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 density based algorithm to detect cavities and holes from planar points

NASA Astrophysics Data System (ADS)

Zhu, Jie; Sun, Yizhong; Pang, Yueyong

2017-12-01

Delaunay-based shape reconstruction algorithms are widely used in approximating the shape from planar points. However, these algorithms cannot ensure the optimality of varied reconstructed cavity boundaries and hole boundaries. This inadequate reconstruction can be primarily attributed to the lack of efficient mathematic formulation for the two structures (hole and cavity). In this paper, we develop an efficient algorithm for generating cavities and holes from planar points. The algorithm yields the final boundary based on an iterative removal of the Delaunay triangulation. Our algorithm is mainly divided into two steps, namely, rough and refined shape reconstructions. The rough shape reconstruction performed by the algorithm is controlled by a relative parameter. Based on the rough result, the refined shape reconstruction mainly aims to detect holes and pure cavities. Cavity and hole are conceptualized as a structure with a low-density region surrounded by the high-density region. With this structure, cavity and hole are characterized by a mathematic formulation called as compactness of point formed by the length variation of the edges incident to point in Delaunay triangulation. The boundaries of cavity and hole are then found by locating a shape gradient change in compactness of point set. The experimental comparison with other shape reconstruction approaches shows that the proposed algorithm is able to accurately yield the boundaries of cavity and hole with varying point set densities and distributions.

Statistics based sampling for controller and estimator design

NASA Astrophysics Data System (ADS)

Tenne, Dirk

The purpose of this research is the development of statistical design tools for robust feed-forward/feedback controllers and nonlinear estimators. This dissertation is threefold and addresses the aforementioned topics nonlinear estimation, target tracking and robust control. To develop statistically robust controllers and nonlinear estimation algorithms, research has been performed to extend existing techniques, which propagate the statistics of the state, to achieve higher order accuracy. The so-called unscented transformation has been extended to capture higher order moments. Furthermore, higher order moment update algorithms based on a truncated power series have been developed. The proposed techniques are tested on various benchmark examples. Furthermore, the unscented transformation has been utilized to develop a three dimensional geometrically constrained target tracker. The proposed planar circular prediction algorithm has been developed in a local coordinate framework, which is amenable to extension of the tracking algorithm to three dimensional space. This tracker combines the predictions of a circular prediction algorithm and a constant velocity filter by utilizing the Covariance Intersection. This combined prediction can be updated with the subsequent measurement using a linear estimator. The proposed technique is illustrated on a 3D benchmark trajectory, which includes coordinated turns and straight line maneuvers. The third part of this dissertation addresses the design of controller which include knowledge of parametric uncertainties and their distributions. The parameter distributions are approximated by a finite set of points which are calculated by the unscented transformation. This set of points is used to design robust controllers which minimize a statistical performance of the plant over the domain of uncertainty consisting of a combination of the mean and variance. The proposed technique is illustrated on three benchmark problems. The first relates to the design of prefilters for a linear and nonlinear spring-mass-dashpot system and the second applies a feedback controller to a hovering helicopter. Lastly, the statistical robust controller design is devoted to a concurrent feed-forward/feedback controller structure for a high-speed low tension tape drive.

Photovoltaic Cells Mppt Algorithm and Design of Controller Monitoring System

NASA Astrophysics Data System (ADS)

Meng, X. Z.; Feng, H. B.

2017-10-01

This paper combined the advantages of each maximum power point tracking (MPPT) algorithm, put forward a kind of algorithm with higher speed and higher precision, based on this algorithm designed a maximum power point tracking controller with ARM. The controller, communication technology and PC software formed a control system. Results of the simulation and experiment showed that the process of maximum power tracking was effective, and the system was stable.

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.

Minimum airflow reset of single-duct VAV terminal boxes

NASA Astrophysics Data System (ADS)

Cho, Young-Hum

Single duct Variable Air Volume (VAV) systems are currently the most widely used type of HVAC system in the United States. When installing such a system, it is critical to determine the minimum airflow set point of the terminal box, as an optimally selected set point will improve the level of thermal comfort and indoor air quality (IAQ) while at the same time lower overall energy costs. In principle, this minimum rate should be calculated according to the minimum ventilation requirement based on ASHRAE standard 62.1 and maximum heating load of the zone. Several factors must be carefully considered when calculating this minimum rate. Terminal boxes with conventional control sequences may result in occupant discomfort and energy waste. If the minimum rate of airflow is set too high, the AHUs will consume excess fan power, and the terminal boxes may cause significant simultaneous room heating and cooling. At the same time, a rate that is too low will result in poor air circulation and indoor air quality in the air-conditioned space. Currently, many scholars are investigating how to change the algorithm of the advanced VAV terminal box controller without retrofitting. Some of these controllers have been found to effectively improve thermal comfort, indoor air quality, and energy efficiency. However, minimum airflow set points have not yet been identified, nor has controller performance been verified in confirmed studies. In this study, control algorithms were developed that automatically identify and reset terminal box minimum airflow set points, thereby improving indoor air quality and thermal comfort levels, and reducing the overall rate of energy consumption. A theoretical analysis of the optimal minimum airflow and discharge air temperature was performed to identify the potential energy benefits of resetting the terminal box minimum airflow set points. Applicable control algorithms for calculating the ideal values for the minimum airflow reset were developed and applied to actual systems for performance validation. The results of the theoretical analysis, numeric simulations, and experiments show that the optimal control algorithms can automatically identify the minimum rate of heating airflow under actual working conditions. Improved control helps to stabilize room air temperatures. The vertical difference in the room air temperature was lower than the comfort value. Measurements of room CO2 levels indicate that when the minimum airflow set point was reduced it did not adversely affect the indoor air quality. According to the measured energy results, optimal control algorithms give a lower rate of reheating energy consumption than conventional controls.

A maximum power point tracking algorithm for buoy-rope-drum wave energy converters

NASA Astrophysics Data System (ADS)

Wang, J. Q.; Zhang, X. C.; Zhou, Y.; Cui, Z. C.; Zhu, L. S.

2016-08-01

The maximum power point tracking control is the key link to improve the energy conversion efficiency of wave energy converters (WEC). This paper presents a novel variable step size Perturb and Observe maximum power point tracking algorithm with a power classification standard for control of a buoy-rope-drum WEC. The algorithm and simulation model of the buoy-rope-drum WEC are presented in details, as well as simulation experiment results. The results show that the algorithm tracks the maximum power point of the WEC fast and accurately.

Preliminary Design and Analysis of the GIFTS Instrument Pointing System

NASA Technical Reports Server (NTRS)

Zomkowski, Paul P.

2003-01-01

The Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS) Instrument is the next generation spectrometer for remote sensing weather satellites. The GIFTS instrument will be used to perform scans of the Earth s atmosphere by assembling a series of field-of- views (FOV) into a larger pattern. Realization of this process is achieved by step scanning the instrument FOV in a contiguous fashion across any desired portion of the visible Earth. A 2.3 arc second pointing stability, with respect to the scanning instrument, must be maintained for the duration of the FOV scan. A star tracker producing attitude data at 100 Hz rate will be used by the autonomous pointing algorithm to precisely track target FOV s on the surface of the Earth. The main objective is to validate the pointing algorithm in the presence of spacecraft disturbances and determine acceptable disturbance limits from expected noise sources. Proof of concept validation of the pointing system algorithm is carried out with a full system simulation developed using Matlab Simulink. Models for the following components function within the full system simulation: inertial reference unit (IRU), attitude control system (ACS), reaction wheels, star tracker, and mirror controller. With the spacecraft orbital position and attitude maintained to within specified limits the pointing algorithm receives quaternion, ephemeris, and initialization data that are used to construct the required mirror pointing commands at a 100 Hz rate. This comprehensive simulation will also aid in obtaining a thorough understanding of spacecraft disturbances and other sources of pointing system errors. Parameter sensitivity studies and disturbance analysis will be used to obtain limits of operability for the GIFTS instrument. The culmination of this simulation development and analysis will be used to validate the specified performance requirements outlined for this instrument.

Preparing for Themis Controlled Global Mars Mosaics

NASA Technical Reports Server (NTRS)

Archinal, B. A.; Weller, L.; Sides, S.; Cushing, G.; Kirk, R. L.; Soderblom, L. A.; Duxbury, T. C.

2004-01-01

We have begun work to prepare for producing controlled 2001 Mars Odyssey THEMIS infrared (IR) and visible (VIS) global mosaics of Mars. This effort is being coordinated with colleagues from Arizona State University and on the THEMIS team who plan to address radiometric issues in making such mosaics. We are concentrating on geometric issues. Several areas of investigation are now in progress, including: a) characterizing the absolute pointing accuracy of THEMIS images; b) investigating whether automatic tie point matching algorithms could be used to provide connections between overlapping THEMIS images; c) developing algorithms to allow for the photogrammetric (bundle) adjustment of the THEMIS IR (line scanner) camera images. Our primary goal in this pilot study effort will be to make several test control THEMIS mosaics and better determine which methods could be used, which require development, and what level of effort is required, in order to make large regional or global controlled THEMIS mosaics.

Center Finding Algorithm on slit mask point source for IGRINS (Immersion GRating INfrared Spectrograph)

NASA Astrophysics Data System (ADS)

Lee, Hye-In; Pak, Soojong; Lee, Jae-Joon; Mace, Gregory N.; Jaffe, Daniel Thomas

2017-06-01

We developed an observation control software for the IGRINS (Immersion Grating Infrared Spectrograph) silt-viewing camera module, which points the astronomical target onto the spectroscopy slit and sends tracking feedbacks to the telescope control system (TCS). The point spread function (PSF) image is not following symmetric Gaussian profile. In addition, bright targets are easily saturated and shown as a donut shape. It is not trivial to define and find the center of the asymmetric PSF especially when most of the stellar PSF falls inside the slit. We made a center balancing algorithm (CBA) which derives the expected center position along the slit-width axis by referencing the stray flux ratios of both upper and lower sides of the slit. We compared accuracies of the CBA and those of a two-dimensional Gaussian fitting (2DGA) through simulations in order to evaluate the center finding algorithms. These methods were then verified with observational data. In this poster, we present the results of our tests and suggest a new algorithm for centering targets in the slit image of a spectrograph.

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.

Pointing System Simulation Toolbox with Application to a Balloon Mission Simulator

NASA Technical Reports Server (NTRS)

Maringolo Baldraco, Rosana M.; Aretskin-Hariton, Eliot D.; Swank, Aaron J.

2017-01-01

The development of attitude estimation and pointing-control algorithms is necessary in order to achieve high-fidelity modeling for a Balloon Mission Simulator (BMS). A pointing system simulation toolbox was developed to enable this. The toolbox consists of a star-tracker (ST) and Inertial Measurement Unit (IMU) signal generator, a UDP (User Datagram Protocol) communication le (bridge), and an indirect-multiplicative extended Kalman filter (imEKF). This document describes the Python toolbox developed and the results of its implementation in the imEKF.

Development of Fault Models for Hybrid Fault Detection and Diagnostics Algorithm: October 1, 2014 -- May 5, 2015

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

Cheung, Howard; Braun, James E.

This report describes models of building faults created for OpenStudio to support the ongoing development of fault detection and diagnostic (FDD) algorithms at the National Renewable Energy Laboratory. Building faults are operating abnormalities that degrade building performance, such as using more energy than normal operation, failing to maintain building temperatures according to the thermostat set points, etc. Models of building faults in OpenStudio can be used to estimate fault impacts on building performance and to develop and evaluate FDD algorithms. The aim of the project is to develop fault models of typical heating, ventilating and air conditioning (HVAC) equipment inmore » the United States, and the fault models in this report are grouped as control faults, sensor faults, packaged and split air conditioner faults, water-cooled chiller faults, and other uncategorized faults. The control fault models simulate impacts of inappropriate thermostat control schemes such as an incorrect thermostat set point in unoccupied hours and manual changes of thermostat set point due to extreme outside temperature. Sensor fault models focus on the modeling of sensor biases including economizer relative humidity sensor bias, supply air temperature sensor bias, and water circuit temperature sensor bias. Packaged and split air conditioner fault models simulate refrigerant undercharging, condenser fouling, condenser fan motor efficiency degradation, non-condensable entrainment in refrigerant, and liquid line restriction. Other fault models that are uncategorized include duct fouling, excessive infiltration into the building, and blower and pump motor degradation.« less

Development of Fault Models for Hybrid Fault Detection and Diagnostics Algorithm: October 1, 2014 -- May 5, 2015

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

Cheung, Howard; Braun, James E.

2015-12-31

This report describes models of building faults created for OpenStudio to support the ongoing development of fault detection and diagnostic (FDD) algorithms at the National Renewable Energy Laboratory. Building faults are operating abnormalities that degrade building performance, such as using more energy than normal operation, failing to maintain building temperatures according to the thermostat set points, etc. Models of building faults in OpenStudio can be used to estimate fault impacts on building performance and to develop and evaluate FDD algorithms. The aim of the project is to develop fault models of typical heating, ventilating and air conditioning (HVAC) equipment inmore » the United States, and the fault models in this report are grouped as control faults, sensor faults, packaged and split air conditioner faults, water-cooled chiller faults, and other uncategorized faults. The control fault models simulate impacts of inappropriate thermostat control schemes such as an incorrect thermostat set point in unoccupied hours and manual changes of thermostat set point due to extreme outside temperature. Sensor fault models focus on the modeling of sensor biases including economizer relative humidity sensor bias, supply air temperature sensor bias, and water circuit temperature sensor bias. Packaged and split air conditioner fault models simulate refrigerant undercharging, condenser fouling, condenser fan motor efficiency degradation, non-condensable entrainment in refrigerant, and liquid line restriction. Other fault models that are uncategorized include duct fouling, excessive infiltration into the building, and blower and pump motor degradation.« less

Control strategy of grid-connected photovoltaic generation system based on GMPPT method

NASA Astrophysics Data System (ADS)

Wang, Zhongfeng; Zhang, Xuyang; Hu, Bo; Liu, Jun; Li, Ligang; Gu, Yongqiang; Zhou, Bowen

2018-02-01

There are multiple local maximum power points when photovoltaic (PV) array runs under partial shading condition (PSC).However, the traditional maximum power point tracking (MPPT) algorithm might be easily trapped in local maximum power points (MPPs) and cannot find the global maximum power point (GMPP). To solve such problem, a global maximum power point tracking method (GMPPT) is improved, combined with traditional MPPT method and particle swarm optimization (PSO) algorithm. Under different operating conditions of PV cells, different tracking algorithms are used. When the environment changes, the improved PSO algorithm is adopted to realize the global optimal search, and the variable step incremental conductance (INC) method is adopted to achieve MPPT in optimal local location. Based on the simulation model of the PV grid system built in Matlab/Simulink, comparative analysis of the tracking effect of MPPT by the proposed control algorithm and the traditional MPPT method under the uniform solar condition and PSC, validate the correctness, feasibility and effectiveness of the proposed control strategy.

Powered Descent Guidance with General Thrust-Pointing Constraints

NASA Technical Reports Server (NTRS)

Carson, John M., III; Acikmese, Behcet; Blackmore, Lars

2013-01-01

The Powered Descent Guidance (PDG) algorithm and software for generating Mars pinpoint or precision landing guidance profiles has been enhanced to incorporate thrust-pointing constraints. Pointing constraints would typically be needed for onboard sensor and navigation systems that have specific field-of-view requirements to generate valid ground proximity and terrain-relative state measurements. The original PDG algorithm was designed to enforce both control and state constraints, including maximum and minimum thrust bounds, avoidance of the ground or descent within a glide slope cone, and maximum speed limits. The thrust-bound and thrust-pointing constraints within PDG are non-convex, which in general requires nonlinear optimization methods to generate solutions. The short duration of Mars powered descent requires guaranteed PDG convergence to a solution within a finite time; however, nonlinear optimization methods have no guarantees of convergence to the global optimal or convergence within finite computation time. A lossless convexification developed for the original PDG algorithm relaxed the non-convex thrust bound constraints. This relaxation was theoretically proven to provide valid and optimal solutions for the original, non-convex problem within a convex framework. As with the thrust bound constraint, a relaxation of the thrust-pointing constraint also provides a lossless convexification that ensures the enhanced relaxed PDG algorithm remains convex and retains validity for the original nonconvex problem. The enhanced PDG algorithm provides guidance profiles for pinpoint and precision landing that minimize fuel usage, minimize landing error to the target, and ensure satisfaction of all position and control constraints, including thrust bounds and now thrust-pointing constraints.

Precision pointing and control of flexible spacecraft

NASA Technical Reports Server (NTRS)

Bantell, M. H., Jr.

1987-01-01

The problem and long term objectives for the precision pointing and control of flexible spacecraft are given. The four basic objectives are stated in terms of two principle tasks. Under Task 1, robust low order controllers, improved structural modeling methods for control applications and identification methods for structural dynamics are being developed. Under Task 2, a lab test experiment for verification of control laws and system identification algorithms is being developed. For Task 1, work has focused on robust low order controller design and some initial considerations for structural modeling in control applications. For Task 2, work has focused on experiment design and fabrication, along with sensor selection and initial digital controller implementation. Conclusions are given.

LiveWire interactive boundary extraction algorithm based on Haar wavelet transform and control point set direction search

NASA Astrophysics Data System (ADS)

Cheng, Jun; Zhang, Jun; Tian, Jinwen

2015-12-01

Based on deep analysis of the LiveWire interactive boundary extraction algorithm, a new algorithm focusing on improving the speed of LiveWire algorithm is proposed in this paper. Firstly, the Haar wavelet transform is carried on the input image, and the boundary is extracted on the low resolution image obtained by the wavelet transform of the input image. Secondly, calculating LiveWire shortest path is based on the control point set direction search by utilizing the spatial relationship between the two control points users provide in real time. Thirdly, the search order of the adjacent points of the starting node is set in advance. An ordinary queue instead of a priority queue is taken as the storage pool of the points when optimizing their shortest path value, thus reducing the complexity of the algorithm from O[n2] to O[n]. Finally, A region iterative backward projection method based on neighborhood pixel polling has been used to convert dual-pixel boundary of the reconstructed image to single-pixel boundary after Haar wavelet inverse transform. The algorithm proposed in this paper combines the advantage of the Haar wavelet transform and the advantage of the optimal path searching method based on control point set direction search. The former has fast speed of image decomposition and reconstruction and is more consistent with the texture features of the image and the latter can reduce the time complexity of the original algorithm. So that the algorithm can improve the speed in interactive boundary extraction as well as reflect the boundary information of the image more comprehensively. All methods mentioned above have a big role in improving the execution efficiency and the robustness of the algorithm.

Analysis and simulation tools for solar array power systems

NASA Astrophysics Data System (ADS)

Pongratananukul, Nattorn

This dissertation presents simulation tools developed specifically for the design of solar array power systems. Contributions are made in several aspects of the system design phases, including solar source modeling, system simulation, and controller verification. A tool to automate the study of solar array configurations using general purpose circuit simulators has been developed based on the modeling of individual solar cells. Hierarchical structure of solar cell elements, including semiconductor properties, allows simulation of electrical properties as well as the evaluation of the impact of environmental conditions. A second developed tool provides a co-simulation platform with the capability to verify the performance of an actual digital controller implemented in programmable hardware such as a DSP processor, while the entire solar array including the DC-DC power converter is modeled in software algorithms running on a computer. This "virtual plant" allows developing and debugging code for the digital controller, and also to improve the control algorithm. One important task in solar arrays is to track the maximum power point on the array in order to maximize the power that can be delivered. Digital controllers implemented with programmable processors are particularly attractive for this task because sophisticated tracking algorithms can be implemented and revised when needed to optimize their performance. The proposed co-simulation tools are thus very valuable in developing and optimizing the control algorithm, before the system is built. Examples that demonstrate the effectiveness of the proposed methodologies are presented. The proposed simulation tools are also valuable in the design of multi-channel arrays. In the specific system that we have designed and tested, the control algorithm is implemented on a single digital signal processor. In each of the channels the maximum power point is tracked individually. In the prototype we built, off-the-shelf commercial DC-DC converters were utilized. At the end, the overall performance of the entire system was evaluated using solar array simulators capable of simulating various I-V characteristics, and also by using an electronic load. Experimental results are presented.

