-of-sight pointing performance. Thus, the superiority of the integrated design methodology over the conventional design approach is experimentally demonstrated. Furthermore, amenability of the integrated design structure to other control strategies is evaluated, both analytically and experimentally. Using Linear-Quadratic-Guassian optimal dissipative controllers, it is observed that the redesigned structure leads to significantly improved performance with alternate controllers as well.

Polynomial Method for PLL Controller Optimization†

PubMed Central

Wang, Ta-Chung; Lall, Sanjay; Chiou, Tsung-Yu

2011-01-01

The Phase-Locked Loop (PLL) is a key component of modern electronic communication and control systems. PLL is designed to extract signals from transmission channels. It plays an important role in systems where it is required to estimate the phase of a received signal, such as carrier tracking from global positioning system satellites. In order to robustly provide centimeter-level accuracy, it is crucial for the PLL to estimate the instantaneous phase of an incoming signal which is usually buried in random noise or some type of interference. This paper presents an approach that utilizes the recent development in the semi-definite programming and sum-of-squares field. A Lyapunov function will be searched as the certificate of the pull-in range of the PLL system. Moreover, a polynomial design procedure is proposed to further refine the controller parameters for system response away from the equilibrium point. Several simulation results as well as an experiment result are provided to show the effectiveness of this approach. PMID:22163973

Fine manipulation of sound via lossy metamaterials with independent and arbitrary reflection amplitude and phase.

PubMed

Zhu, Yifan; Hu, Jie; Fan, Xudong; Yang, Jing; Liang, Bin; Zhu, Xuefeng; Cheng, Jianchun

2018-04-24

The fine manipulation of sound fields is critical in acoustics yet is restricted by the coupled amplitude and phase modulations in existing wave-steering metamaterials. Commonly, unavoidable losses make it difficult to control coupling, thereby limiting device performance. Here we show the possibility of tailoring the loss in metamaterials to realize fine control of sound in three-dimensional (3D) space. Quantitative studies on the parameter dependence of reflection amplitude and phase identify quasi-decoupled points in the structural parameter space, allowing arbitrary amplitude-phase combinations for reflected sound. We further demonstrate the significance of our approach for sound manipulation by producing self-bending beams, multifocal focusing, and a single-plane two-dimensional hologram, as well as a multi-plane 3D hologram with quality better than the previous phase-controlled approach. Our work provides a route for harnessing sound via engineering the loss, enabling promising device applications in acoustics and related fields.

Multi-Objective Hybrid Optimal Control for Multiple-Flyby Low-Thrust Mission Design

NASA Technical Reports Server (NTRS)

Englander, Jacob A.; Vavrina, Matthew A.; Ghosh, Alexander R.

2015-01-01

Preliminary design of low-thrust interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed, and in some cases the final destination. In addition, a time-history of control variables must be chosen that defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated. The customer who commissions a trajectory design is not usually interested in a point solution, but rather the exploration of the trade space of trajectories between several different objective functions. This can be a very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very desirable. This work presents such an approach by posing the mission design problem as a multi-objective hybrid optimal control problem. The method is demonstrated on a hypothetical mission to the main asteroid belt.

Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

NASA Astrophysics Data System (ADS)

Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

Guidance and control 1991; Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Keystone, CO, Feb. 2-6, 1991

NASA Astrophysics Data System (ADS)

Culp, Robert D.; McQuerry, James P.

1991-07-01

The present conference on guidance and control encompasses advances in guidance, navigation, and control, storyboard displays, approaches to space-borne pointing control, international space programs, recent experiences with systems, and issues regarding navigation in the low-earth-orbit space environment. Specific issues addressed include a scalable architecture for an operational spaceborne autonavigation system, the mitigation of multipath error in GPS-based attitude determination, microgravity flight testing of a laboratory robot, and the application of neural networks. Other issues addressed include image navigation with second-generation Meteosat, Magellan star-scanner experiences, high-precision control systems for telescopes and interferometers, gravitational effects on low-earth orbiters, experimental verification of nanometer-level optical pathlengths, and a flight telerobotic servicer prototype simulator. (For individual items see A93-15577 to A93-15613)

Direct power control of DFIG wind turbine systems based on an intelligent proportional-integral sliding mode control.

PubMed

Li, Shanzhi; Wang, Haoping; Tian, Yang; Aitouch, Abdel; Klein, John

2016-09-01

This paper presents an intelligent proportional-integral sliding mode control (iPISMC) for direct power control of variable speed-constant frequency wind turbine system. This approach deals with optimal power production (in the maximum power point tracking sense) under several disturbance factors such as turbulent wind. This controller is made of two sub-components: (i) an intelligent proportional-integral module for online disturbance compensation and (ii) a sliding mode module for circumventing disturbance estimation errors. This iPISMC method has been tested on FAST/Simulink platform of a 5MW wind turbine system. The obtained results demonstrate that the proposed iPISMC method outperforms the classical PI and intelligent proportional-integral control (iPI) in terms of both active power and response time. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Flight evaluations of several hover control and display combinations for precise blind vertical landings

NASA Technical Reports Server (NTRS)

Schroeder, J. A.; Merrick, V. K.