Development of a Two-Wheel Contingency Mode for the MAP Spacecraft

NASA Technical Reports Server (NTRS)

Starin, Scott R.; ODonnell, James R., Jr.; Bauer, Frank (Technical Monitor)

2002-01-01

The Microwave Anisotropy Probe (MAP) is a follow-on mission to the Cosmic Background Explorer (COBE), and is currently collecting data from its orbit near the second Sun-Earth libration point. Due to limited mass, power, and financial resources, a traditional reliability concept including fully redundant components was not feasible for MAP. Instead, the MAP design employs selective hardware redundancy in tandem with contingency software modes and algorithms to improve the odds of mission success. One direction for such improvement has been the development of a two-wheel backup control strategy. This strategy would allow MAP to position itself for maneuvers and collect science data should one of its three reaction wheels fail. Along with operational considerations, the strategy includes three new control algorithms. These algorithms would use the remaining attitude control actuators-thrusters and two reaction wheels-in ways that achieve control goals while minimizing adverse impacts on the functionality of other subsystems and software.

Advanced control concepts. [for shuttle ascent vehicles

NASA Technical Reports Server (NTRS)

Sharp, J. B.; Coppey, J. M.

1973-01-01

The problems of excess control devices and insufficient trim control capability on shuttle ascent vehicles were investigated. The trim problem is solved at all time points of interest using Lagrangian multipliers and a Simplex based iterative algorithm developed as a result of the study. This algorithm has the capability to solve any bounded linear problem with physically realizable constraints, and to minimize any piecewise differentiable cost function. Both solution methods also automatically distribute the command torques to the control devices. It is shown that trim requirements are unrealizable if only the orbiter engines and the aerodynamic surfaces are used.

Applying Workspace Limitations in a Velocity-Controlled Robotic Mechanism

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Platt, Robert J., Jr. (Inventor)

2014-01-01

A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.

Implementation of Maximum Power Point Tracking (MPPT) Solar Charge Controller using Arduino

NASA Astrophysics Data System (ADS)

Abdelilah, B.; Mouna, A.; KouiderM’Sirdi, N.; El Hossain, A.

2018-05-01

the platform Arduino with a number of sensors standard can be used as components of an electronic system for acquiring measures and controls. This paper presents the design of a low-cost and effective solar charge controller. This system includes several elements such as the solar panel converter DC/DC, battery, circuit MPPT using Microcontroller, sensors, and the MPPT algorithm. The MPPT (Maximum Power Point Tracker) algorithm has been implemented using an Arduino Nano with the preferred program. The voltage and current of the Panel are taken where the program implemented will work and using this algorithm that MPP will be reached. This paper provides details on the solar charge control device at the maximum power point. The results include the change of the duty cycle with the change in load and thus mean the variation of the buck converter output voltage and current controlled by the MPPT algorithm.

Intelligent energy harvesting scheme for microbial fuel cells: Maximum power point tracking and voltage overshoot avoidance

NASA Astrophysics Data System (ADS)

Alaraj, Muhannad; Radenkovic, Miloje; Park, Jae-Do

2017-02-01

Microbial fuel cells (MFCs) are renewable and sustainable energy sources that can be used for various applications. The MFC output power depends on its biochemical conditions as well as the terminal operating points in terms of output voltage and current. There exists one operating point that gives the maximum possible power from the MFC, maximum power point (MPP), for a given operating condition. However, this MPP may vary and needs to be tracked in order to maintain the maximum power extraction from the MFC. Furthermore, MFC reactors often develop voltage overshoots that cause drastic drops in the terminal voltage, current, and the output power. When the voltage overshoot happens, an additional control measure is necessary as conventional MPPT algorithms will fail because of the change in the voltage-current relationship. In this paper, the extremum seeking (ES) algorithm was used to track the varying MPP and a voltage overshoot avoidance (VOA) algorithm is developed to manage the voltage overshoot conditions. The proposed ES-MPPT with VOA algorithm was able to extract 197.2 mJ during 10-min operation avoiding voltage overshoot, while the ES MPPT-only scheme stopped harvesting after only 18.75 mJ because of the voltage overshoot happened at 0.4 min.

Observability-Based Guidance and Sensor Placement

NASA Astrophysics Data System (ADS)

Hinson, Brian T.

Control system performance is highly dependent on the quality of sensor information available. In a growing number of applications, however, the control task must be accomplished with limited sensing capabilities. This thesis addresses these types of problems from a control-theoretic point-of-view, leveraging system nonlinearities to improve sensing performance. Using measures of observability as an information quality metric, guidance trajectories and sensor distributions are designed to improve the quality of sensor information. An observability-based sensor placement algorithm is developed to compute optimal sensor configurations for a general nonlinear system. The algorithm utilizes a simulation of the nonlinear system as the source of input data, and convex optimization provides a scalable solution method. The sensor placement algorithm is applied to a study of gyroscopic sensing in insect wings. The sensor placement algorithm reveals information-rich areas on flexible insect wings, and a comparison to biological data suggests that insect wings are capable of acting as gyroscopic sensors. An observability-based guidance framework is developed for robotic navigation with limited inertial sensing. Guidance trajectories and algorithms are developed for range-only and bearing-only navigation that improve navigation accuracy. Simulations and experiments with an underwater vehicle demonstrate that the observability measure allows tuning of the navigation uncertainty.

An Overview of the Formation and Attitude Control System for the Terrestrial Planet Finder Formation Flying Interferometer

NASA Technical Reports Server (NTRS)

Scharf, Daniel P.; Hadaegh, Fred Y.; Rahman, Zahidul H.; Shields, Joel F.; Singh, Gurkipal; Wette, Matthew R.

2004-01-01

The Terrestrial Planet Finder formation flying Interferometer (TPF-I) will be a five-spacecraft, precision formation operating near the second Sun-Earth Lagrange point. As part of technology development for TPF-I, a formation and attitude control system (FACS) is being developed that achieves the precision and functionality needed for the TPF-I formation and that will be demonstrated in a distributed, real-time simulation environment. In this paper we present an overview of FACS and discuss in detail its formation estimation, guidance and control architectures and algorithms. Since FACS is currently being integrated into a high-fidelity simulation environment, component simulations demonstrating algorithm performance are presented.

An Overview of the Formation and Attitude Control System for the Terrestrial Planet Finder Formation Flying Interferometer

NASA Technical Reports Server (NTRS)

Scharf, Daniel P.; Hadaegh, Fred Y.; Rahman, Zahidul H.; Shields, Joel F.; Singh, Gurkipal

2004-01-01

The Terrestrial Planet Finder formation flying Interferometer (TPF-I) will be a five-spacecraft, precision formation operating near a Sun-Earth Lagrange point. As part of technology development for TPF-I, a formation and attitude control system (FACS) is being developed that achieves the precision and functionality associated with the TPF-I formation. This FACS will be demonstrated in a distributed, real-time simulation environment. In this paper we present an overview of the FACS and discuss in detail its constituent formation estimation, guidance and control architectures and algorithms. Since the FACS is currently being integrated into a high-fidelity simulation environment, component simulations demonstrating algorithm performance are presented.

Effects of a PID Control System on Electromagnetic Fields in an nEDM Experiment

NASA Astrophysics Data System (ADS)

Molina, Daniel

2017-09-01

The Kellogg Radiation Laboratory is currently testing a prototype for an experiment that hopes to identify the electric dipole moment of the neutron. As part of this testing, we have developed a PID (proportional, integral, derivative) feedback system that uses large coils to fix the value of local external magnetic fields, up to linear gradients. PID algorithms compare the current value to a set-point and use the integral and derivative of the field with respect to the set-point to maintain constant fields. We have also developed a method for zeroing linear gradients within the experimental apparatus. In order to determine the performance of the PID algorithm, measurements of both the internal and external fields were obtained with and without the algorithm running, and these results were compared for noise and time stability. We have seen that the PID algorithm can reduce the effect of disturbance to the field by a factor of 10.

Optimizing the Attitude Control of Small Satellite Constellations for Rapid Response Imaging

NASA Astrophysics Data System (ADS)

Nag, S.; Li, A.

2016-12-01

Distributed Space Missions (DSMs) such as formation flight and constellations, are being recognized as important solutions to increase measurement samples over space and time. Given the increasingly accurate attitude control systems emerging in the commercial market, small spacecraft now have the ability to slew and point within few minutes of notice. In spite of hardware development in CubeSats at the payload (e.g. NASA InVEST) and subsystems (e.g. Blue Canyon Technologies), software development for tradespace analysis in constellation design (e.g. Goddard's TAT-C), planning and scheduling development in single spacecraft (e.g. GEO-CAPE) and aerial flight path optimizations for UAVs (e.g. NASA Sensor Web), there is a gap in open-source, open-access software tools for planning and scheduling distributed satellite operations in terms of pointing and observing targets. This paper will demonstrate results from a tool being developed for scheduling pointing operations of narrow field-of-view (FOV) sensors over mission lifetime to maximize metrics such as global coverage and revisit statistics. Past research has shown the need for at least fourteen satellites to cover the Earth globally everyday using a LandSat-like sensor. Increasing the FOV three times reduces the need to four satellites, however adds image distortion and BRDF complexities to the observed reflectance. If narrow FOV sensors on a small satellite constellation were commanded using robust algorithms to slew their sensor dynamically, they would be able to coordinately cover the global landmass much faster without compensating for spatial resolution or BRDF effects. Our algorithm to optimize constellation satellite pointing is based on a dynamic programming approach under the constraints of orbital mechanics and existing attitude control systems for small satellites. As a case study for our algorithm, we minimize the time required to cover the 17000 Landsat images with maximum signal to noise ratio fall-off and minimum image distortion among the satellites, using Landsat's specifications. Attitude-specific constraints such as power consumption, response time, and stability were factored into the optimality computations. The algorithm can integrate cloud cover predictions, specific ground and air assets and angular constraints.

A vision-based end-point control for a two-link flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Obergfell, Klaus

1991-01-01

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

An algorithm for minimum-cost set-point ordering in a cryogenic wind tunnel

NASA Technical Reports Server (NTRS)

Tripp, J. S.

1981-01-01

An algorithm for minimum cost ordering of set points in a cryogenic wind tunnel is developed. The procedure generates a matrix of dynamic state transition costs, which is evaluated by means of a single-volume lumped model of the cryogenic wind tunnel and the use of some idealized minimum-costs, which is evaluated by means of a single-volume lumped model of the cryogenic wind tunnel and the use of some idealized minimum-cost state-transition control strategies. A branch and bound algorithm is employed to determine the least costly sequence of state transitions from the transition-cost matrix. Some numerical results based on data for the National Transonic Facility are presented which show a strong preference for state transitions that consume to coolant. Results also show that the choice of the terminal set point in an open odering can produce a wide variation in total cost.

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.

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

Beltran, C; Kamal, H

Purpose: To provide a multicriteria optimization algorithm for intensity modulated radiation therapy using pencil proton beam scanning. Methods: Intensity modulated radiation therapy using pencil proton beam scanning requires efficient optimization algorithms to overcome the uncertainties in the Bragg peaks locations. This work is focused on optimization algorithms that are based on Monte Carlo simulation of the treatment planning and use the weights and the dose volume histogram (DVH) control points to steer toward desired plans. The proton beam treatment planning process based on single objective optimization (representing a weighted sum of multiple objectives) usually leads to time-consuming iterations involving treatmentmore » planning team members. We proved a time efficient multicriteria optimization algorithm that is developed to run on NVIDIA GPU (Graphical Processing Units) cluster. The multicriteria optimization algorithm running time benefits from up-sampling of the CT voxel size of the calculations without loss of fidelity. Results: We will present preliminary results of Multicriteria optimization for intensity modulated proton therapy based on DVH control points. The results will show optimization results of a phantom case and a brain tumor case. Conclusion: The multicriteria optimization of the intensity modulated radiation therapy using pencil proton beam scanning provides a novel tool for treatment planning. Work support by a grant from Varian Inc.« less

Results of using the NSTX-U Plasma Control System for scenario development

NASA Astrophysics Data System (ADS)

Boyer, M. D.; Battaglia, D. J.; Gates, D. A.; Gerhardt, S.; Menard, J.; Mueller, D.; Myers, C. E.; Ferron, J.; Sabbagh, S.; NSTX-U Team

2016-10-01

To best use the new capabilities of NSTX-U (e.g., higher toroidal field and additional, more distributed heating and current drive sources) and to achieve the operational goals of the program, major upgrades to the Plasma Control System have been made. These include improvements to vertical control, real-time equilibrium reconstruction, and plasma boundary shape control and the addition of flexible algorithms for beam modulation and gas injection to control the upgraded actuators in real-time, enabling their use in algorithms for stored energy and profile control. Control system commissioning activities have so far focused on vertical position and shape control. The upgraded controllers have been used to explore the vertical stability limits in inner wall limited and diverted discharges, and control of X-point and strike point locations has been demonstrated and is routinely used. A method for controlling the mid-plane inner gap, a challenge for STs, has also been added to improve reproducible control of diverted discharges. A supervisory shutdown handling algorithm has also been commissioned to ramp the plasma down and safely turn off actuators after an event such as loss of vertical control. Use of the upgrades has contributed to achieving 1MA, 0.65T scenarios with greater than 1s pulse length. Work supported by U.S. D.O.E. Contract No. DE-AC02-09CH11466.

WE-AB-209-06: Dynamic Collimator Trajectory Algorithm for Use in VMAT Treatment Deliveries

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

MacDonald, L; Thomas, C; Syme, A

2016-06-15

Purpose: To develop advanced dynamic collimator positioning algorithms for optimal beam’s-eye-view (BEV) fitting of targets in VMAT procedures, including multiple metastases stereotactic radiosurgery procedures. Methods: A trajectory algorithm was developed, which can dynamically modify the angle of the collimator as a function of VMAT control point to provide optimized collimation of target volume(s). Central to this algorithm is a concept denoted “whitespace”, defined as area within the jaw-defined BEV field, outside of the PTV, and not shielded by the MLC when fit to the PTV. Calculating whitespace at all collimator angles and every control point, a two-dimensional topographical map depictingmore » the tightness-of-fit of the MLC was generated. A variety of novel searching algorithms identified a number of candidate trajectories of continuous collimator motion. Ranking these candidate trajectories according to their accrued whitespace value produced an optimal solution for navigation of this map. Results: All trajectories were normalized to minimum possible (i.e. calculated without consideration of collimator motion constraints) accrued whitespace. On an acoustic neuroma case, a random walk algorithm generated a trajectory with 151% whitespace; random walk including a mandatory anchor point improved this to 148%; gradient search produced a trajectory with 137%; and bi-directional gradient search generated a trajectory with 130% whitespace. For comparison, a fixed collimator angle of 30° and 330° accumulated 272% and 228% of whitespace, respectively. The algorithm was tested on a clinical case with two metastases (single isocentre) and identified collimator angles that allow for simultaneous irradiation of the PTVs while minimizing normal tissue irradiation. Conclusion: Dynamic collimator trajectories have the potential to improve VMAT deliveries through increased efficiency and reduced normal tissue dose, especially in treatment of multiple cranial metastases, without significant safety concerns that hinder immediate clinical implementation.« less

Development of an analytical guidance algorithm for lunar descent

NASA Astrophysics Data System (ADS)

Chomel, Christina Tvrdik

In recent years, NASA has indicated a desire to return humans to the moon. With NASA planning manned missions within the next couple of decades, the concept development for these lunar vehicles has begun. The guidance, navigation, and control (GN&C) computer programs that will perform the function of safely landing a spacecraft on the moon are part of that development. The lunar descent guidance algorithm takes the horizontally oriented spacecraft from orbital speeds hundreds of kilometers from the desired landing point to the landing point at an almost vertical orientation and very low speed. Existing lunar descent GN&C algorithms date back to the Apollo era with little work available for implementation since then. Though these algorithms met the criteria of the 1960's, they are cumbersome today. At the basis of the lunar descent phase are two elements: the targeting, which generates a reference trajectory, and the real-time guidance, which forces the spacecraft to fly that trajectory. The Apollo algorithm utilizes a complex, iterative, numerical optimization scheme for developing the reference trajectory. The real-time guidance utilizes this reference trajectory in the form of a quartic rather than a more general format to force the real-time trajectory errors to converge to zero; however, there exist no guarantees under any conditions for this convergence. The proposed algorithm implements a purely analytical targeting algorithm used to generate two-dimensional trajectories "on-the-fly"' or to retarget the spacecraft to another landing site altogether. It is based on the analytical solutions to the equations for speed, downrange, and altitude as a function of flight path angle and assumes two constant thrust acceleration curves. The proposed real-time guidance algorithm has at its basis the three-dimensional non-linear equations of motion and a control law that is proven to converge under certain conditions through Lyapunov analysis to a reference trajectory formatted as a function of downrange, altitude, speed, and flight path angle. The two elements of the guidance algorithm are joined in Monte Carlo analysis to prove their robustness to initial state dispersions and mass and thrust errors. The robustness of the retargeting algorithm is also demonstrated.

Evaluation of on-line pulse control for vibration suppression in flexible spacecraft

NASA Technical Reports Server (NTRS)

Masri, Sami F.

1987-01-01

A numerical simulation was performed, by means of a large-scale finite element code capable of handling large deformations and/or nonlinear behavior, to investigate the suitability of the nonlinear pulse-control algorithm to suppress the vibrations induced in the Spacecraft Control Laboratory Experiment (SCOLE) components under realistic maneuvers. Among the topics investigated were the effects of various control parameters on the efficiency and robustness of the vibration control algorithm. Advanced nonlinear control techniques were applied to an idealized model of some of the SCOLE components to develop an efficient algorithm to determine the optimal locations of point actuators, considering the hardware on the SCOLE project as distributed in nature. The control was obtained from a quadratic optimization criterion, given in terms of the state variables of the distributed system. An experimental investigation was performed on a model flexible structure resembling the essential features of the SCOLE components, and electrodynamic and electrohydraulic actuators were used to investigate the applicability of the control algorithm with such devices in addition to mass-ejection pulse generators using compressed air.

Pattern recognition with parallel associative memory

NASA Technical Reports Server (NTRS)

Toth, Charles K.; Schenk, Toni

1990-01-01

An examination is conducted of the feasibility of searching targets in aerial photographs by means of a parallel associative memory (PAM) that is based on the nearest-neighbor algorithm; the Hamming distance is used as a measure of closeness, in order to discriminate patterns. Attention has been given to targets typically used for ground-control points. The method developed sorts out approximate target positions where precise localizations are needed, in the course of the data-acquisition process. The majority of control points in different images were correctly identified.

Rover Attitude and Pointing System Simulation Testbed

NASA Technical Reports Server (NTRS)

Vanelli, Charles A.; Grinblat, Jonathan F.; Sirlin, Samuel W.; Pfister, Sam

2009-01-01

The MER (Mars Exploration Rover) Attitude and Pointing System Simulation Testbed Environment (RAPSSTER) provides a simulation platform used for the development and test of GNC (guidance, navigation, and control) flight algorithm designs for the Mars rovers, which was specifically tailored to the MERs, but has since been used in the development of rover algorithms for the Mars Science Laboratory (MSL) as well. The software provides an integrated simulation and software testbed environment for the development of Mars rover attitude and pointing flight software. It provides an environment that is able to run the MER GNC flight software directly (as opposed to running an algorithmic model of the MER GNC flight code). This improves simulation fidelity and confidence in the results. Further more, the simulation environment allows the user to single step through its execution, pausing, and restarting at will. The system also provides for the introduction of simulated faults specific to Mars rover environments that cannot be replicated in other testbed platforms, to stress test the GNC flight algorithms under examination. The software provides facilities to do these stress tests in ways that cannot be done in the real-time flight system testbeds, such as time-jumping (both forwards and backwards), and introduction of simulated actuator faults that would be difficult, expensive, and/or destructive to implement in the real-time testbeds. Actual flight-quality codes can be incorporated back into the development-test suite of GNC developers, closing the loop between the GNC developers and the flight software developers. The software provides fully automated scripting, allowing multiple tests to be run with varying parameters, without human supervision.

Stimulation of a turbofan engine for evaluation of multivariable optimal control concepts. [(computerized simulation)

NASA Technical Reports Server (NTRS)

Seldner, K.

1976-01-01

The development of control systems for jet engines requires a real-time computer simulation. The simulation provides an effective tool for evaluating control concepts and problem areas prior to actual engine testing. The development and use of a real-time simulation of the Pratt and Whitney F100-PW100 turbofan engine is described. The simulation was used in a multi-variable optimal controls research program using linear quadratic regulator theory. The simulation is used to generate linear engine models at selected operating points and evaluate the control algorithm. To reduce the complexity of the design, it is desirable to reduce the order of the linear model. A technique to reduce the order of the model; is discussed. Selected results between high and low order models are compared. The LQR control algorithms can be programmed on digital computer. This computer will control the engine simulation over the desired flight envelope.

Different types of maximum power point tracking techniques for renewable energy systems: A survey

NASA Astrophysics Data System (ADS)

Khan, Mohammad Junaid; Shukla, Praveen; Mustafa, Rashid; Chatterji, S.; Mathew, Lini

2016-03-01

Global demand for electricity is increasing while production of energy from fossil fuels is declining and therefore the obvious choice of the clean energy source that is abundant and could provide security for development future is energy from the sun. In this paper, the characteristic of the supply voltage of the photovoltaic generator is nonlinear and exhibits multiple peaks, including many local peaks and a global peak in non-uniform irradiance. To keep global peak, MPPT is the important component of photovoltaic systems. Although many review articles discussed conventional techniques such as P & O, incremental conductance, the correlation ripple control and very few attempts have been made with intelligent MPPT techniques. This document also discusses different algorithms based on fuzzy logic, Ant Colony Optimization, Genetic Algorithm, artificial neural networks, Particle Swarm Optimization Algorithm Firefly, Extremum seeking control method and hybrid methods applied to the monitoring of maximum value of power at point in systems of photovoltaic under changing conditions of irradiance.

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.

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.

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

Ice Core Depth-Age Relation for Vostok delta-D and Dome Fuji delta-18O Records Based on the Devils Hole Paleotemperature Chronology

USGS Publications Warehouse

Landwehr, Jurate Maciunas

2002-01-01

This report presents the data for the Vostok - Devils Hole chronology, termed V-DH chronology, for the Antarctic Vostok ice core record. This depth - age relation is based on a join between the Vostok deuterium profile (D) and the stable oxygen isotope ratio (18O) record of paleotemperature from a calcitic core at Devils Hole, Nevada, using the algorithm developed by Landwehr and Winograd (2001). Both the control points defining the V-DH chronology and the numeric values for the chronology are given. In addition, a plausible chronology for a deformed bottom portion of the Vostok core developed with this algorithm is presented. Landwehr and Winograd (2001) demonstrated the broader utility of their algorithm by applying it to another appropriate Antarctic paleotemperature record, the Antarctic Dome Fuji ice core 18O record. Control points for this chronology are also presented in this report but deemed preliminary because, to date, investigators have published only the visual trace and not the numeric values for the Dome Fuji 18O record. The total uncertainty that can be associated with the assigned ages is also given.

Meal Detection in Patients With Type 1 Diabetes: A New Module for the Multivariable Adaptive Artificial Pancreas Control System.

PubMed

Turksoy, Kamuran; Samadi, Sediqeh; Feng, Jianyuan; Littlejohn, Elizabeth; Quinn, Laurie; Cinar, Ali

2016-01-01

A novel meal-detection algorithm is developed based on continuous glucose measurements. Bergman's minimal model is modified and used in an unscented Kalman filter for state estimations. The estimated rate of appearance of glucose is used for meal detection. Data from nine subjects are used to assess the performance of the algorithm. The results indicate that the proposed algorithm works successfully with high accuracy. The average change in glucose levels between the meals and the detection points is 16(±9.42) [mg/dl] for 61 successfully detected meals and snacks. The algorithm is developed as a new module of an integrated multivariable adaptive artificial pancreas control system. Meal detection with the proposed method is used to administer insulin boluses and prevent most of postprandial hyperglycemia without any manual meal announcements. A novel meal bolus calculation method is proposed and tested with the UVA/Padova simulator. The results indicate significant reduction in hyperglycemia.

Converging Redundant Sensor Network Information for Improved Building Control

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

Dale Tiller; D. Phil; Gregor Henze

2007-09-30

This project investigated the development and application of sensor networks to enhance building energy management and security. Commercial, industrial and residential buildings often incorporate systems used to determine occupancy, but current sensor technology and control algorithms limit the effectiveness of these systems. For example, most of these systems rely on single monitoring points to detect occupancy, when more than one monitoring point could improve system performance. Phase I of the project focused on instrumentation and data collection. During the initial project phase, a new occupancy detection system was developed, commissioned and installed in a sample of private offices and open-planmore » office workstations. Data acquisition systems were developed and deployed to collect data on space occupancy profiles. Phase II of the project demonstrated that a network of several sensors provides a more accurate measure of occupancy than is possible using systems based on single monitoring points. This phase also established that analysis algorithms could be applied to the sensor network data stream to improve the accuracy of system performance in energy management and security applications. In Phase III of the project, the sensor network from Phase I was complemented by a control strategy developed based on the results from the first two project phases: this controller was implemented in a small sample of work areas, and applied to lighting control. Two additional technologies were developed in the course of completing the project. A prototype web-based display that portrays the current status of each detector in a sensor network monitoring building occupancy was designed and implemented. A new capability that enables occupancy sensors in a sensor network to dynamically set the 'time delay' interval based on ongoing occupant behavior in the space was also designed and implemented.« less

Dynamics and control simulation of the Spacelab Experiment Pointing Mount

NASA Technical Reports Server (NTRS)

Marsh, E. L.; Ward, R. S.

1977-01-01

Computer simulations were developed to evaluate the performance of four Experiment Pointing Mounts (EPM) being considered for Spacelab experiments in the 1980-1990 time frame. The system modeled compromises a multibody system consisting of the shuttle, a mechanical isolation device, the EPM, celestial and inertial sensors, bearings, gimbal torque motors and associated nonlinearities, the experiment payload, and control and estimator algorithms. Each mount was subjected to a common disturbance (shuttle vernier thruster firing and man push off) and command (stellar pointing or solar raster scan) input. The fundamental limitation common to all mounts was found to be sensor noise. System dynamics and hardware nonlinearities have secondary effects on pointing performance for sufficiently high bandwidth.

Algorithm of the automated choice of points of the acupuncture for EHF-therapy

NASA Astrophysics Data System (ADS)

Lyapina, E. P.; Chesnokov, I. A.; Anisimov, Ya. E.; Bushuev, N. A.; Murashov, E. P.; Eliseev, Yu. Yu.; Syuzanna, H.

2007-05-01

Offered algorithm of the automated choice of points of the acupuncture for EHF-therapy. The recipe formed by algorithm of an automated choice of points for acupunctural actions has a recommendational character. Clinical investigations showed that application of the developed algorithm in EHF-therapy allows to normalize energetic state of the meridians and to effectively solve many problems of an organism functioning.

A Nonlinear, Six-Degree of Freedom Precision Formation Control Algorithm, Based on Restricted Three Body Dynamics

NASA Technical Reports Server (NTRS)

Bauer, Frank (Technical Monitor); Luquette, Richard J.; Sanner, Robert M.

2003-01-01

Precision Formation Flying is an enabling technology for a variety of proposed space-based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), the associated MAXIM pathfinder mission, and the Stellar Imager. An essential element of the technology is the control algorithm. This paper discusses the development of a nonlinear, six-degree of freedom (6DOF) control algorithm for maintaining the relative position and attitude of a spacecraft within a formation. The translation dynamics are based on the equations of motion for the restricted three body problem. The control law guarantees the tracking error convergences to zero, based on a Lyapunov analysis. The simulation, modelled after the MAXIM Pathfinder mission, maintains the relative position and attitude of a Follower spacecraft with respect to a Leader spacecraft, stationed near the L2 libration point in the Sun-Earth system.

Spline Trajectory Algorithm Development: Bezier Curve Control Point Generation for UAVs

NASA Technical Reports Server (NTRS)

Howell, Lauren R.; Allen, B. Danette

2016-01-01

A greater need for sophisticated autonomous piloting systems has risen in direct correlation with the ubiquity of Unmanned Aerial Vehicle (UAV) technology. Whether surveying unknown or unexplored areas of the world, collecting scientific data from regions in which humans are typically incapable of entering, locating lost or wanted persons, or delivering emergency supplies, an unmanned vehicle moving in close proximity to people and other vehicles, should fly smoothly and predictably. The mathematical application of spline interpolation can play an important role in autopilots' on-board trajectory planning. Spline interpolation allows for the connection of Three-Dimensional Euclidean Space coordinates through a continuous set of smooth curves. This paper explores the motivation, application, and methodology used to compute the spline control points, which shape the curves in such a way that the autopilot trajectory is able to meet vehicle-dynamics limitations. The spline algorithms developed used to generate these curves supply autopilots with the information necessary to compute vehicle paths through a set of coordinate waypoints.

SPHERES as Formation Flight Algorithm Development and Validation Testbed: Current Progress and Beyond

NASA Technical Reports Server (NTRS)

Kong, Edmund M.; Saenz-Otero, Alvar; Nolet, Simon; Berkovitz, Dustin S.; Miller, David W.; Sell, Steve W.

2004-01-01

The MIT-SSL SPHERES testbed provides a facility for the development of algorithms necessary for the success of Distributed Satellite Systems (DSS). The initial development contemplated formation flight and docking control algorithms; SPHERES now supports the study of metrology, control, autonomy, artificial intelligence, and communications algorithms and their effects on DSS projects. To support this wide range of topics, the SPHERES design contemplated the need to support multiple researchers, as echoed from both the hardware and software designs. The SPHERES operational plan further facilitates the development of algorithms by multiple researchers, while the operational locations incrementally increase the ability of the tests to operate in a representative environment. In this paper, an overview of the SPHERES testbed is first presented. The SPHERES testbed serves as a model of the design philosophies that allow for the various researches being carried out on such a facility. The implementation of these philosophies are further highlighted in the three different programs that are currently scheduled for testing onboard the International Space Station (ISS) and three that are proposed for a re-flight mission: Mass Property Identification, Autonomous Rendezvous and Docking, TPF Multiple Spacecraft Formation Flight in the first flight and Precision Optical Pointing, Tethered Formation Flight and Mars Orbit Sample Retrieval for the re-flight mission.

Energy management and multi-layer control of networked microgrids

NASA Astrophysics Data System (ADS)

Zamora, Ramon

Networked microgrids is a group of neighboring microgrids that has ability to interchange power when required in order to increase reliability and resiliency. Networked microgrid can operate in different possible configurations including: islanded microgrid, a grid-connected microgrid without a tie-line converter, a grid-connected microgrid with a tie-line converter, and networked microgrids. These possible configurations and specific characteristics of renewable energy offer challenges in designing control and management algorithms for voltage, frequency and power in all possible operating scenarios. In this work, control algorithm is designed based on large-signal model that enables microgrid to operate in wide range of operating points. A combination between PI controller and feed-forward measured system responses will compensate for the changes in operating points. The control architecture developed in this work has multi-layers and the outer layer is slower than the inner layer in time response. The main responsibility of the designed controls are to regulate voltage magnitude and frequency, as well as output power of the DG(s). These local controls also integrate with a microgrid level energy management system or microgrid central controller (MGCC) for power and energy balance for. the entire microgrid in islanded, grid-connected, or networked microgid mode. The MGCC is responsible to coordinate the lower level controls to have reliable and resilient operation. In case of communication network failure, the decentralized energy management will operate locally and will activate droop control. Simulation results indicate the superiority of designed control algorithms compared to existing ones.

Robust iterative closest point algorithm based on global reference point for rotation invariant registration.

PubMed

Du, Shaoyi; Xu, Yiting; Wan, Teng; Hu, Huaizhong; Zhang, Sirui; Xu, Guanglin; Zhang, Xuetao

2017-01-01

The iterative closest point (ICP) algorithm is efficient and accurate for rigid registration but it needs the good initial parameters. It is easily failed when the rotation angle between two point sets is large. To deal with this problem, a new objective function is proposed by introducing a rotation invariant feature based on the Euclidean distance between each point and a global reference point, where the global reference point is a rotation invariant. After that, this optimization problem is solved by a variant of ICP algorithm, which is an iterative method. Firstly, the accurate correspondence is established by using the weighted rotation invariant feature distance and position distance together. Secondly, the rigid transformation is solved by the singular value decomposition method. Thirdly, the weight is adjusted to control the relative contribution of the positions and features. Finally this new algorithm accomplishes the registration by a coarse-to-fine way whatever the initial rotation angle is, which is demonstrated to converge monotonically. The experimental results validate that the proposed algorithm is more accurate and robust compared with the original ICP algorithm.

Robust iterative closest point algorithm based on global reference point for rotation invariant registration

PubMed Central

Du, Shaoyi; Xu, Yiting; Wan, Teng; Zhang, Sirui; Xu, Guanglin; Zhang, Xuetao

2017-01-01

The iterative closest point (ICP) algorithm is efficient and accurate for rigid registration but it needs the good initial parameters. It is easily failed when the rotation angle between two point sets is large. To deal with this problem, a new objective function is proposed by introducing a rotation invariant feature based on the Euclidean distance between each point and a global reference point, where the global reference point is a rotation invariant. After that, this optimization problem is solved by a variant of ICP algorithm, which is an iterative method. Firstly, the accurate correspondence is established by using the weighted rotation invariant feature distance and position distance together. Secondly, the rigid transformation is solved by the singular value decomposition method. Thirdly, the weight is adjusted to control the relative contribution of the positions and features. Finally this new algorithm accomplishes the registration by a coarse-to-fine way whatever the initial rotation angle is, which is demonstrated to converge monotonically. The experimental results validate that the proposed algorithm is more accurate and robust compared with the original ICP algorithm. PMID:29176780

The Type-2 Fuzzy Logic Controller-Based Maximum Power Point Tracking Algorithm and the Quadratic Boost Converter for Pv System

NASA Astrophysics Data System (ADS)

Altin, Necmi

2018-05-01

An interval type-2 fuzzy logic controller-based maximum power point tracking algorithm and direct current-direct current (DC-DC) converter topology are proposed for photovoltaic (PV) systems. The proposed maximum power point tracking algorithm is designed based on an interval type-2 fuzzy logic controller that has an ability to handle uncertainties. The change in PV power and the change in PV voltage are determined as inputs of the proposed controller, while the change in duty cycle is determined as the output of the controller. Seven interval type-2 fuzzy sets are determined and used as membership functions for input and output variables. The quadratic boost converter provides high voltage step-up ability without any reduction in performance and stability of the system. The performance of the proposed system is validated through MATLAB/Simulink simulations. It is seen that the proposed system provides high maximum power point tracking speed and accuracy even for fast changing atmospheric conditions and high voltage step-up requirements.

Power Control and Optimization of Photovoltaic and Wind Energy Conversion Systems

NASA Astrophysics Data System (ADS)

Ghaffari, Azad

Power map and Maximum Power Point (MPP) of Photovoltaic (PV) and Wind Energy Conversion Systems (WECS) highly depend on system dynamics and environmental parameters, e.g., solar irradiance, temperature, and wind speed. Power optimization algorithms for PV systems and WECS are collectively known as Maximum Power Point Tracking (MPPT) algorithm. Gradient-based Extremum Seeking (ES), as a non-model-based MPPT algorithm, governs the system to its peak point on the steepest descent curve regardless of changes of the system dynamics and variations of the environmental parameters. Since the power map shape defines the gradient vector, then a close estimate of the power map shape is needed to create user assignable transients in the MPPT algorithm. The Hessian gives a precise estimate of the power map in a neighborhood around the MPP. The estimate of the inverse of the Hessian in combination with the estimate of the gradient vector are the key parts to implement the Newton-based ES algorithm. Hence, we generate an estimate of the Hessian using our proposed perturbation matrix. Also, we introduce a dynamic estimator to calculate the inverse of the Hessian which is an essential part of our algorithm. We present various simulations and experiments on the micro-converter PV systems to verify the validity of our proposed algorithm. The ES scheme can also be used in combination with other control algorithms to achieve desired closed-loop performance. The WECS dynamics is slow which causes even slower response time for the MPPT based on the ES. Hence, we present a control scheme, extended from Field-Oriented Control (FOC), in combination with feedback linearization to reduce the convergence time of the closed-loop system. Furthermore, the nonlinear control prevents magnetic saturation of the stator of the Induction Generator (IG). The proposed control algorithm in combination with the ES guarantees the closed-loop system robustness with respect to high level parameter uncertainty in the IG dynamics. The simulation results verify the effectiveness of the proposed algorithm.

A feedback control for the advanced launch system

NASA Technical Reports Server (NTRS)

Seywald, Hans; Cliff, Eugene M.

1991-01-01

A robust feedback algorithm is presented for a near-minimum-fuel ascent of a two-stage launch vehicle operating in the equatorial plane. The development of the algorithm is based on the ideas of neighboring optimal control and can be derived into three phases. In phase 1, the formalism of optimal control is employed to calculate fuel-optimal ascent trajectories for a simple point-mass model. In phase 2, these trajectories are used to numerically calculate gain functions of time for the control(s), the total flight time, and possibly, for other variables of interest. In phase 3, these gains are used to determine feedback expressions for the controls associated with a more realistic model of a launch vehicle. With the Advanced Launch System in mind, all calculations are performed on a two-stage vehicle with fixed thrust history, but this restriction is by no means important for the approach taken. Performance and robustness of the algorithm is found to be excellent.

A Flexible VHDL Floating Point Module for Control Algorithm Implementation in Space Applications

NASA Astrophysics Data System (ADS)

Padierna, A.; Nicoleau, C.; Sanchez, J.; Hidalgo, I.; Elvira, S.

2012-08-01

The implementation of control loops for space applications is an area with great potential. However, the characteristics of this kind of systems, such as its wide dynamic range of numeric values, make inadequate the use of fixed-point algorithms.However, because the generic chips available for the treatment of floating point data are, in general, not qualified to operate in space environments and the possibility of using an IP module in a FPGA/ASIC qualified for space is not viable due to the low amount of logic cells available for these type of devices, it is necessary to find a viable alternative.For these reasons, in this paper a VHDL Floating Point Module is presented. This proposal allows the design and execution of floating point algorithms with acceptable occupancy to be implemented in FPGAs/ASICs qualified for space environments.

Maximum power point tracking algorithm based on sliding mode and fuzzy logic for photovoltaic sources under variable environmental conditions

NASA Astrophysics Data System (ADS)

Atik, L.; Petit, P.; Sawicki, J. P.; Ternifi, Z. T.; Bachir, G.; Della, M.; Aillerie, M.

2017-02-01

Solar panels have a nonlinear voltage-current characteristic, with a distinct maximum power point (MPP), which depends on the environmental factors, such as temperature and irradiation. In order to continuously harvest maximum power from the solar panels, they have to operate at their MPP despite the inevitable changes in the environment. Various methods for maximum power point tracking (MPPT) were developed and finally implemented in solar power electronic controllers to increase the efficiency in the electricity production originate from renewables. In this paper we compare using Matlab tools Simulink, two different MPP tracking methods, which are, fuzzy logic control (FL) and sliding mode control (SMC), considering their efficiency in solar energy production.

A Minimum Path Algorithm Among 3D-Polyhedral Objects

NASA Astrophysics Data System (ADS)

Yeltekin, Aysin

1989-03-01

In this work we introduce a minimum path theorem for 3D case. We also develop an algorithm based on the theorem we prove. The algorithm will be implemented on the software package we develop using C language. The theorem we introduce states that; "Given the initial point I, final point F and S be the set of finite number of static obstacles then an optimal path P from I to F, such that PA S = 0 is composed of straight line segments which are perpendicular to the edge segments of the objects." We prove the theorem as well as we develop the following algorithm depending on the theorem to find the minimum path among 3D-polyhedral objects. The algorithm generates the point Qi on edge ei such that at Qi one can find the line which is perpendicular to the edge and the IF line. The algorithm iteratively provides a new set of initial points from Qi and exploits all possible paths. Then the algorithm chooses the minimum path among the possible ones. The flowchart of the program as well as the examination of its numerical properties are included.

Performance Evaluation of Multichannel Adaptive Algorithms for Local Active Noise Control

NASA Astrophysics Data System (ADS)

DE DIEGO, M.; GONZALEZ, A.