1990-01-01

Several control and display concepts were evaluated on a variable-stability helicopter prior to future evaluations on a modified Harrier. The control and display concepts had been developed to enable precise hover maneuvers, station keeping, and vertical landings in simulated zero-visibility conditions and had been evaluated extensively in previous piloted simulations. Flight evaluations early in the program revealed several inadequacies in the display drive laws that were later corrected using an alternative design approach that integrated the control and display characteristics with the desired guidance law. While hooded, three pilots performed landing-pad captures followed by vertical landings with attitude-rate, attitude, and translation-velocity-command control systems. The latter control system incorporated a modified version of state-rate-feedback implicit-model following. Precise landing within 2 ft of the desired touchdown point were achieved.

[Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology

NASA Technical Reports Server (NTRS)

Tesar, Delbert

1997-01-01

This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

Performance evaluation of modulation and multiple access schemes in ultraviolet optical wireless connections for two atmosphere thickness cases.

PubMed

Raptis, Nikos; Pikasis, Evangelos; Syvridis, Dimitris

2016-08-01

The exploitation of optical wireless communication channels in a non-line-of-sight regime is studied for point-to-point and networking configurations considering the use of light-emitting diodes. Two environments with different scattering center densities are considered, assuming operation at 265 nm. The bit error rate performance of both pulsed and multicarrier modulation schemes is examined, using numerical approaches. In the networking scenario, a central node only receives data, one node transmits useful data, and the rest of them act as interferers. The performance of the desirable node's transmissions is evaluated. The access to the medium is controlled by a code division multiple access scheme.

Doppler centroid estimation ambiguity for synthetic aperture radars

NASA Technical Reports Server (NTRS)

Chang, C. Y.; Curlander, J. C.

1989-01-01

A technique for estimation of the Doppler centroid of an SAR in the presence of large uncertainty in antenna boresight pointing is described. Also investigated is the image degradation resulting from data processing that uses an ambiguous centroid. Two approaches for resolving ambiguities in Doppler centroid estimation (DCE) are presented: the range cross-correlation technique and the multiple-PRF (pulse repetition frequency) technique. Because other design factors control the PRF selection for SAR, a generalized algorithm is derived for PRFs not containing a common divisor. An example using the SIR-C parameters illustrates that this algorithm is capable of resolving the C-band DCE ambiguities for antenna pointing uncertainties of about 2-3 deg.

Freeze drying for morphological control of inter-penetrating polymer networks

NASA Technical Reports Server (NTRS)

Hansen, Marion G.; Pater, Ruth H.

1990-01-01

The intrinsic brittleness of BMI resins can be reduced through the creation of an interpenetrating network (IPN) of BMI with a reactive-encapped thermoplastic, such as the presently considered polyimidesulfone, PISO2. The PISO2 and BMI were dissolved in a common solvent, which was then removed from the constituents by freeze drying; in an alternative method, an IPN was formed through dissolution of the constituent in a common solvent with either high or low melting point, followed by evaporative removal of the solvent. The effectiveness of the freeze-drying approach for morphological control is evaluated.

Modeling and simulation of soft sensor design for real-time speed estimation, measurement and control of induction motor.

PubMed

Etien, Erik

2013-05-01

This paper deals with the design of a speed soft sensor for induction motor. The sensor is based on the physical model of the motor. Because the validation step highlight the fact that the sensor cannot be validated for all the operating points, the model is modified in order to obtain a fully validated sensor in the whole speed range. An original feature of the proposed approach is that the modified model is derived from stability analysis using automatic control theory. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Strategic performance evaluation in cancer centers.

PubMed

Delgado, Rigoberto I; Langabeer, James R

2009-01-01

Most research in healthcare strategy has focused on formulating or implementing organizational plans and strategies, and little attention has been dedicated to the post-implementation control and evaluation of strategy, which we contend is the most critical aspect of achieving organizational goals. The objective of this study was to identify strategic control approaches used by major cancer centers in the country and to relate these practices to financial performance. Our intent was to expand the theory and practice of healthcare strategy to focused services, such as oncology. We designed a 17-question survey to capture elements of strategy and performance from our study sample, which comprised major cancer hospitals in the United States and shared similar mandates and resource constraints. The results suggest that high-performing cancer centers use more sophisticated analytical approaches, invest greater financial resources in performance analysis, and conduct more frequent performance reviews than do low-performing organizations. Our conclusions point to the need for a more robust approach to strategic assessment. In this article, we offer a number of recommendations for management to achieve strategic plans and goals on the basis of our research. To our knowledge, this study is one of the first to concentrate on the area of strategic control.

Nonprincipal plane scattering of flat plates and pattern control of horn antennas

NASA Technical Reports Server (NTRS)

Balanis, Constantine A.; Polka, Lesley A.; Liu, Kefeng

1989-01-01

Using the geometrical theory of diffraction, the traditional method of high frequency scattering analysis, the prediction of the radar cross section of a perfectly conducting, flat, rectangular plate is limited to principal planes. Part A of this report predicts the radar cross section in nonprincipal planes using the method of equivalent currents. This technique is based on an asymptotic end-point reduction of the surface radiation integrals for an infinite wedge and enables nonprincipal plane prediction. The predicted radar cross sections for both horizontal and vertical polarizations are compared to moment method results and experimental data from Arizona State University's anechoic chamber. In part B, a variational calculus approach to the pattern control of the horn antenna is outlined. The approach starts with the optimization of the aperture field distribution so that the control of the radiation pattern in a range of directions can be realized. A control functional is thus formulated. Next, a spectral analysis method is introduced to solve for the eigenfunctions from the extremal condition of the formulated functional. Solutions to the optimized aperture field distribution are then obtained.