2001-07-01

This paper deals with the development of a multichannel active noise control (ANC) system inside an enclosed space. The purpose is to design a real practical system which works well in local ANC applications. Moreover, the algorithm implemented in the adaptive controller should be robust, of low computational complexity and it should manage to generate a uniform useful-size zone of quite in order to allow the head motion of a person seated on a seat inside a car. Experiments were carried out under semi-anechoic and listening room conditions to verify the successful implementation of the multichannel system. The developed prototype consists of an array of up to four microphones used as error sensors mounted on the headrest of a seat place inside the enclosure. One loudspeaker was used as single primary source and two secondary sources were placed facing the seat. The aim of this multichannel system is to reduce the sound pressure levels in an area around the error sensors, following a local control strategy. When using this technique, the cancellation points are not only the error sensor positions but an area around them, which is measured by using a monitoring microphone. Different multichannel adaptive algorithms for ANC have been analyzed and their performance verified. Multiple error algorithms are used in order to cancel out different types of primary noise (engine noise and random noise) with several configurations (up to four channels system). As an alternative to the multiple error LMS algorithm (multichannel version of the filtered-X LMS algorithm, MELMS), the least maximum mean squares (LMMS) and the scanning error-LMS algorithm have been developed in this work in order to reduce computational complexity and achieve a more uniform residual field. The ANC algorithms were programmed on a digital signal processing board equipped with a TMS320C40 floating point DSP processor. Measurements concerning real-time experiments on local noise reduction in two environments and at frequencies below 230 Hz are presented. Better noise levels attenuation is obtained in the semianechoic chamber due to the simplicity of the acoustic field. The size of the zone of quiet makes the system useful at relatively low frequencies and it is large enough to cover a listener's head movements. The spatial extent of the zones of quiet is generally observed to increase as the error sensors are moved away from the secondary source, they are put closer together or its number increases. In summary, different algorithms' performance and the viability of the multichannel system for local active noise control in real listening conditions are evaluated and some guidelines for designing such systems are then proposed.

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.

Hardware Implementation of Maximum Power Point Tracking for Thermoelectric Generators

NASA Astrophysics Data System (ADS)

Maganga, Othman; Phillip, Navneesh; Burnham, Keith J.; Montecucco, Andrea; Siviter, Jonathan; Knox, Andrew; Simpson, Kevin

2014-06-01

This work describes the practical implementation of two maximum power point tracking (MPPT) algorithms, namely those of perturb and observe, and extremum seeking control. The proprietary dSPACE system is used to perform hardware in the loop (HIL) simulation whereby the two control algorithms are implemented using the MATLAB/Simulink (Mathworks, Natick, MA) software environment in order to control a synchronous buck-boost converter connected to two commercial thermoelectric modules. The process of performing HIL simulation using dSPACE is discussed, and a comparison between experimental and simulated results is highlighted. The experimental results demonstrate the validity of the two MPPT algorithms, and in conclusion the benefits and limitations of real-time implementation of MPPT controllers using dSPACE are discussed.

Development of the roadmap for reducing cardiovascular morbidity and mortality through the detection, treatment and control of hypertension in Africa: report of a working group of the PASCAR Hypertension Task Force.

PubMed

Dzudie, Anastase; Kane, Abdoul; Kramoh, Euloge; Anzouan-Kacou, Jean-Baptiste; Damourou, Jean Marie; Allawaye, Lucien; Nzisabira, Jolis; Mousse, Latif; Balde, Dadier; Nouhom, Ouane; Nkoa, Jean Louis; Kaki, Kimbally; Djomou, Armel; Menanga, Alain; Nganou, Christ Nadege; Mipinda, Jean Bruno; Nebie, Lucie; Kuate, Liliane Mfeukeu; Kingue, Samuel; Ba, Serigne Abdou

The fourth Pan-African Society of Cardiology (PASCAR) hypertension taskforce meeting was held at the Yaoundé Hilton Hotel on 16 March 2016. Its main goals were to update and facilitate understanding of the PASCAR roadmap for the control of hypertension on the continent, to refine the PASCAR hypertension algorithm, and to discuss the next steps of the PASCAR hypertension policy, including how the PASCAR initiative can be customised at country level. The formation of the PASCAR coalition against hypertension, the writing group and the current status of the PASCAR hypertension policy document as well as the algorithm were presented to delegates representing 12 French-speaking countries. The urgency to finalise the continental policy was recognised and consensus was achieved by discussion on the main points and strategy. Relevant scientific issues were discussed and comments were received on all points, including how the algorithm could be simplified and made more accessible for implementation at primary healthcare centres.

A comparative study of controlled random search algorithms with application to inverse aerofoil design

NASA Astrophysics Data System (ADS)

Manzanares-Filho, N.; Albuquerque, R. B. F.; Sousa, B. S.; Santos, L. G. C.

2018-06-01

This article presents a comparative study of some versions of the controlled random search algorithm (CRSA) in global optimization problems. The basic CRSA, originally proposed by Price in 1977 and improved by Ali et al. in 1997, is taken as a starting point. Then, some new modifications are proposed to improve the efficiency and reliability of this global optimization technique. The performance of the algorithms is assessed using traditional benchmark test problems commonly invoked in the literature. This comparative study points out the key features of the modified algorithm. Finally, a comparison is also made in a practical engineering application, namely the inverse aerofoil shape design.

Forward and inverse solutions for Risley prism based on the Denavit-Hartenberg methodology

NASA Astrophysics Data System (ADS)

Beltran-Gonzalez, A.; Garcia-Torales, G.; Strojnik, M.; Flores, J. L.; Garcia-Luna, J. L.

2017-08-01

In this work forward and inverse solutions for two-element Risley prism for pointing and scanning beam systems are developed. A more efficient and faster algorithm is proposed to make an analogy of the Risley prism system compared with a robotic system with two degrees of freedom. This system of equations controls each Risley prism individually as a planar manipulator arm of two links. In order to evaluate the algorithm we implement it in a pointing system. We perform popular routines such as the linear, spiral and loops traces. Using forward and inverse solutions for two-element Risley prism it is also possible to point at coordinates specified by the user, provided they are within the pointer area of work area. Experimental results are showed as a validation of our proposal.

Development of Decision-Making Automated System for Optimal Placement of Physical Access Control System’s Elements

NASA Astrophysics Data System (ADS)

Danilova, Olga; Semenova, Zinaida

2018-04-01

The objective of this study is a detailed analysis of physical protection systems development for information resources. The optimization theory and decision-making mathematical apparatus is used to formulate correctly and create an algorithm of selection procedure for security systems optimal configuration considering the location of the secured object’s access point and zones. The result of this study is a software implementation scheme of decision-making system for optimal placement of the physical access control system’s elements.

Relative and Absolute Error Control in a Finite-Difference Method Solution of Poisson's Equation

ERIC Educational Resources Information Center

Prentice, J. S. C.

2012-01-01

An algorithm for error control (absolute and relative) in the five-point finite-difference method applied to Poisson's equation is described. The algorithm is based on discretization of the domain of the problem by means of three rectilinear grids, each of different resolution. We discuss some hardware limitations associated with the algorithm,…

Formation Flying Satellite Control Around the L2 Sun-Earth Libration Point

NASA Technical Reports Server (NTRS)

Hamilton, Nicholas H.; Folta, David; Carpenter, Russell; Bauer, Frank (Technical Monitor)

2002-01-01

This paper discusses the development of a linear control algorithm for formations in the vicinity of the L2 sun-Earth libration point. The development of a simplified extended Kalman filter is included as well. Simulations are created for the analysis of the stationkeeping and various formation maneuvers of the Stellar Imager mission. The simulations provide tracking error, estimation error, and control effort results. For formation maneuvering, the formation spacecraft track to within 4 meters of their desired position and within 1.5 millimeters per second of their desired zero velocity. The filter, with few exceptions, keeps the estimation errors within their three-sigma values. Without noise, the controller performs extremely well, with the formation spacecraft tracking to within several micrometers. Each spacecraft uses around 1 to 2 grams of propellant per maneuver, depending on the circumstances.

On the feasibility of closed-loop control of intra-aortic balloon pumping

NASA Technical Reports Server (NTRS)

Clark, J. W., Jr.; Bourland, H. M.; Kane, G. R.

1973-01-01

A closed-loop control scheme for the control of intra-aortic balloon pumping has been developed and tested in dog experiments. A performance index reflecting the general objectives of balloon-assist pumping is developed and a modified steepest ascent control algorithm is utilized for the selection of a proper operating point for the balloon during its pumping cycle. This paper attempts to indicate the feasibility of closed-loop control of balloon pumping, and particularly its flexibility in achieving both diastolic augmentation of mean aortic pressure and control of the level of end-diastolic pressure (EDP) an important factor in reducing heart work.

a Gross Error Elimination Method for Point Cloud Data Based on Kd-Tree

NASA Astrophysics Data System (ADS)

Kang, Q.; Huang, G.; Yang, S.

2018-04-01

Point cloud data has been one type of widely used data sources in the field of remote sensing. Key steps of point cloud data's pro-processing focus on gross error elimination and quality control. Owing to the volume feature of point could data, existed gross error elimination methods need spend massive memory both in space and time. This paper employed a new method which based on Kd-tree algorithm to construct, k-nearest neighbor algorithm to search, settled appropriate threshold to determine with result turns out a judgement that whether target point is or not an outlier. Experimental results show that, our proposed algorithm will help to delete gross error in point cloud data and facilitate to decrease memory consumption, improve efficiency.

Antenna Controller Replacement Software

NASA Technical Reports Server (NTRS)

Chao, Roger Y.; Morgan, Scott C.; Strain, Martha M.; Rockwell, Stephen T.; Shimizu, Kenneth J.; Tehrani, Barzia J.; Kwok, Jaclyn H.; Tuazon-Wong, Michelle; Valtier, Henry; Nalbandi, Reza;

Educational Tool for Optimal Controller Tuning Using Evolutionary Strategies

ERIC Educational Resources Information Center

Carmona Morales, D.; Jimenez-Hornero, J. E.; Vazquez, F.; Morilla, F.

2012-01-01

In this paper, an optimal tuning tool is presented for control structures based on multivariable proportional-integral-derivative (PID) control, using genetic algorithms as an alternative to traditional optimization algorithms. From an educational point of view, this tool provides students with the necessary means to consolidate their knowledge on…

Experimental study of adaptive pointing and tracking for large flexible space structures

NASA Technical Reports Server (NTRS)

Boussalis, D.; Bayard, D. S.; Ih, C.; Wang, S. J.; Ahmed, A.

1991-01-01

This paper describes an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used in this study is based on a multivariable direct model reference adaptive control law. Several experimental validation studies were performed earlier using this algorithm for vibration damping and robust regulation, with excellent results. The current work extends previous studies by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error.

A MPPT Algorithm Based PV System Connected to Single Phase Voltage Controlled Grid

NASA Astrophysics Data System (ADS)

Sreekanth, G.; Narender Reddy, N.; Durga Prasad, A.; Nagendrababu, V.

2012-10-01

Future ancillary services provided by photovoltaic (PV) systems could facilitate their penetration in power systems. In addition, low-power PV systems can be designed to improve the power quality. This paper presents a single-phase PV systemthat provides grid voltage support and compensation of harmonic distortion at the point of common coupling thanks to a repetitive controller. The power provided by the PV panels is controlled by a Maximum Power Point Tracking algorithm based on the incremental conductance method specifically modified to control the phase of the PV inverter voltage. Simulation and experimental results validate the presented solution.

Noise suppression methods for robust speech processing

NASA Astrophysics Data System (ADS)

Boll, S. F.; Ravindra, H.; Randall, G.; Armantrout, R.; Power, R.

1980-05-01

Robust speech processing in practical operating environments requires effective environmental and processor noise suppression. This report describes the technical findings and accomplishments during this reporting period for the research program funded to develop real time, compressed speech analysis synthesis algorithms whose performance in invariant under signal contamination. Fulfillment of this requirement is necessary to insure reliable secure compressed speech transmission within realistic military command and control environments. Overall contributions resulting from this research program include the understanding of how environmental noise degrades narrow band, coded speech, development of appropriate real time noise suppression algorithms, and development of speech parameter identification methods that consider signal contamination as a fundamental element in the estimation process. This report describes the current research and results in the areas of noise suppression using the dual input adaptive noise cancellation using the short time Fourier transform algorithms, articulation rate change techniques, and a description of an experiment which demonstrated that the spectral subtraction noise suppression algorithm can improve the intelligibility of 2400 bps, LPC 10 coded, helicopter speech by 10.6 point.

Robust Vision-Based Pose Estimation Algorithm for AN Uav with Known Gravity Vector

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-06-01

Accurate estimation of camera external orientation with respect to a known object is one of the central problems in photogrammetry and computer vision. In recent years this problem is gaining an increasing attention in the field of UAV autonomous flight. Such application requires a real-time performance and robustness of the external orientation estimation algorithm. The accuracy of the solution is strongly dependent on the number of reference points visible on the given image. The problem only has an analytical solution if 3 or more reference points are visible. However, in limited visibility conditions it is often needed to perform external orientation with only 2 visible reference points. In such case the solution could be found if the gravity vector direction in the camera coordinate system is known. A number of algorithms for external orientation estimation for the case of 2 known reference points and a gravity vector were developed to date. Most of these algorithms provide analytical solution in the form of polynomial equation that is subject to large errors in the case of complex reference points configurations. This paper is focused on the development of a new computationally effective and robust algorithm for external orientation based on positions of 2 known reference points and a gravity vector. The algorithm implementation for guidance of a Parrot AR.Drone 2.0 micro-UAV is discussed. The experimental evaluation of the algorithm proved its computational efficiency and robustness against errors in reference points positions and complex configurations.

Optimal slew path planning for the Sino-French Space-based multiband astronomical Variable Objects Monitor mission

NASA Astrophysics Data System (ADS)

She, Yuchen; Li, Shuang

2018-01-01

The planning algorithm to calculate a satellite's optimal slew trajectory with a given keep-out constraint is proposed. An energy-optimal formulation is proposed for the Space-based multiband astronomical Variable Objects Monitor Mission Analysis and Planning (MAP) system. The innovative point of the proposed planning algorithm lies in that the satellite structure and control limitation are not considered as optimization constraints but are formulated into the cost function. This modification is able to relieve the burden of the optimizer and increases the optimization efficiency, which is the major challenge for designing the MAP system. Mathematical analysis is given to prove that there is a proportional mapping between the formulation and the satellite controller output. Simulations with different scenarios are given to demonstrate the efficiency of the developed algorithm.

Bridges between multiple-point geostatistics and texture synthesis: Review and guidelines for future research

NASA Astrophysics Data System (ADS)

Mariethoz, Gregoire; Lefebvre, Sylvain

2014-05-01

Multiple-Point Simulations (MPS) is a family of geostatistical tools that has received a lot of attention in recent years for the characterization of spatial phenomena in geosciences. It relies on the definition of training images to represent a given type of spatial variability, or texture. We show that the algorithmic tools used are similar in many ways to techniques developed in computer graphics, where there is a need to generate large amounts of realistic textures for applications such as video games and animated movies. Similarly to MPS, these texture synthesis methods use training images, or exemplars, to generate realistic-looking graphical textures. Both domains of multiple-point geostatistics and example-based texture synthesis present similarities in their historic development and share similar concepts. These disciplines have however remained separated, and as a result significant algorithmic innovations in each discipline have not been universally adopted. Texture synthesis algorithms present drastically increased computational efficiency, patterns reproduction and user control. At the same time, MPS developed ways to condition models to spatial data and to produce 3D stochastic realizations, which have not been thoroughly investigated in the field of texture synthesis. In this paper we review the possible links between these disciplines and show the potential and limitations of using concepts and approaches from texture synthesis in MPS. We also provide guidelines on how recent developments could benefit both fields of research, and what challenges remain open.

Automated search of control points in surface-based morphometry.

PubMed

Canna, Antonietta; Russo, Andrea G; Ponticorvo, Sara; Manara, Renzo; Pepino, Alessandro; Sansone, Mario; Di Salle, Francesco; Esposito, Fabrizio

2018-04-16

Cortical surface-based morphometry is based on a semi-automated analysis of structural MRI images. In FreeSurfer, a widespread tool for surface-based analyses, a visual check of gray-white matter borders is followed by the manual placement of control points to drive the topological correction (editing) of segmented data. A novel algorithm combining radial sampling and machine learning is presented for the automated control point search (ACPS). Four data sets with 3 T MRI structural images were used for ACPS validation, including raw data acquired twice in 36 healthy subjects and both raw and FreeSurfer preprocessed data of 125 healthy subjects from public databases. The unedited data from a subgroup of subjects were submitted to manual control point search and editing. The ACPS algorithm was trained on manual control points and tested on new (unseen) unedited data. Cortical thickness (CT) and fractal dimensionality (FD) were estimated in three data sets by reconstructing surfaces from both unedited and edited data, and the effects of editing were compared between manual and automated editing and versus no editing. The ACPS-based editing improved the surface reconstructions similarly to manual editing. Compared to no editing, ACPS-based and manual editing significantly reduced CT and FD in consistent regions across different data sets. Despite the extra processing of control point driven reconstructions, CT and FD estimates were highly reproducible in almost all cortical regions, albeit some problematic regions (e.g. entorhinal cortex) may benefit from different editing. The use of control points improves the surface reconstruction and the ACPS algorithm can automate their search reducing the burden of manual editing. Copyright © 2018 Elsevier Inc. All rights reserved.

Multiresolution strategies for the numerical solution of optimal control problems

NASA Astrophysics Data System (ADS)

Jain, Sachin

There exist many numerical techniques for solving optimal control problems but less work has been done in the field of making these algorithms run faster and more robustly. The main motivation of this work is to solve optimal control problems accurately in a fast and efficient way. Optimal control problems are often characterized by discontinuities or switchings in the control variables. One way of accurately capturing the irregularities in the solution is to use a high resolution (dense) uniform grid. This requires a large amount of computational resources both in terms of CPU time and memory. Hence, in order to accurately capture any irregularities in the solution using a few computational resources, one can refine the mesh locally in the region close to an irregularity instead of refining the mesh uniformly over the whole domain. Therefore, a novel multiresolution scheme for data compression has been designed which is shown to outperform similar data compression schemes. Specifically, we have shown that the proposed approach results in fewer grid points in the grid compared to a common multiresolution data compression scheme. The validity of the proposed mesh refinement algorithm has been verified by solving several challenging initial-boundary value problems for evolution equations in 1D. The examples have demonstrated the stability and robustness of the proposed algorithm. The algorithm adapted dynamically to any existing or emerging irregularities in the solution by automatically allocating more grid points to the region where the solution exhibited sharp features and fewer points to the region where the solution was smooth. Thereby, the computational time and memory usage has been reduced significantly, while maintaining an accuracy equivalent to the one obtained using a fine uniform mesh. Next, a direct multiresolution-based approach for solving trajectory optimization problems is developed. The original optimal control problem is transcribed into a nonlinear programming (NLP) problem that is solved using standard NLP codes. The novelty of the proposed approach hinges on the automatic calculation of a suitable, nonuniform grid over which the NLP problem is solved, which tends to increase numerical efficiency and robustness. Control and/or state constraints are handled with ease, and without any additional computational complexity. The proposed algorithm is based on a simple and intuitive method to balance several conflicting objectives, such as accuracy of the solution, convergence, and speed of the computations. The benefits of the proposed algorithm over uniform grid implementations are demonstrated with the help of several nontrivial examples. Furthermore, two sequential multiresolution trajectory optimization algorithms for solving problems with moving targets and/or dynamically changing environments have been developed. For such problems, high accuracy is desirable only in the immediate future, yet the ultimate mission objectives should be accommodated as well. An intelligent trajectory generation for such situations is thus enabled by introducing the idea of multigrid temporal resolution to solve the associated trajectory optimization problem on a non-uniform grid across time that is adapted to: (i) immediate future, and (ii) potential discontinuities in the state and control variables.

Research on large spatial coordinate automatic measuring system based on multilateral method

NASA Astrophysics Data System (ADS)

Miao, Dongjing; Li, Jianshuan; Li, Lianfu; Jiang, Yuanlin; Kang, Yao; He, Mingzhao; Deng, Xiangrui

2015-10-01

To measure the spatial coordinate accurately and efficiently in large size range, a manipulator automatic measurement system which based on multilateral method is developed. This system is divided into two parts: The coordinate measurement subsystem is consists of four laser tracers, and the trajectory generation subsystem is composed by a manipulator and a rail. To ensure that there is no laser beam break during the measurement process, an optimization function is constructed by using the vectors between the laser tracers measuring center and the cat's eye reflector measuring center, then an orientation automatically adjust algorithm for the reflector is proposed, with this algorithm, the laser tracers are always been able to track the reflector during the entire measurement process. Finally, the proposed algorithm is validated by taking the calibration of laser tracker for instance: the actual experiment is conducted in 5m × 3m × 3.2m range, the algorithm is used to plan the orientations of the reflector corresponding to the given 24 points automatically. After improving orientations of some minority points with adverse angles, the final results are used to control the manipulator's motion. During the actual movement, there are no beam break occurs. The result shows that the proposed algorithm help the developed system to measure the spatial coordinates over a large range with efficiency.

Model Predictive Control of HVAC Systems: Implementation and Testing at the University of California, Merced

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

Haves, Phillip; Hencey, Brandon; Borrell, Francesco

2010-06-29

A Model Predictive Control algorithm was developed for the UC Merced campus chilled water plant. Model predictive control (MPC) is an advanced control technology that has proven successful in the chemical process industry and other industries. The main goal of the research was to demonstrate the practical and commercial viability of MPC for optimization of building energy systems. The control algorithms were developed and implemented in MATLAB, allowing for rapid development, performance, and robustness assessment. The UC Merced chilled water plant includes three water-cooled chillers and a two million gallon chilled water storage tank. The tank is charged during themore » night to minimize on-peak electricity consumption and take advantage of the lower ambient wet bulb temperature. The control algorithms determined the optimal chilled water plant operation including chilled water supply (CHWS) temperature set-point, condenser water supply (CWS) temperature set-point and the charging start and stop times to minimize a cost function that includes energy consumption and peak electrical demand over a 3-day prediction horizon. A detailed model of the chilled water plant and simplified models of the buildings served by the plant were developed using the equation-based modeling language Modelica. Steady state models of the chillers, cooling towers and pumps were developed, based on manufacturers performance data, and calibrated using measured data collected and archived by the control system. A detailed dynamic model of the chilled water storage tank was also developed and calibrated. Simple, semi-empirical models were developed to predict the temperature and flow rate of the chilled water returning to the plant from the buildings. These models were then combined and simplified for use in a model predictive control algorithm that determines the optimal chiller start and stop times and set-points for the condenser water temperature and the chilled water supply temperature. The report describes the development and testing of the algorithm and evaluates the resulting performance, concluding with a discussion of next steps in further research. The experimental results show a small improvement in COP over the baseline policy but it is difficult to draw any strong conclusions about the energy savings potential for MPC with this system only four days of suitable experimental data were obtained once correct operation of the MPC system had been achieved. These data show an improvement in COP of 3.1% {+-} 2.2% relative to a baseline established immediately prior to the period when the MPC was run in its final form. This baseline includes control policy improvements that the plant operators learned by observing the earlier implementations of MPC, including increasing the temperature of the water supplied to the chiller condensers from the cooling towers. The process of data collection and model development, necessary for any MPC project, resulted in the team uncovering various problems with the chilled water system. Although it is difficult to quantify the energy savings resulting from these problems being remedied, they were likely on the same order as the energy savings from the MPC itself. Although the types of problems uncovered and the level of energy savings may differ significantly from other projects, some of the benefits of detecting and diagnosing problems are expected from the use of MPC for any chilled water plant. The degree of chiller loading was found to be a key factor for efficiency. It is more efficient to operate the chillers at or near full load. In order to maximize the chiller load, one would maximize the temperature difference across chillers and the chilled water flow rate through the chillers. Thus, the CHWS set-point and the chilled water flow-rate can be used to limit the chiller loading to prevent chiller surging. Since the flow rate has an upper bound and the CHWS set point has a lower bound, the chiller loading is constrained and often determined by the chilled water return temperature (CHWR). The CHWR temperature is primarily comprised of warm water from the top of the TES tank. The CHWR temperature falls substantially as the thermocline approaches the top of the tank, which reduces the chiller loading. As a result, it has been determined that overcharging the TES tank can be detrimental to the chilled water plant efficiency. The resulting MPC policy differs from the current practice of fully charging the TES tank. A heuristic rule could possible avoid this problem without using predictive control. Similarly, the COP improvements from the change in CWS set-point were largely captured by a static set-point change by the operators. Further research is required to determine how much of the MPC savings could be garnered through simplified rules (based on the MPC study), with and without prediction.« less

Application of Least Mean Square Algorithms to Spacecraft Vibration Compensation

NASA Technical Reports Server (NTRS)

Woodard , Stanley E.; Nagchaudhuri, Abhijit

1998-01-01

This paper describes the application of the Least Mean Square (LMS) algorithm in tandem with the Filtered-X Least Mean Square algorithm for controlling a science instrument's line-of-sight pointing. Pointing error is caused by a periodic disturbance and spacecraft vibration. A least mean square algorithm is used on-orbit to produce the transfer function between the instrument's servo-mechanism and error sensor. The result is a set of adaptive transversal filter weights tuned to the transfer function. The Filtered-X LMS algorithm, which is an extension of the LMS, tunes a set of transversal filter weights to the transfer function between the disturbance source and the servo-mechanism's actuation signal. The servo-mechanism's resulting actuation counters the disturbance response and thus maintains accurate science instrumental pointing. A simulation model of the Upper Atmosphere Research Satellite is used to demonstrate the algorithms.

An evolutionary computation based algorithm for calculating solar differential rotation by automatic tracking of coronal bright points

NASA Astrophysics Data System (ADS)

Shahamatnia, Ehsan; Dorotovič, Ivan; Fonseca, Jose M.; Ribeiro, Rita A.

2016-03-01

Developing specialized software tools is essential to support studies of solar activity evolution. With new space missions such as Solar Dynamics Observatory (SDO), solar images are being produced in unprecedented volumes. To capitalize on that huge data availability, the scientific community needs a new generation of software tools for automatic and efficient data processing. In this paper a prototype of a modular framework for solar feature detection, characterization, and tracking is presented. To develop an efficient system capable of automatic solar feature tracking and measuring, a hybrid approach combining specialized image processing, evolutionary optimization, and soft computing algorithms is being followed. The specialized hybrid algorithm for tracking solar features allows automatic feature tracking while gathering characterization details about the tracked features. The hybrid algorithm takes advantages of the snake model, a specialized image processing algorithm widely used in applications such as boundary delineation, image segmentation, and object tracking. Further, it exploits the flexibility and efficiency of Particle Swarm Optimization (PSO), a stochastic population based optimization algorithm. PSO has been used successfully in a wide range of applications including combinatorial optimization, control, clustering, robotics, scheduling, and image processing and video analysis applications. The proposed tool, denoted PSO-Snake model, was already successfully tested in other works for tracking sunspots and coronal bright points. In this work, we discuss the application of the PSO-Snake algorithm for calculating the sidereal rotational angular velocity of the solar corona. To validate the results we compare them with published manual results performed by an expert.

Visual navigation of the UAVs on the basis of 3D natural landmarks

NASA Astrophysics Data System (ADS)

Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

2015-12-01

This work considers the tracking of the UAV (unmanned aviation vehicle) on the basis of onboard observations of natural landmarks including azimuth and elevation angles. It is assumed that UAV's cameras are able to capture the angular position of reference points and to measure the angles of the sight line. Such measurements involve the real position of UAV in implicit form, and therefore some of nonlinear filters such as Extended Kalman filter (EKF) or others must be used in order to implement these measurements for UAV control. Recently it was shown that modified pseudomeasurement method may be used to control UAV on the basis of the observation of reference points assigned along the UAV path in advance. However, the use of such set of points needs the cumbersome recognition procedure with the huge volume of on-board memory. The natural landmarks serving as such reference points which may be determined on-line can significantly reduce the on-board memory and the computational difficulties. The principal difference of this work is the usage of the 3D reference points coordinates which permits to determine the position of the UAV more precisely and thereby to guide along the path with higher accuracy which is extremely important for successful performance of the autonomous missions. The article suggests the new RANSAC for ISOMETRY algorithm and the use of recently developed estimation and control algorithms for tracking of given reference path under external perturbation and noised angular measurements.

Recognition of plant parts with problem-specific algorithms

NASA Astrophysics Data System (ADS)

Schwanke, Joerg; Brendel, Thorsten; Jensch, Peter F.; Megnet, Roland

1994-06-01

Automatic micropropagation is necessary to produce cost-effective high amounts of biomass. Juvenile plants are dissected in clean- room environment on particular points on the stem or the leaves. A vision-system detects possible cutting points and controls a specialized robot. This contribution is directed to the pattern- recognition algorithms to detect structural parts of the plant.

Using a focal-plane array to estimate antenna pointing errors

NASA Technical Reports Server (NTRS)

Zohar, S.; Vilnrotter, V. A.

1991-01-01

The use of extra collecting horns in the focal plane of an antenna as a means of determining the Direction of Arrival (DOA) of the signal impinging on it, provided it is within the antenna beam, is considered. Our analysis yields a relatively simple algorithm to extract the DOA from the horns' outputs. An algorithm which, in effect, measures the thermal noise of the horns' signals and determines its effect on the uncertainty of the extracted DOA parameters is developed. Both algorithms were implemented in software and tested in simulated data. Based on these tests, it is concluded that this is a viable approach to the DOA determination. Though the results obtained are of general applicability, the particular motivation for the present work is their application to the pointing of a mechanically deformed antenna. It is anticipated that the pointing algorithm developed for a deformed antenna could be obtained as a small perturbation of the algorithm developed for an undeformed antenna. In this context, it should be pointed out that, with a deformed antenna, the array of horns and its associated circuitry constitute the main part of the deformation-compensation system. In this case, the pointing system proposed may be viewed as an additional task carried out by the deformation-compensation hardware.

Optimal control of a variable spin speed CMG system for space vehicles. [Control Moment Gyros

NASA Technical Reports Server (NTRS)

Liu, T. C.; Chubb, W. B.; Seltzer, S. M.; Thompson, Z.

1973-01-01

Many future NASA programs require very high accurate pointing stability. These pointing requirements are well beyond anything attempted to date. This paper suggests a control system which has the capability of meeting these requirements. An optimal control law for the suggested system is specified. However, since no direct method of solution is known for this complicated system, a computation technique using successive approximations is used to develop the required solution. The method of calculus of variations is applied for estimating the changes of index of performance as well as those constraints of inequality of state variables and terminal conditions. Thus, an algorithm is obtained by the steepest descent method and/or conjugate gradient method. Numerical examples are given to show the optimal controls.

Development of a teaching system for an industrial robot using stereo vision

NASA Astrophysics Data System (ADS)

Ikezawa, Kazuya; Konishi, Yasuo; Ishigaki, Hiroyuki

1997-12-01

The teaching and playback method is mainly a teaching technique for industrial robots. However, this technique takes time and effort in order to teach. In this study, a new teaching algorithm using stereo vision based on human demonstrations in front of two cameras is proposed. In the proposed teaching algorithm, a robot is controlled repetitively according to angles determined by the fuzzy sets theory until it reaches an instructed teaching point, which is relayed through cameras by an operator. The angles are recorded and used later in playback. The major advantage of this algorithm is that no calibrations are needed. This is because the fuzzy sets theory, which is able to express qualitatively the control commands to the robot, is used instead of conventional kinematic equations. Thus, a simple and easy teaching operation is realized with this teaching algorithm. Simulations and experiments have been performed on the proposed teaching system, and data from testing has confirmed the usefulness of our design.

Autonomous proximity operations using machine vision for trajectory control and pose estimation

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Sternberg, Stanley R.

1991-01-01

A machine vision algorithm was developed which permits guidance control to be maintained during autonomous proximity operations. At present this algorithm exists as a simulation, running upon an 80386 based personal computer, using a ModelMATE CAD package to render the target vehicle. However, the algorithm is sufficiently simple, so that following off-line training on a known target vehicle, it should run in real time with existing vision hardware. The basis of the algorithm is a sequence of single camera images of the target vehicle, upon which radial transforms were performed. Selected points of the resulting radial signatures are fed through a decision tree, to determine whether the signature matches that of the known reference signatures for a particular view of the target. Based upon recognized scenes, the position of the maneuvering vehicle with respect to the target vehicles can be calculated, and adjustments made in the former's trajectory. In addition, the pose and spin rates of the target satellite can be estimated using this method.

GLAS Spacecraft Pointing Study

NASA Technical Reports Server (NTRS)

Born, George H.; Gold, Kenn; Ondrey, Michael; Kubitschek, Dan; Axelrad, Penina; Komjathy, Attila

1998-01-01

Science requirements for the GLAS mission demand that the laser altimeter be pointed to within 50 m of the location of the previous repeat ground track. The satellite will be flown in a repeat orbit of 182 days. Operationally, the required pointing information will be determined on the ground using the nominal ground track, to which pointing is desired, and the current propagated orbit of the satellite as inputs to the roll computation algorithm developed by CCAR. The roll profile will be used to generate a set of fit coefficients which can be uploaded on a daily basis and used by the on-board attitude control system. In addition, an algorithm has been developed for computation of the associated command quaternions which will be necessary when pointing at targets of opportunity. It may be desirable in the future to perform the roll calculation in an autonomous real-time mode on-board the spacecraft. GPS can provide near real-time tracking of the satellite, and the nominal ground track can be stored in the on-board computer. It will be necessary to choose the spacing of this nominal ground track to meet storage requirements in the on-board environment. Several methods for generating the roll profile from a sparse reference ground track are presented.

MAGENCO: A map generalization controller for Arc/Info

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

Ganter, J.H.; Cashwell, J.W.

The Arc/Info GENERALIZE command implements the Douglas-Peucker algorithm, a well-regarded approach that preserves line ``character`` while reducing the number of points according to a tolerance parameter supplied by the user. The authors have developed an Arc Macro Language (AML) interface called MAGENCO that allows the user to browse workspaces, select a coverage, extract a sample from this coverage, then apply various tolerances to the sample. The results are shown in multiple display windows that are arranged around the original sample for quick visual comparison. The user may then return to the whole coverage and apply the chosen tolerance. They analyzemore » the ergonomics of line simplification, explain the design (which includes an animated demonstration of the Douglas-Peucker algorithm), and discuss key points of the MAGENCO implementation.« less

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.

Bouc-Wen hysteresis model identification using Modified Firefly Algorithm

NASA Astrophysics Data System (ADS)

Zaman, Mohammad Asif; Sikder, Urmita

2015-12-01

The parameters of Bouc-Wen hysteresis model are identified using a Modified Firefly Algorithm. The proposed algorithm uses dynamic process control parameters to improve its performance. The algorithm is used to find the model parameter values that results in the least amount of error between a set of given data points and points obtained from the Bouc-Wen model. The performance of the algorithm is compared with the performance of conventional Firefly Algorithm, Genetic Algorithm and Differential Evolution algorithm in terms of convergence rate and accuracy. Compared to the other three optimization algorithms, the proposed algorithm is found to have good convergence rate with high degree of accuracy in identifying Bouc-Wen model parameters. Finally, the proposed method is used to find the Bouc-Wen model parameters from experimental data. The obtained model is found to be in good agreement with measured data.

Study on improved Ip-iq APF control algorithm and its application in micro grid

NASA Astrophysics Data System (ADS)

Xie, Xifeng; Shi, Hua; Deng, Haiyingv

2018-01-01

In order to enhance the tracking velocity and accuracy of harmonic detection by ip-iq algorithm, a novel ip-iq control algorithm based on the Instantaneous reactive power theory is presented, the improved algorithm adds the lead correction link to adjust the zero point of the detection system, the Fuzzy Self-Tuning Adaptive PI control is introduced to dynamically adjust the DC-link Voltage, which meets the requirement of the harmonic compensation of the micro grid. Simulation and experimental results verify the proposed method is feasible and effective in micro grid.

CCOMP: An efficient algorithm for complex roots computation of determinantal equations

NASA Astrophysics Data System (ADS)

Zouros, Grigorios P.

2018-01-01

In this paper a free Python algorithm, entitled CCOMP (Complex roots COMPutation), is developed for the efficient computation of complex roots of determinantal equations inside a prescribed complex domain. The key to the method presented is the efficient determination of the candidate points inside the domain which, in their close neighborhood, a complex root may lie. Once these points are detected, the algorithm proceeds to a two-dimensional minimization problem with respect to the minimum modulus eigenvalue of the system matrix. In the core of CCOMP exist three sub-algorithms whose tasks are the efficient estimation of the minimum modulus eigenvalues of the system matrix inside the prescribed domain, the efficient computation of candidate points which guarantee the existence of minima, and finally, the computation of minima via bound constrained minimization algorithms. Theoretical results and heuristics support the development and the performance of the algorithm, which is discussed in detail. CCOMP supports general complex matrices, and its efficiency, applicability and validity is demonstrated to a variety of microwave applications.

a Threshold-Free Filtering Algorithm for Airborne LIDAR Point Clouds Based on Expectation-Maximization

NASA Astrophysics Data System (ADS)

Hui, Z.; Cheng, P.; Ziggah, Y. Y.; Nie, Y.

2018-04-01

Filtering is a key step for most applications of airborne LiDAR point clouds. Although lots of filtering algorithms have been put forward in recent years, most of them suffer from parameters setting or thresholds adjusting, which will be time-consuming and reduce the degree of automation of the algorithm. To overcome this problem, this paper proposed a threshold-free filtering algorithm based on expectation-maximization. The proposed algorithm is developed based on an assumption that point clouds are seen as a mixture of Gaussian models. The separation of ground points and non-ground points from point clouds can be replaced as a separation of a mixed Gaussian model. Expectation-maximization (EM) is applied for realizing the separation. EM is used to calculate maximum likelihood estimates of the mixture parameters. Using the estimated parameters, the likelihoods of each point belonging to ground or object can be computed. After several iterations, point clouds can be labelled as the component with a larger likelihood. Furthermore, intensity information was also utilized to optimize the filtering results acquired using the EM method. The proposed algorithm was tested using two different datasets used in practice. Experimental results showed that the proposed method can filter non-ground points effectively. To quantitatively evaluate the proposed method, this paper adopted the dataset provided by the ISPRS for the test. The proposed algorithm can obtain a 4.48 % total error which is much lower than most of the eight classical filtering algorithms reported by the ISPRS.

Modeling and analysis of solar distributed generation

NASA Astrophysics Data System (ADS)

Ortiz Rivera, Eduardo Ivan

Recent changes in the global economy are creating a big impact in our daily life. The price of oil is increasing and the number of reserves are less every day. Also, dramatic demographic changes are impacting the viability of the electric infrastructure and ultimately the economic future of the industry. These are some of the reasons that many countries are looking for alternative energy to produce electric energy. The most common form of green energy in our daily life is solar energy. To convert solar energy into electrical energy is required solar panels, dc-dc converters, power control, sensors, and inverters. In this work, a photovoltaic module, PVM, model using the electrical characteristics provided by the manufacturer data sheet is presented for power system applications. Experimental results from testing are showed, verifying the proposed PVM model. Also in this work, three maximum power point tracker, MPPT, algorithms would be presented to obtain the maximum power from a PVM. The first MPPT algorithm is a method based on the Rolle's and Lagrange's Theorems and can provide at least an approximate answer to a family of transcendental functions that cannot be solved using differential calculus. The second MPPT algorithm is based on the approximation of the proposed PVM model using fractional polynomials where the shape, boundary conditions and performance of the proposed PVM model are satisfied. The third MPPT algorithm is based in the determination of the optimal duty cycle for a dc-dc converter and the previous knowledge of the load or load matching conditions. Also, four algorithms to calculate the effective irradiance level and temperature over a photovoltaic module are presented in this work. The main reasons to develop these algorithms are for monitoring climate conditions, the elimination of temperature and solar irradiance sensors, reductions in cost for a photovoltaic inverter system, and development of new algorithms to be integrated with maximum power point tracking algorithms. Finally, several PV power applications will be presented like circuit analysis for a load connected to two different PV arrays, speed control for a do motor connected to a PVM, and a novel single phase photovoltaic inverter system using the Z-source converter.

Pareto Design of State Feedback Tracking Control of a Biped Robot via Multiobjective PSO in Comparison with Sigma Method and Genetic Algorithms: Modified NSGAII and MATLAB's Toolbox

PubMed Central

Mahmoodabadi, M. J.; Taherkhorsandi, M.; Bagheri, A.

2014-01-01

An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot. PMID:24616619

Case Study: Test Results of a Tool and Method for In-Flight, Adaptive Control System Verification on a NASA F-15 Flight Research Aircraft

NASA Technical Reports Server (NTRS)

Jacklin, Stephen A.; Schumann, Johann; Guenther, Kurt; Bosworth, John

2006-01-01

Adaptive control technologies that incorporate learning algorithms have been proposed to enable autonomous flight control and to maintain vehicle performance in the face of unknown, changing, or poorly defined operating environments [1-2]. At the present time, however, it is unknown how adaptive algorithms can be routinely verified, validated, and certified for use in safety-critical applications. Rigorous methods for adaptive software verification end validation must be developed to ensure that. the control software functions as required and is highly safe and reliable. A large gap appears to exist between the point at which control system designers feel the verification process is complete, and when FAA certification officials agree it is complete. Certification of adaptive flight control software verification is complicated by the use of learning algorithms (e.g., neural networks) and degrees of system non-determinism. Of course, analytical efforts must be made in the verification process to place guarantees on learning algorithm stability, rate of convergence, and convergence accuracy. However, to satisfy FAA certification requirements, it must be demonstrated that the adaptive flight control system is also able to fail and still allow the aircraft to be flown safely or to land, while at the same time providing a means of crew notification of the (impending) failure. It was for this purpose that the NASA Ames Confidence Tool was developed [3]. This paper presents the Confidence Tool as a means of providing in-flight software assurance monitoring of an adaptive flight control system. The paper will present the data obtained from flight testing the tool on a specially modified F-15 aircraft designed to simulate loss of flight control faces.

A GENERAL ALGORITHM FOR THE CONSTRUCTION OF CONTOUR PLOTS

NASA Technical Reports Server (NTRS)

Johnson, W.

1994-01-01

The graphical presentation of experimentally or theoretically generated data sets frequently involves the construction of contour plots. A general computer algorithm has been developed for the construction of contour plots. The algorithm provides for efficient and accurate contouring with a modular approach which allows flexibility in modifying the algorithm for special applications. The algorithm accepts as input data values at a set of points irregularly distributed over a plane. The algorithm is based on an interpolation scheme in which the points in the plane are connected by straight line segments to form a set of triangles. In general, the data is smoothed using a least-squares-error fit of the data to a bivariate polynomial. To construct the contours, interpolation along the edges of the triangles is performed, using the bivariable polynomial if data smoothing was performed. Once the contour points have been located, the contour may be drawn. This program is written in FORTRAN IV for batch execution and has been implemented on an IBM 360 series computer with a central memory requirement of approximately 100K of 8-bit bytes. This computer algorithm was developed in 1981.

Investigation of energy management strategies for photovoltaic systems - A predictive control algorithm

NASA Technical Reports Server (NTRS)

Cull, R. C.; Eltimsahy, A. H.

1983-01-01

The present investigation is concerned with the formulation of energy management strategies for stand-alone photovoltaic (PV) systems, taking into account a basic control algorithm for a possible predictive, (and adaptive) controller. The control system controls the flow of energy in the system according to the amount of energy available, and predicts the appropriate control set-points based on the energy (insolation) available by using an appropriate system model. Aspects of adaptation to the conditions of the system are also considered. Attention is given to a statistical analysis technique, the analysis inputs, the analysis procedure, and details regarding the basic control algorithm.

Neural network based online simultaneous policy update algorithm for solving the HJI equation in nonlinear H∞ control.

PubMed

Wu, Huai-Ning; Luo, Biao

2012-12-01

It is well known that the nonlinear H∞ state feedback control problem relies on the solution of the Hamilton-Jacobi-Isaacs (HJI) equation, which is a nonlinear partial differential equation that has proven to be impossible to solve analytically. In this paper, a neural network (NN)-based online simultaneous policy update algorithm (SPUA) is developed to solve the HJI equation, in which knowledge of internal system dynamics is not required. First, we propose an online SPUA which can be viewed as a reinforcement learning technique for two players to learn their optimal actions in an unknown environment. The proposed online SPUA updates control and disturbance policies simultaneously; thus, only one iterative loop is needed. Second, the convergence of the online SPUA is established by proving that it is mathematically equivalent to Newton's method for finding a fixed point in a Banach space. Third, we develop an actor-critic structure for the implementation of the online SPUA, in which only one critic NN is needed for approximating the cost function, and a least-square method is given for estimating the NN weight parameters. Finally, simulation studies are provided to demonstrate the effectiveness of the proposed algorithm.

The endpoint detection technique for deep submicrometer plasma etching

NASA Astrophysics Data System (ADS)

Wang, Wei; Du, Zhi-yun; Zeng, Yong; Lan, Zhong-went

2009-07-01

The availability of reliable optical sensor technology provides opportunities to better characterize and control plasma etching processes in real time, they could play a important role in endpoint detection, fault diagnostics and processes feedback control and so on. The optical emission spectroscopy (OES) method becomes deficient in the case of deep submicrometer gate etching. In the newly developed high density inductively coupled plasma (HD-ICP) etching system, Interferometry endpoint (IEP) is introduced to get the EPD. The IEP fringe count algorithm is investigated to predict the end point, and then its signal is used to control etching rate and to call end point with OES signal in over etching (OE) processes step. The experiment results show that IEP together with OES provide extra process control margin for advanced device with thinner gate oxide.

Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

PubMed

Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

2017-07-01

In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Multiple-Point Temperature Gradient Algorithm for Ring Laser Gyroscope Bias Compensation

PubMed Central

Li, Geng; Zhang, Pengfei; Wei, Guo; Xie, Yuanping; Yu, Xudong; Long, Xingwu

2015-01-01

To further improve ring laser gyroscope (RLG) bias stability, a multiple-point temperature gradient algorithm is proposed for RLG bias compensation in this paper. Based on the multiple-point temperature measurement system, a complete thermo-image of the RLG block is developed. Combined with the multiple-point temperature gradients between different points of the RLG block, the particle swarm optimization algorithm is used to tune the support vector machine (SVM) parameters, and an optimized design for selecting the thermometer locations is also discussed. The experimental results validate the superiority of the introduced method and enhance the precision and generalizability in the RLG bias compensation model. PMID:26633401

Applied Distributed Model Predictive Control for Energy Efficient Buildings and Ramp Metering

NASA Astrophysics Data System (ADS)

Koehler, Sarah Muraoka

Industrial large-scale control problems present an interesting algorithmic design challenge. A number of controllers must cooperate in real-time on a network of embedded hardware with limited computing power in order to maximize system efficiency while respecting constraints and despite communication delays. Model predictive control (MPC) can automatically synthesize a centralized controller which optimizes an objective function subject to a system model, constraints, and predictions of disturbance. Unfortunately, the computations required by model predictive controllers for large-scale systems often limit its industrial implementation only to medium-scale slow processes. Distributed model predictive control (DMPC) enters the picture as a way to decentralize a large-scale model predictive control problem. The main idea of DMPC is to split the computations required by the MPC problem amongst distributed processors that can compute in parallel and communicate iteratively to find a solution. Some popularly proposed solutions are distributed optimization algorithms such as dual decomposition and the alternating direction method of multipliers (ADMM). However, these algorithms ignore two practical challenges: substantial communication delays present in control systems and also problem non-convexity. This thesis presents two novel and practically effective DMPC algorithms. The first DMPC algorithm is based on a primal-dual active-set method which achieves fast convergence, making it suitable for large-scale control applications which have a large communication delay across its communication network. In particular, this algorithm is suited for MPC problems with a quadratic cost, linear dynamics, forecasted demand, and box constraints. We measure the performance of this algorithm and show that it significantly outperforms both dual decomposition and ADMM in the presence of communication delay. The second DMPC algorithm is based on an inexact interior point method which is suited for nonlinear optimization problems. The parallel computation of the algorithm exploits iterative linear algebra methods for the main linear algebra computations in the algorithm. We show that the splitting of the algorithm is flexible and can thus be applied to various distributed platform configurations. The two proposed algorithms are applied to two main energy and transportation control problems. The first application is energy efficient building control. Buildings represent 40% of energy consumption in the United States. Thus, it is significant to improve the energy efficiency of buildings. The goal is to minimize energy consumption subject to the physics of the building (e.g. heat transfer laws), the constraints of the actuators as well as the desired operating constraints (thermal comfort of the occupants), and heat load on the system. In this thesis, we describe the control systems of forced air building systems in practice. We discuss the "Trim and Respond" algorithm which is a distributed control algorithm that is used in practice, and show that it performs similarly to a one-step explicit DMPC algorithm. Then, we apply the novel distributed primal-dual active-set method and provide extensive numerical results for the building MPC problem. The second main application is the control of ramp metering signals to optimize traffic flow through a freeway system. This application is particularly important since urban congestion has more than doubled in the past few decades. The ramp metering problem is to maximize freeway throughput subject to freeway dynamics (derived from mass conservation), actuation constraints, freeway capacity constraints, and predicted traffic demand. In this thesis, we develop a hybrid model predictive controller for ramp metering that is guaranteed to be persistently feasible and stable. This contrasts to previous work on MPC for ramp metering where such guarantees are absent. We apply a smoothing method to the hybrid model predictive controller and apply the inexact interior point method to this nonlinear non-convex ramp metering problem.

Numerical algorithms for computations of feedback laws arising in control of flexible systems

NASA Technical Reports Server (NTRS)

Lasiecka, Irena

1989-01-01

Several continuous models will be examined, which describe flexible structures with boundary or point control/observation. Issues related to the computation of feedback laws are examined (particularly stabilizing feedbacks) with sensors and actuators located either on the boundary or at specific point locations of the structure. One of the main difficulties is due to the great sensitivity of the system (hyperbolic systems with unbounded control actions), with respect to perturbations caused either by uncertainty of the model or by the errors introduced in implementing numerical algorithms. Thus, special care must be taken in the choice of the appropriate numerical schemes which eventually lead to implementable finite dimensional solutions. Finite dimensional algorithms are constructed on a basis of a priority analysis of the properties of the original, continuous (infinite diversional) systems with the following criteria in mind: (1) convergence and stability of the algorithms and (2) robustness (reasonable insensitivity with respect to the unknown parameters of the systems). Examples with mixed finite element methods and spectral methods are provided.

Simulation and experimental design of a new advanced variable step size Incremental Conductance MPPT algorithm for PV systems.

PubMed

Loukriz, Abdelhamid; Haddadi, Mourad; Messalti, Sabir

2016-05-01

Improvement of the efficiency of photovoltaic system based on new maximum power point tracking (MPPT) algorithms is the most promising solution due to its low cost and its easy implementation without equipment updating. Many MPPT methods with fixed step size have been developed. However, when atmospheric conditions change rapidly , the performance of conventional algorithms is reduced. In this paper, a new variable step size Incremental Conductance IC MPPT algorithm has been proposed. Modeling and simulation of different operational conditions of conventional Incremental Conductance IC and proposed methods are presented. The proposed method was developed and tested successfully on a photovoltaic system based on Flyback converter and control circuit using dsPIC30F4011. Both, simulation and experimental design are provided in several aspects. A comparative study between the proposed variable step size and fixed step size IC MPPT method under similar operating conditions is presented. The obtained results demonstrate the efficiency of the proposed MPPT algorithm in terms of speed in MPP tracking and accuracy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A new memetic algorithm for mitigating tandem automated guided vehicle system partitioning problem

NASA Astrophysics Data System (ADS)

Pourrahimian, Parinaz

2017-11-01

Automated Guided Vehicle System (AGVS) provides the flexibility and automation demanded by Flexible Manufacturing System (FMS). However, with the growing concern on responsible management of resource use, it is crucial to manage these vehicles in an efficient way in order reduces travel time and controls conflicts and congestions. This paper presents the development process of a new Memetic Algorithm (MA) for optimizing partitioning problem of tandem AGVS. MAs employ a Genetic Algorithm (GA), as a global search, and apply a local search to bring the solutions to a local optimum point. A new Tabu Search (TS) has been developed and combined with a GA to refine the newly generated individuals by GA. The aim of the proposed algorithm is to minimize the maximum workload of the system. After all, the performance of the proposed algorithm is evaluated using Matlab. This study also compared the objective function of the proposed MA with GA. The results showed that the TS, as a local search, significantly improves the objective function of the GA for different system sizes with large and small numbers of zone by 1.26 in average.

Planning Robot-Control Parameters With Qualitative Reasoning

NASA Technical Reports Server (NTRS)

Peters, Stephen F.

1993-01-01

Qualitative-reasoning planning algorithm helps to determine quantitative parameters controlling motion of robot. Algorithm regarded as performing search in multidimensional space of control parameters from starting point to goal region in which desired result of robotic manipulation achieved. Makes use of directed graph representing qualitative physical equations describing task, and interacts, at each sampling period, with history of quantitative control parameters and sensory data, to narrow search for reliable values of quantitative control parameters.

Modeling and analysis of pinhole occulter experiment: Initial study phase

NASA Technical Reports Server (NTRS)

Vandervoort, R. J.

1985-01-01

The feasibility of using a generic simulation, TREETOPS, to simulate the Pinhole/Occulter Facility (P/OF) to be tested on the space shuttle was demonstrated. The baseline control system was used to determine the pointing performance of the P/OF. The task included modeling the structure as a three body problem (shuttle-instrument pointing system- P/OP) including the flexibility of the 32 meter P/OF boom. Modeling of sensors, actuators, and control algorithms was also required. Detailed mathematical models for the structure, sensors, and actuators are presented, as well as the control algorithm and corresponding design procedure. Closed loop performance using this controller and computer listings for the simulator are also given.

Development of a Two-Wheel Contingency Mode for the MAP Spacecraft

NASA Technical Reports Server (NTRS)

Starin, Scott R.; ODonnell, James R., Jr.; Bauer, Frank H. (Technical Monitor)

2002-01-01

In the event of a failure of one of MAP's three reaction wheel assemblies (RWAs), it is not possible to achieve three-axis, full-state attitude control using the remaining two wheels. Hence, two of the attitude control algorithms implemented on the MAP spacecraft will no longer be usable in their current forms: Inertial Mode, used for slewing to and holding inertial attitudes, and Observing Mode, which implements the nominal dual-spin science mode. This paper describes the effort to create a complete strategy for using software algorithms to cope with a RWA failure. The discussion of the design process will be divided into three main subtopics: performing orbit maneuvers to reach and maintain an orbit about the second Earth-Sun libration point in the event of a RWA failure, completing the mission using a momentum-bias two-wheel science mode, and developing a new thruster-based mode for adjusting the inertially fixed momentum bias. In this summary, the philosophies used in designing these changes is shown; the full paper will supplement these with algorithm descriptions and testing results.

Bell-Curve Based Evolutionary Optimization Algorithm

NASA Technical Reports Server (NTRS)

Sobieszczanski-Sobieski, J.; Laba, K.; Kincaid, R.

1998-01-01

The paper presents an optimization algorithm that falls in the category of genetic, or evolutionary algorithms. While the bit exchange is the basis of most of the Genetic Algorithms (GA) in research and applications in America, some alternatives, also in the category of evolutionary algorithms, but use a direct, geometrical approach have gained popularity in Europe and Asia. The Bell-Curve Based Evolutionary Algorithm (BCB) is in this alternative category and is distinguished by the use of a combination of n-dimensional geometry and the normal distribution, the bell-curve, in the generation of the offspring. The tool for creating a child is a geometrical construct comprising a line connecting two parents and a weighted point on that line. The point that defines the child deviates from the weighted point in two directions: parallel and orthogonal to the connecting line, the deviation in each direction obeying a probabilistic distribution. Tests showed satisfactory performance of BCB. The principal advantage of BCB is its controllability via the normal distribution parameters and the geometrical construct variables.

Backup Attitude Control Algorithms for the MAP Spacecraft

NASA Technical Reports Server (NTRS)

ODonnell, James R., Jr.; Andrews, Stephen F.; Ericsson-Jackson, Aprille J.; Flatley, Thomas W.; Ward, David K.; Bay, P. Michael

1999-01-01

The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. The MAP spacecraft will perform its mission, studying the early origins of the universe, in a Lissajous orbit around the Earth-Sun L(sub 2) Lagrange point. Due to limited mass, power, and financial resources, a traditional reliability concept involving fully redundant components was not feasible. This paper will discuss the redundancy philosophy used on MAP, describe the hardware redundancy selected (and why), and present backup modes and algorithms that were designed in lieu of additional attitude control hardware redundancy to improve the odds of mission success. Three of these modes have been implemented in the spacecraft flight software. The first onboard mode allows the MAP Kalman filter to be used with digital sun sensor (DSS) derived rates, in case of the failure of one of MAP's two two-axis inertial reference units. Similarly, the second onboard mode allows a star tracker only mode, using attitude and derived rate from one or both of MAP's star trackers for onboard attitude determination and control. The last backup mode onboard allows a sun-line angle offset to be commanded that will allow solar radiation pressure to be used for momentum management and orbit stationkeeping. In addition to the backup modes implemented on the spacecraft, two backup algorithms have been developed in the event of less likely contingencies. One of these is an algorithm for implementing an alternative scan pattern to MAP's nominal dual-spin science mode using only one or two reaction wheels and thrusters. Finally, an algorithm has been developed that uses thruster one shots while in science mode for momentum management. This algorithm has been developed in case system momentum builds up faster than anticipated, to allow adequate momentum management while minimizing interruptions to science. In this paper, each mode and algorithm will be discussed, and simulation results presented.

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

Martin, Shawn

This code consists of Matlab routines which enable the user to perform non-manifold surface reconstruction via triangulation from high dimensional point cloud data. The code was based on an algorithm originally developed in [Freedman (2007), An Incremental Algorithm for Reconstruction of Surfaces of Arbitrary Codimension Computational Geometry: Theory and Applications, 36(2):106-116]. This algorithm has been modified to accommodate non-manifold surface according to the work described in [S. Martin and J.-P. Watson (2009), Non-Manifold Surface Reconstruction from High Dimensional Point Cloud DataSAND #5272610].The motivation for developing the code was a point cloud describing the molecular conformation space of cyclooctane (C8H16). Cyclooctanemore » conformation space was represented using points in 72 dimensions (3 coordinates for each molecule). The code was used to triangulate the point cloud and thereby study the geometry and topology of cyclooctane. Futures applications are envisioned for peptides and proteins.« less

Integration of Irma tactical scene generator into directed-energy weapon system simulation

NASA Astrophysics Data System (ADS)

Owens, Monte A.; Cole, Madison B., III; Laine, Mark R.

2003-08-01

Integrated high-fidelity physics-based simulations that include engagement models, image generation, electro-optical hardware models and control system algorithms have previously been developed by Boeing-SVS for various tracking and pointing systems. These simulations, however, had always used images with featureless or random backgrounds and simple target geometries. With the requirement to engage tactical ground targets in the presence of cluttered backgrounds, a new type of scene generation tool was required to fully evaluate system performance in this challenging environment. To answer this need, Irma was integrated into the existing suite of Boeing-SVS simulation tools, allowing scene generation capabilities with unprecedented realism. Irma is a US Air Force research tool used for high-resolution rendering and prediction of target and background signatures. The MATLAB/Simulink-based simulation achieves closed-loop tracking by running track algorithms on the Irma-generated images, processing the track errors through optical control algorithms, and moving simulated electro-optical elements. The geometry of these elements determines the sensor orientation with respect to the Irma database containing the three-dimensional background and target models. This orientation is dynamically passed to Irma through a Simulink S-function to generate the next image. This integrated simulation provides a test-bed for development and evaluation of tracking and control algorithms against representative images including complex background environments and realistic targets calibrated using field measurements.

Improving maximum power point tracking of partially shaded photovoltaic system by using IPSO-BELBIC

NASA Astrophysics Data System (ADS)

Al-Alim El-Garhy, M. Abd; Mubarak, R. I.; El-Bably, M.

2017-08-01

Solar photovoltaic (PV) arrays in remote applications are often related to the rapid changes in the partial shading pattern. Rapid changes of the partial shading pattern make the tracking of maximum power point (MPP) of the global peak through the local ones too difficult. An essential need to make a fast and efficient algorithm to detect the peaks values which always vary as the sun irradiance changes. This paper presents two algorithms based on the improved particle swarm optimization technique one of them with PID controller (IPSO-PID), and the other one with Brain Emotional Learning Based Intelligent Controller (IPSO-BELBIC). These techniques improve the maximum power point (MPP) tracking capabilities for photovoltaic (PV) system under partial shading circumstances. The main aim of these improved algorithms is to accelerate the velocity of IPSO to reach to (MPP) and increase its efficiency. These algorithms also improve the tracking time under complex irradiance conditions. Based on these conditions, the tracking time of these presented techniques improves to 2 msec, with an efficiency of 100%.

Models and methods for assessing the value of HVDC and MVDC technologies in modern power grids

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

Makarov, Yuri V.; Elizondo, Marcelo A.; O'Brien, James G.

This report reflects the results of U.S. Department of Energy’s (DOE) Grid Modernization project 0074 “Models and methods for assessing the value of HVDC [high-voltage direct current] and MTDC [multi-terminal direct current] technologies in modern power grids.” The work was done by the Pacific Northwest National Laboratory (PNNL) and Oak Ridge National Laboratory (ORNL) in cooperation with Mid-Continent Independent System Operator (MISO) and Siemens. The main motivation of this study was to show the benefit of using direct current (DC) systems larger than those in existence today as they overlap with the alternating current (AC) systems. Proper use of theirmore » flexibility in terms of active/reactive power control and fast response can provide much-needed services to the grid at the same time as moving large blocks of energy to take advantage of cost diversity. Ultimately, the project’s success will enable decision-makers and investors to make well-informed decisions regarding this use of DC systems. This project showed the technical feasibility of HVDC macrogrid for frequency control and congestion relief in addition to bulk power transfers. Industry-established models for commonly used technologies were employed, along with high-fidelity models for recently developed HVDC converter technologies; like the modular multilevel converters (MMCs), a voltage source converters (VSC). Models for General Electric Positive Sequence Load Flow (GE PSLF) and Siemens Power System Simulator (PSS/E), widely used analysis programs, were for the first time adapted to include at the same time both Western Electricity Coordinating Council (WECC) and Eastern Interconnection (EI), the two largest North American interconnections. The high-fidelity models and their control were developed in detail for MMC system and extended to HVDC systems in point-to-point and in three-node multi-terminal configurations. Using a continental-level mixed AC-DC grid model, and using a HVDC macrogrid power flow and transient stability model, the results showed that the HVDC macrogrid relieved congestion and mitigated loop flows in AC networks, and provided up to 24% improvement in frequency responses. These are realistic studies, based on the 2025 heavy summer and EI multi-regional modeling working group (MMWG) 2026 summer peak cases. This work developed high-fidelity models and simulation algorithms to understand the dynamics of MMC. The developed models and simulation algorithms are up to 25 times faster than the existing algorithms. Models and control algorithms for high-fidelity models were designed and tested for point-to-point and multi-terminal configurations. The multi-terminal configuration was tested connecting simplified models of EI, WI, and Electric Reliability Council of Texas (ERCOT). The developed models showed up to 45% improvement in frequency response with the connection of all the three asynchronous interconnections in the United States using fast and advanced DC technologies like the multi-terminal MMC-DC system. Future work will look into developing high-fidelity models of other advanced DC technologies, combining high-fidelity models with the continental-level model, incorporating additional services. More scenarios involving large-scale HVDC and MTDC will be evaluated.« less

Automated Transfer Vehicle (ATV) Critical Safety Software Overview

NASA Astrophysics Data System (ADS)

Berthelier, D.

2002-01-01

The European Automated Transfer Vehicle is an unmanned transportation system designed to dock to International Space Station (ISS) and to contribute to the logistic servicing of the ISS. Concisely, ATV control is realized by a nominal flight control function (using computers, softwares, sensors, actuators). In order to cover the extreme situations where this nominal chain can not ensure safe trajectory with respect to ISS, a segregated proximity flight safety function is activated, where unsafe free drift trajectories can be encountered. This function relies notably on a segregated computer, the Monitoring and Safing Unit (MSU) ; in case of major ATV malfunction detection, ATV is then controlled by MSU software. Therefore, this software is critical because a MSU software failure could result in catastrophic consequences. This paper provides an overview both of this software functions and of the software development and validation method which is specific considering its criticality. First part of the paper describes briefly the proximity flight safety chain. Second part deals with the software functions. Indeed, MSU software is in charge of monitoring nominal computers and ATV corridors, using its own navigation algorithms, and, if an abnormal situation is detected, it is in charge of the ATV control during the Collision Avoidance Manoeuvre (CAM) consisting in an attitude controlled braking boost, followed by a Post-CAM manoeuvre : a Sun-pointed ATV attitude control during up to 24 hours on a safe trajectory. Monitoring, navigation and control algorithms principles are presented. Third part of this paper describes the development and validation process : algorithms functional studies , ADA coding and unit validations ; algorithms ADA code integration and validation on a specific non real-time MATLAB/SIMULINK simulator ; global software functional engineering phase, architectural design, unit testing, integration and validation on target computer.

Active structural acoustic control of helicopter interior multifrequency noise using input-output-based hybrid control

NASA Astrophysics Data System (ADS)

Ma, Xunjun; Lu, Yang; Wang, Fengjiao

2017-09-01

This paper presents the recent advances in reduction of multifrequency noise inside helicopter cabin using an active structural acoustic control system, which is based on active gearbox struts technical approach. To attenuate the multifrequency gearbox vibrations and resulting noise, a new scheme of discrete model predictive sliding mode control has been proposed based on controlled auto-regressive moving average model. Its implementation only needs input/output data, hence a broader frequency range of controlled system is modelled and the burden on the state observer design is released. Furthermore, a new iteration form of the algorithm is designed, improving the developing efficiency and run speed. To verify the algorithm's effectiveness and self-adaptability, experiments of real-time active control are performed on a newly developed helicopter model system. The helicopter model can generate gear meshing vibration/noise similar to a real helicopter with specially designed gearbox and active struts. The algorithm's control abilities are sufficiently checked by single-input single-output and multiple-input multiple-output experiments via different feedback strategies progressively: (1) control gear meshing noise through attenuating vibrations at the key points on the transmission path, (2) directly control the gear meshing noise in the cabin using the actuators. Results confirm that the active control system is practical for cancelling multifrequency helicopter interior noise, which also weakens the frequency-modulation of the tones. For many cases, the attenuations of the measured noise exceed the level of 15 dB, with maximum reduction reaching 31 dB. Also, the control process is demonstrated to be smoother and faster.

Kernel-based discriminant feature extraction using a representative dataset

NASA Astrophysics Data System (ADS)

Li, Honglin; Sancho Gomez, Jose-Luis; Ahalt, Stanley C.

2002-07-01

Discriminant Feature Extraction (DFE) is widely recognized as an important pre-processing step in classification applications. Most DFE algorithms are linear and thus can only explore the linear discriminant information among the different classes. Recently, there has been several promising attempts to develop nonlinear DFE algorithms, among which is Kernel-based Feature Extraction (KFE). The efficacy of KFE has been experimentally verified by both synthetic data and real problems. However, KFE has some known limitations. First, KFE does not work well for strongly overlapped data. Second, KFE employs all of the training set samples during the feature extraction phase, which can result in significant computation when applied to very large datasets. Finally, KFE can result in overfitting. In this paper, we propose a substantial improvement to KFE that overcomes the above limitations by using a representative dataset, which consists of critical points that are generated from data-editing techniques and centroid points that are determined by using the Frequency Sensitive Competitive Learning (FSCL) algorithm. Experiments show that this new KFE algorithm performs well on significantly overlapped datasets, and it also reduces computational complexity. Further, by controlling the number of centroids, the overfitting problem can be effectively alleviated.

Transportation using spinning tethers with emphasis on phasing and plane change

NASA Technical Reports Server (NTRS)

Henderson, David G.

1989-01-01

This paper studies the potential uses of spinning tethers as components in a transportation system. Additional degrees of freedom in the selection of transfer orbits as well as phasing control are introduced by allowing both the spin rate of the tethers to be controllable and by allowing the ejection and capture points to be anywhere along the tether length. Equations are derived for the phasing of the planar transfer problem. A construction algorithm for nonplanar transfers is developed and nonplanar phasing conditions are examined.

Point cloud modeling using the homogeneous transformation for non-cooperative pose estimation

NASA Astrophysics Data System (ADS)

Lim, Tae W.

2015-06-01

A modeling process to simulate point cloud range data that a lidar (light detection and ranging) sensor produces is presented in this paper in order to support the development of non-cooperative pose (relative attitude and position) estimation approaches which will help improve proximity operation capabilities between two adjacent vehicles. The algorithms in the modeling process were based on the homogeneous transformation, which has been employed extensively in robotics and computer graphics, as well as in recently developed pose estimation algorithms. Using a flash lidar in a laboratory testing environment, point cloud data of a test article was simulated and compared against the measured point cloud data. The simulated and measured data sets match closely, validating the modeling process. The modeling capability enables close examination of the characteristics of point cloud images of an object as it undergoes various translational and rotational motions. Relevant characteristics that will be crucial in non-cooperative pose estimation were identified such as shift, shadowing, perspective projection, jagged edges, and differential point cloud density. These characteristics will have to be considered in developing effective non-cooperative pose estimation algorithms. The modeling capability will allow extensive non-cooperative pose estimation performance simulations prior to field testing, saving development cost and providing performance metrics of the pose estimation concepts and algorithms under evaluation. The modeling process also provides "truth" pose of the test objects with respect to the sensor frame so that the pose estimation error can be quantified.

Voltage oriented control of self-excited induction generator for wind energy system with MPPT

NASA Astrophysics Data System (ADS)

Amieur, Toufik; Taibi, Djamel; Amieur, Oualid

2018-05-01

This paper presents the study and simulation of the self-excited induction generator in the wind power production in isolated sites. With this intention, a model of the wind turbine was established. Extremum-seeking control algorithm method by using Maximum Power Point Tracking (MPPT) is proposed control solution aims at driving the average position of the operating point near to optimality. The reference of turbine rotor speed is adjusted such that the turbine operates around maximum power for the current wind speed value. After a brief review of the concepts of converting wind energy into electrical energy. The proposed modeling tools were developed to study the performance of standalone induction generators connected to capacitor bank. The purpose of this technique is to maintain a constant voltage at the output of the rectifier whatever the loads and speeds. The system studied in this work is developed and tested in MATLAB/Simulink environment. Simulation results validate the performance and effectiveness of the proposed control methods.

Computation of Symmetric Discrete Cosine Transform Using Bakhvalov's Algorithm

NASA Technical Reports Server (NTRS)

Aburdene, Maurice F.; Strojny, Brian C.; Dorband, John E.

2005-01-01

A number of algorithms for recursive computation of the discrete cosine transform (DCT) have been developed recently. This paper presents a new method for computing the discrete cosine transform and its inverse using Bakhvalov's algorithm, a method developed for evaluation of a polynomial at a point. In this paper, we will focus on both the application of the algorithm to the computation of the DCT-I and its complexity. In addition, Bakhvalov s algorithm is compared with Clenshaw s algorithm for the computation of the DCT.

Power system monitoring and source control of the Space Station Freedom DC power system testbed

NASA Technical Reports Server (NTRS)

Kimnach, Greg L.; Baez, Anastacio N.

1992-01-01

Unlike a terrestrial electric utility which can purchase power from a neighboring utility, the Space Station Freedom (SSF) has strictly limited energy resources; as a result, source control, system monitoring, system protection, and load management are essential to the safe and efficient operation of the SSF Electric Power System (EPS). These functions are being evaluated in the DC Power Management and Distribution (PMAD) Testbed which NASA LeRC has developed at the Power System Facility (PSF) located in Cleveland, Ohio. The testbed is an ideal platform to develop, integrate, and verify power system monitoring and control algorithms. State Estimation (SE) is a monitoring tool used extensively in terrestrial electric utilities to ensure safe power system operation. It uses redundant system information to calculate the actual state of the EPS, to isolate faulty sensors, to determine source operating points, to verify faults detected by subsidiary controllers, and to identify high impedance faults. Source control and monitoring safeguard the power generation and storage subsystems and ensure that the power system operates within safe limits while satisfying user demands with minimal interruptions. System monitoring functions, in coordination with hardware implemented schemes, provide for a complete fault protection system. The objective of this paper is to overview the development and integration of the state estimator and the source control algorithms.

Power system monitoring and source control of the Space Station Freedom dc-power system testbed

NASA Technical Reports Server (NTRS)

Kimnach, Greg L.; Baez, Anastacio N.

1992-01-01

Unlike a terrestrial electric utility which can purchase power from a neighboring utility, the Space Station Freedom (SSF) has strictly limited energy resources; as a result, source control, system monitoring, system protection, and load management are essential to the safe and efficient operation of the SSF Electric Power System (EPS). These functions are being evaluated in the dc Power Management and Distribution (PMAD) Testbed which NASA LeRC has developed at the Power System Facility (PSF) located in Cleveland, Ohio. The testbed is an ideal platform to develop, integrate, and verify power system monitoring and control algorithms. State Estimation (SE) is a monitoring tool used extensively in terrestrial electric utilities to ensure safe power system operation. It uses redundant system information to calculate the actual state of the EPS, to isolate faulty sensors, to determine source operating points, to verify faults detected by subsidiary controllers, and to identify high impedance faults. Source control and monitoring safeguard the power generation and storage subsystems and ensure that the power system operates within safe limits while satisfying user demands with minimal interruptions. System monitoring functions, in coordination with hardware implemented schemes, provide for a complete fault protection system. The objective of this paper is to overview the development and integration of the state estimator and the source control algorithms.

Automatic cortical thickness analysis on rodent brain

NASA Astrophysics Data System (ADS)

Lee, Joohwi; Ehlers, Cindy; Crews, Fulton; Niethammer, Marc; Budin, Francois; Paniagua, Beatriz; Sulik, Kathy; Johns, Josephine; Styner, Martin; Oguz, Ipek

2011-03-01

Localized difference in the cortex is one of the most useful morphometric traits in human and animal brain studies. There are many tools and methods already developed to automatically measure and analyze cortical thickness for the human brain. However, these tools cannot be directly applied to rodent brains due to the different scales; even adult rodent brains are 50 to 100 times smaller than humans. This paper describes an algorithm for automatically measuring the cortical thickness of mouse and rat brains. The algorithm consists of three steps: segmentation, thickness measurement, and statistical analysis among experimental groups. The segmentation step provides the neocortex separation from other brain structures and thus is a preprocessing step for the thickness measurement. In the thickness measurement step, the thickness is computed by solving a Laplacian PDE and a transport equation. The Laplacian PDE first creates streamlines as an analogy of cortical columns; the transport equation computes the length of the streamlines. The result is stored as a thickness map over the neocortex surface. For the statistical analysis, it is important to sample thickness at corresponding points. This is achieved by the particle correspondence algorithm which minimizes entropy between dynamically moving sample points called particles. Since the computational cost of the correspondence algorithm may limit the number of corresponding points, we use thin-plate spline based interpolation to increase the number of corresponding sample points. As a driving application, we measured the thickness difference to assess the effects of adolescent intermittent ethanol exposure that persist into adulthood and performed t-test between the control and exposed rat groups. We found significantly differing regions in both hemispheres.

Real-Time Feedback Control of Flow-Induced Cavity Tones. Part 2; Adaptive Control

NASA Technical Reports Server (NTRS)

Kegerise, M. A.; Cabell, R. H.; Cattafesta, L. N., III

2006-01-01

An adaptive generalized predictive control (GPC) algorithm was formulated and applied to the cavity flow-tone problem. The algorithm employs gradient descent to update the GPC coefficients at each time step. Past input-output data and an estimate of the open-loop pulse response sequence are all that is needed to implement the algorithm for application at fixed Mach numbers. Transient measurements made during controller adaptation revealed that the controller coefficients converged to a steady state in the mean, and this implies that adaptation can be turned off at some point with no degradation in control performance. When converged, the control algorithm demonstrated multiple Rossiter mode suppression at fixed Mach numbers ranging from 0.275 to 0.38. However, as in the case of fixed-gain GPC, the adaptive GPC performance was limited by spillover in sidebands around the suppressed Rossiter modes. The algorithm was also able to maintain suppression of multiple cavity tones as the freestream Mach number was varied over a modest range (0.275 to 0.29). Beyond this range, stable operation of the control algorithm was not possible due to the fixed plant model in the algorithm.

Safe landing area determination for a Moon lander by reachability analysis

NASA Astrophysics Data System (ADS)

Arslantaş, Yunus Emre; Oehlschlägel, Thimo; Sagliano, Marco

2016-11-01

In the last decades developments in space technology paved the way to more challenging missions like asteroid mining, space tourism and human expansion into the Solar System. These missions result in difficult tasks such as guidance schemes for re-entry, landing on celestial bodies and implementation of large angle maneuvers for spacecraft. There is a need for a safety system to increase the robustness and success of these missions. Reachability analysis meets this requirement by obtaining the set of all achievable states for a dynamical system starting from an initial condition with given admissible control inputs of the system. This paper proposes an algorithm for the approximation of nonconvex reachable sets (RS) by using optimal control. Therefore subset of the state space is discretized by equidistant points and for each grid point a distance function is defined. This distance function acts as an objective function for a related optimal control problem (OCP). Each infinite dimensional OCP is transcribed into a finite dimensional Nonlinear Programming Problem (NLP) by using Pseudospectral Methods (PSM). Finally, the NLPs are solved using available tools resulting in approximated reachable sets with information about the states of the dynamical system at these grid points. The algorithm is applied on a generic Moon landing mission. The proposed method computes approximated reachable sets and the attainable safe landing region with information about propellant consumption and time.

Note: Wide-operating-range control for thermoelectric coolers.

PubMed

Peronio, P; Labanca, I; Ghioni, M; Rech, I

2017-11-01

A new algorithm for controlling the temperature of a thermoelectric cooler is proposed. Unlike a classic proportional-integral-derivative (PID) control, which computes the bias voltage from the temperature error, the proposed algorithm exploits the linear relation that exists between the cold side's temperature and the amount of heat that is removed per unit time. Since this control is based on an existing linear relation, it is insensitive to changes in the operating point that are instead crucial in classic PID control of a non-linear system.

Note: Wide-operating-range control for thermoelectric coolers

NASA Astrophysics Data System (ADS)

Peronio, P.; Labanca, I.; Ghioni, M.; Rech, I.

2017-11-01

A new algorithm for controlling the temperature of a thermoelectric cooler is proposed. Unlike a classic proportional-integral-derivative (PID) control, which computes the bias voltage from the temperature error, the proposed algorithm exploits the linear relation that exists between the cold side's temperature and the amount of heat that is removed per unit time. Since this control is based on an existing linear relation, it is insensitive to changes in the operating point that are instead crucial in classic PID control of a non-linear system.

Novel lidar algorithms for atmospheric slantrange visibility, planetary boundary layer height, meteorogical phenomena and atmospheric layering measurements

NASA Astrophysics Data System (ADS)

Pantazis, Alexandros; Papayannis, Alexandros; Georgoussis, Georgios

2018-04-01

In this paper we present a development of novel algorithms and techniques implemented within the Laser Remote Sensing Laboratory (LRSL) of the National Technical University of Athens (NTUA), in collaboration with Raymetrics S.A., in order to incorporate them into a 3-Dimensional (3D) lidar. The lidar is transmitting at 355 nm in the eye safe region and the measurements then are transposed to the visual range at 550 nm, according to the World Meteorological Organization (WMO) and the International Civil Aviation Organization (ICAO) rules of daytime visibility. These algorithms are able to provide horizontal, slant and vertical visibility for tower aircraft controllers, meteorologists, but also from pilot's point of view. Other algorithms are also provided for detection of atmospheric layering in any given direction and vertical angle, along with the detection of the Planetary Boundary Layer Height (PBLH).

Thermal weapon sights with integrated fire control computers: algorithms and experiences

NASA Astrophysics Data System (ADS)

Rothe, Hendrik; Graswald, Markus; Breiter, Rainer

2008-04-01

The HuntIR long range thermal weapon sight of AIM is deployed in various out of area missions since 2004 as a part of the German Future Infantryman system (IdZ). In 2007 AIM fielded RangIR as upgrade with integrated laser Range finder (LRF), digital magnetic compass (DMC) and fire control unit (FCU). RangIR fills the capability gaps of day/night fire control for grenade machine guns (GMG) and the enhanced system of the IdZ. Due to proven expertise and proprietary methods in fire control, fast access to military trials for optimisation loops and similar hardware platforms, AIM and the University of the Federal Armed Forces Hamburg (HSU) decided to team for the development of suitable fire control algorithms. The pronounced ballistic trajectory of the 40mm GMG requires most accurate FCU-solutions specifically for air burst ammunition (ABM) and is most sensitive to faint effects like levelling or firing up/downhill. This weapon was therefore selected to validate the quality of the FCU hard- and software under relevant military conditions. For exterior ballistics the modified point mass model according to STANAG 4355 is used. The differential equations of motions are solved numerically, the two point boundary value problem is solved iteratively. Computing time varies according to the precision needed and is typical in the range from 0.1 - 0.5 seconds. RangIR provided outstanding hit accuracy including ABM fuze timing in various trials of the German Army and allied partners in 2007 and is now ready for series production. This paper deals mainly with the fundamentals of the fire control algorithms and shows how to implement them in combination with any DSP-equipped thermal weapon sights (TWS) in a variety of light supporting weapon systems.

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.

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.

Modeling and reduction with applications to semiconductor processing

NASA Astrophysics Data System (ADS)

Newman, Andrew Joseph

This thesis consists of several somewhat distinct but connected parts, with an underlying motivation in problems pertaining to control and optimization of semiconductor processing. The first part (Chapters 3 and 4) addresses problems in model reduction for nonlinear state-space control systems. In 1993, Scherpen generalized the balanced truncation method to the nonlinear setting. However, the Scherpen procedure is not easily computable and has not yet been applied in practice. We offer a method for computing a working approximation to the controllability energy function, one of the main objects involved in the method. Moreover, we show that for a class of second-order mechanical systems with dissipation, under certain conditions related to the dissipation, an exact formula for the controllability function can be derived. We then present an algorithm for a numerical implementation of the Morse-Palais lemma, which produces a local coordinate transformation under which a real-valued function with a non-degenerate critical point is quadratic on a neighborhood of the critical point. Application of the algorithm to the controllabilty function plays a key role in computing the balanced representation. We then apply our methods and algorithms to derive balanced realizations for nonlinear state-space models of two example mechanical systems: a simple pendulum and a double pendulum. The second part (Chapter 5) deals with modeling of rapid thermal chemical vapor deposition (RTCVD) for growth of silicon thin films, via first-principles and empirical analysis. We develop detailed process-equipment models and study the factors that influence deposition uniformity, such as temperature, pressure, and precursor gas flow rates, through analysis of experimental and simulation results. We demonstrate that temperature uniformity does not guarantee deposition thickness uniformity in a particular commercial RTCVD reactor of interest. In the third part (Chapter 6) we continue the modeling effort, specializing to a control system for RTCVD heat transfer. We then develop and apply ad-hoc versions of prominent model reduction approaches to derive reduced models and perform a comparative study.

Development of a solar-powered electric bicycle in bike sharing transportation system

NASA Astrophysics Data System (ADS)

Adhisuwignjo, S.; Siradjuddin, I.; Rifa'i, M.; Putri, R. I.

2017-06-01

The increasing mobility has directly led to deteriorating traffic conditions, extra fuel consumption, increasing automobile exhaust emissions, air pollution and lowering quality of life. Apart from being clean, cheap and equitable mode of transport for short-distance journeys, cycling can potentially offer solutions to the problem of urban mobility. Many cities have tried promoting cycling particularly through the implementation of bike-sharing. Apparently the fourth generation bikesharing system has been promoted utilizing electric bicycles which considered as a clean technology implementation. Utilization of solar power is probably the development keys in the fourth generation bikesharing system and will become the standard in bikesharing system in the future. Electric bikes use batteries as a source of energy, thus they require a battery charger system which powered from the solar cells energy. This research aims to design and implement electric bicycle battery charging system with solar energy sources using fuzzy logic algorithm. It is necessary to develop an electric bicycle battery charging system with solar energy sources using fuzzy logic algorithm. The study was conducted by means of experimental method which includes the design, manufacture and testing controller systems. The designed fuzzy algorithm have been planted in EEPROM microcontroller ATmega8535. The charging current was set at 1.2 Amperes and the full charged battery voltage was observed to be 40 Volts. The results showed a fuzzy logic controller was able to maintain the charging current of 1.2 Ampere with an error rate of less than 5% around the set point. The process of charging electric bike lead acid batteries from empty to fully charged was 5 hours. In conclusion, the development of solar-powered electric bicycle controlled using fuzzy logic controller can keep the battery charging current in solar-powered electric bicycle to remain stable. This shows that the fuzzy algorithm can be used as a controller in the process of charging for a solar electric bicycle.

Intelligent neural network and fuzzy logic control of industrial and power systems

NASA Astrophysics Data System (ADS)

Kuljaca, Ognjen

The main role played by neural network and fuzzy logic intelligent control algorithms today is to identify and compensate unknown nonlinear system dynamics. There are a number of methods developed, but often the stability analysis of neural network and fuzzy control systems was not provided. This work will meet those problems for the several algorithms. Some more complicated control algorithms included backstepping and adaptive critics will be designed. Nonlinear fuzzy control with nonadaptive fuzzy controllers is also analyzed. An experimental method for determining describing function of SISO fuzzy controller is given. The adaptive neural network tracking controller for an autonomous underwater vehicle is analyzed. A novel stability proof is provided. The implementation of the backstepping neural network controller for the coupled motor drives is described. Analysis and synthesis of adaptive critic neural network control is also provided in the work. Novel tuning laws for the system with action generating neural network and adaptive fuzzy critic are given. Stability proofs are derived for all those control methods. It is shown how these control algorithms and approaches can be used in practical engineering control. Stability proofs are given. Adaptive fuzzy logic control is analyzed. Simulation study is conducted to analyze the behavior of the adaptive fuzzy system on the different environment changes. A novel stability proof for adaptive fuzzy logic systems is given. Also, adaptive elastic fuzzy logic control architecture is described and analyzed. A novel membership function is used for elastic fuzzy logic system. The stability proof is proffered. Adaptive elastic fuzzy logic control is compared with the adaptive nonelastic fuzzy logic control. The work described in this dissertation serves as foundation on which analysis of particular representative industrial systems will be conducted. Also, it gives a good starting point for analysis of learning abilities of adaptive and neural network control systems, as well as for the analysis of the different algorithms such as elastic fuzzy systems.

Control of nonlinear flexible space structures

NASA Astrophysics Data System (ADS)

Shi, Jianjun

With the advances made in computer technology and efficiency of numerical algorithms over last decade, the MPC strategies have become quite popular among control community. However, application of MPC or GPC to flexible space structure control has not been explored adequately in the literature. The work presented in this thesis primarily focuses on application of GPC to control of nonlinear flexible space structures. This thesis is particularly devoted to the development of various approximate dynamic models, design and assessment of candidate controllers, and extensive numerical simulations for a realistic multibody flexible spacecraft, namely, Jupiter Icy Moons Orbiter (JIMO)---a Prometheus class of spacecraft proposed by NASA for deep space exploratory missions. A stable GPC algorithm is developed for Multi-Input-Multi-Output (MIMO) systems. An end-point weighting (penalty) is used in the GPC cost function to guarantee the nominal stability of the closed-loop system. A method is given to compute the desired end-point state from the desired output trajectory. The methodologies based on Fake Algebraic Riccati Equation (FARE) and constrained nonlinear optimization, are developed for synthesis of state weighting matrix. This makes this formulation more practical. A stable reconfigurable GPC architecture is presented and its effectiveness is demonstrated on both aircraft as well as spacecraft model. A representative in-orbit maneuver is used for assessing the performance of various control strategies using various design models. Different approximate dynamic models used for analysis include linear single body flexible structure, nonlinear single body flexible structure, and nonlinear multibody flexible structure. The control laws evaluated include traditional GPC, feedback linearization-based GPC (FLGPC), reconfigurable GPC, and nonlinear dissipative control. These various control schemes are evaluated for robust stability and robust performance in the presence of parametric uncertainties and input disturbances. Finally, the conclusions are made with regard to the efficacy of these controllers and potential directions for future research.

Point- and line-based transformation models for high resolution satellite image rectification

NASA Astrophysics Data System (ADS)

Abd Elrahman, Ahmed Mohamed Shaker

Rigorous mathematical models with the aid of satellite ephemeris data can present the relationship between the satellite image space and the object space. With government funded satellites, access to calibration and ephemeris data has allowed the development and use of these models. However, for commercial high-resolution satellites, which have been recently launched, these data are withheld from users, and therefore alternative empirical models should be used. In general, the existing empirical models are based on the use of control points and involve linking points in the image space and the corresponding points in the object space. But the lack of control points in some remote areas and the questionable accuracy of the identified discrete conjugate points provide a catalyst for the development of algorithms based on features other than control points. This research, concerned with image rectification and 3D geo-positioning determination using High-Resolution Satellite Imagery (HRSI), has two major objectives. First, the effects of satellite sensor characteristics, number of ground control points (GCPs), and terrain elevation variations on the performance of several point based empirical models are studied. Second, a new mathematical model, using only linear features as control features, or linear features with a minimum number of GCPs, is developed. To meet the first objective, several experiments for different satellites such as Ikonos, QuickBird, and IRS-1D have been conducted using different point based empirical models. Various data sets covering different terrain types are presented and results from representative sets of the experiments are shown and analyzed. The results demonstrate the effectiveness and the superiority of these models under certain conditions. From the results obtained, several alternatives to circumvent the effects of the satellite sensor characteristics, the number of GCPs, and the terrain elevation variations are introduced. To meet the second objective, a new model named the Line Based Transformation Model (LBTM) is developed for HRSI rectification. The model has the flexibility to either solely use linear features or use linear features and a number of control points to define the image transformation parameters. Unlike point features, which must be explicitly defined, linear features have the advantage that they can be implicitly defined by any segment along the line. (Abstract shortened by UMI.)

Novel switching method for single-phase NPC three-level inverter with neutral-point voltage control

NASA Astrophysics Data System (ADS)

Lee, June-Seok; Lee, Seung-Joo; Lee, Kyo-Beum

2018-02-01

This paper proposes a novel switching method with the neutral-point voltage control in a single-phase neutral-point-clamped three-level inverter (SP-NPCI) used in photovoltaic systems. A proposed novel switching method for the SP-NPCI improves the efficiency. The main concept is to fix the switching state of one leg. As a result, the switching loss decreases and the total efficiency is improved. In addition, it enables the maximum power-point-tracking operation to be performed by applying the proposed neutral-point voltage control algorithm. This control is implemented by modifying the reference signal. Simulation and experimental results provide verification of the performance of a novel switching method with the neutral-point voltage control.

Improving GPU-accelerated adaptive IDW interpolation algorithm using fast kNN search.

PubMed

Mei, Gang; Xu, Nengxiong; Xu, Liangliang

2016-01-01

This paper presents an efficient parallel Adaptive Inverse Distance Weighting (AIDW) interpolation algorithm on modern Graphics Processing Unit (GPU). The presented algorithm is an improvement of our previous GPU-accelerated AIDW algorithm by adopting fast k-nearest neighbors (kNN) search. In AIDW, it needs to find several nearest neighboring data points for each interpolated point to adaptively determine the power parameter; and then the desired prediction value of the interpolated point is obtained by weighted interpolating using the power parameter. In this work, we develop a fast kNN search approach based on the space-partitioning data structure, even grid, to improve the previous GPU-accelerated AIDW algorithm. The improved algorithm is composed of the stages of kNN search and weighted interpolating. To evaluate the performance of the improved algorithm, we perform five groups of experimental tests. The experimental results indicate: (1) the improved algorithm can achieve a speedup of up to 1017 over the corresponding serial algorithm; (2) the improved algorithm is at least two times faster than our previous GPU-accelerated AIDW algorithm; and (3) the utilization of fast kNN search can significantly improve the computational efficiency of the entire GPU-accelerated AIDW algorithm.

Control over structure-specific flexibility improves anatomical accuracy for point-based deformable registration in bladder cancer radiotherapy.

PubMed

Wognum, S; Bondar, L; Zolnay, A G; Chai, X; Hulshof, M C C M; Hoogeman, M S; Bel, A

2013-02-01

Future developments in image guided adaptive radiotherapy (IGART) for bladder cancer require accurate deformable image registration techniques for the precise assessment of tumor and bladder motion and deformation that occur as a result of large bladder volume changes during the course of radiotherapy treatment. The aim was to employ an extended version of a point-based deformable registration algorithm that allows control over tissue-specific flexibility in combination with the authors' unique patient dataset, in order to overcome two major challenges of bladder cancer registration, i.e., the difficulty in accounting for the difference in flexibility between the bladder wall and tumor and the lack of visible anatomical landmarks for validation. The registration algorithm used in the current study is an extension of the symmetric-thin plate splines-robust point matching (S-TPS-RPM) algorithm, a symmetric feature-based registration method. The S-TPS-RPM algorithm has been previously extended to allow control over the degree of flexibility of different structures via a weight parameter. The extended weighted S-TPS-RPM algorithm was tested and validated on CT data (planning- and four to five repeat-CTs) of five urinary bladder cancer patients who received lipiodol injections before radiotherapy. The performance of the weighted S-TPS-RPM method, applied to bladder and tumor structures simultaneously, was compared with a previous version of the S-TPS-RPM algorithm applied to bladder wall structure alone and with a simultaneous nonweighted S-TPS-RPM registration of the bladder and tumor structures. Performance was assessed in terms of anatomical and geometric accuracy. The anatomical accuracy was calculated as the residual distance error (RDE) of the lipiodol markers and the geometric accuracy was determined by the surface distance, surface coverage, and inverse consistency errors. Optimal parameter values for the flexibility and bladder weight parameters were determined for the weighted S-TPS-RPM. The weighted S-TPS-RPM registration algorithm with optimal parameters significantly improved the anatomical accuracy as compared to S-TPS-RPM registration of the bladder alone and reduced the range of the anatomical errors by half as compared with the simultaneous nonweighted S-TPS-RPM registration of the bladder and tumor structures. The weighted algorithm reduced the RDE range of lipiodol markers from 0.9-14 mm after rigid bone match to 0.9-4.0 mm, compared to a range of 1.1-9.1 mm with S-TPS-RPM of bladder alone and 0.9-9.4 mm for simultaneous nonweighted registration. All registration methods resulted in good geometric accuracy on the bladder; average error values were all below 1.2 mm. The weighted S-TPS-RPM registration algorithm with additional weight parameter allowed indirect control over structure-specific flexibility in multistructure registrations of bladder and bladder tumor, enabling anatomically coherent registrations. The availability of an anatomically validated deformable registration method opens up the horizon for improvements in IGART for bladder cancer.

Operationalizing hippocampal volume as an enrichment biomarker for amnestic MCI trials: effect of algorithm, test-retest variability and cut-point on trial cost, duration and sample size

PubMed Central

Yu, P.; Sun, J.; Wolz, R.; Stephenson, D.; Brewer, J.; Fox, N.C.; Cole, P.E.; Jack, C.R.; Hill, D.L.G.; Schwarz, A.J.

2014-01-01

Objective To evaluate the effect of computational algorithm, measurement variability and cut-point on hippocampal volume (HCV)-based patient selection for clinical trials in mild cognitive impairment (MCI). Methods We used normal control and amnestic MCI subjects from ADNI-1 as normative reference and screening cohorts. We evaluated the enrichment performance of four widely-used hippocampal segmentation algorithms (FreeSurfer, HMAPS, LEAP and NeuroQuant) in terms of two-year changes in MMSE, ADAS-Cog and CDR-SB. We modeled the effect of algorithm, test-retest variability and cut-point on sample size, screen fail rates and trial cost and duration. Results HCV-based patient selection yielded not only reduced sample sizes (by ~40–60%) but also lower trial costs (by ~30–40%) across a wide range of cut-points. Overall, the dependence on the cut-point value was similar for the three clinical instruments considered. Conclusion These results provide a guide to the choice of HCV cut-point for aMCI clinical trials, allowing an informed trade-off between statistical and practical considerations. PMID:24211008

Development of collision avoidance system for useful UAV applications using image sensors with laser transmitter

NASA Astrophysics Data System (ADS)

Cheong, M. K.; Bahiki, M. R.; Azrad, S.

2016-10-01

The main goal of this study is to demonstrate the approach of achieving collision avoidance on Quadrotor Unmanned Aerial Vehicle (QUAV) using image sensors with colour- based tracking method. A pair of high definition (HD) stereo cameras were chosen as the stereo vision sensor to obtain depth data from flat object surfaces. Laser transmitter was utilized to project high contrast tracking spot for depth calculation using common triangulation. Stereo vision algorithm was developed to acquire the distance from tracked point to QUAV and the control algorithm was designed to manipulate QUAV's response based on depth calculated. Attitude and position controller were designed using the non-linear model with the help of Optitrack motion tracking system. A number of collision avoidance flight tests were carried out to validate the performance of the stereo vision and control algorithm based on image sensors. In the results, the UAV was able to hover with fairly good accuracy in both static and dynamic collision avoidance for short range collision avoidance. Collision avoidance performance of the UAV was better with obstacle of dull surfaces in comparison to shiny surfaces. The minimum collision avoidance distance achievable was 0.4 m. The approach was suitable to be applied in short range collision avoidance.

The Use of the Nelder-Mead Method in Determining Projection Parameters for Globe Photographs

NASA Astrophysics Data System (ADS)

Gede, M.

2009-04-01

A photo of a terrestrial or celestial globe can be handled as a map. The only hard issue is its projection: the so-called Tilted Perspective Projection which, if the optical axis of the photo intersects the globe's centre, is simplified to the Vertical Near-Side Perspective Projection. When georeferencing such a photo, the exact parameters of the projections are also needed. These parameters depend on the position of the viewpoint of the camera. Several hundreds of globe photos had to be georeferenced during the Virtual Globes Museum project, which made necessary to automatize the calculation of the projection parameters. The author developed a program for this task which uses the Nelder-Mead Method in order to find the optimum parameters when a set of control points are given as input. The Nelder-Mead method is a numerical algorithm for minimizing a function in a many-dimensional space. The function in the present application is the average error of the control points calculated from the actual values of parameters. The parameters are the geographical coordinates of the projection centre, the image coordinates of the same point, the rotation of the projection, the height of the perspective point and the scale of the photo (calculated in pixels/km). The program reads the Global Mappers Ground Control Point (.GCP) file format as input and creates projection description files (.PRJ) for the same software. The initial values of the geographical coordinates of the projection centre are calculated as the average of the control points, while the other parameters are set to experimental values which represent the most common circumstances of taking a globe photograph. The algorithm runs until the change of the parameters sinks below a pre-defined limit. The minimum search can be refined by using the previous result parameter set as new initial values. This paper introduces the calculation mechanism and examples of the usage. Other possible other usages of the method are also discussed.

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

An algorithm for engineering regime shifts in one-dimensional dynamical systems

NASA Astrophysics Data System (ADS)

Tan, James P. L.

2018-01-01

Regime shifts are discontinuous transitions between stable attractors hosting a system. They can occur as a result of a loss of stability in an attractor as a bifurcation is approached. In this work, we consider one-dimensional dynamical systems where attractors are stable equilibrium points. Relying on critical slowing down signals related to the stability of an equilibrium point, we present an algorithm for engineering regime shifts such that a system may escape an undesirable attractor into a desirable one. We test the algorithm on synthetic data from a one-dimensional dynamical system with a multitude of stable equilibrium points and also on a model of the population dynamics of spruce budworms in a forest. The algorithm and other ideas discussed here contribute to an important part of the literature on exercising greater control over the sometimes unpredictable nature of nonlinear systems.

Development of model reference adaptive control theory for electric power plant control applications

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

Mabius, L.E.

1982-09-15

The scope of this effort includes the theoretical development of a multi-input, multi-output (MIMO) Model Reference Control (MRC) algorithm, (i.e., model following control law), Model Reference Adaptive Control (MRAC) algorithm and the formulation of a nonlinear model of a typical electric power plant. Previous single-input, single-output MRAC algorithm designs have been generalized to MIMO MRAC designs using the MIMO MRC algorithm. This MRC algorithm, which has been developed using Command Generator Tracker methodologies, represents the steady state behavior (in the adaptive sense) of the MRAC algorithm. The MRC algorithm is a fundamental component in the MRAC design and stability analysis.more » An enhanced MRC algorithm, which has been developed for systems with more controls than regulated outputs, alleviates the MRC stability constraint of stable plant transmission zeroes. The nonlinear power plant model is based on the Cromby model with the addition of a governor valve management algorithm, turbine dynamics and turbine interactions with extraction flows. An application of the MRC algorithm to a linearization of this model demonstrates its applicability to power plant systems. In particular, the generated power changes at 7% per minute while throttle pressure and temperature, reheat temperature and drum level are held constant with a reasonable level of control. The enhanced algorithm reduces significantly control fluctuations without modifying the output response.« less

PointCom: semi-autonomous UGV control with intuitive interface

NASA Astrophysics Data System (ADS)

Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

2008-04-01

Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

Mathematical detection of aortic valve opening (B point) in impedance cardiography: A comparison of three popular algorithms.

PubMed

Árbol, Javier Rodríguez; Perakakis, Pandelis; Garrido, Alba; Mata, José Luis; Fernández-Santaella, M Carmen; Vila, Jaime

2017-03-01

The preejection period (PEP) is an index of left ventricle contractility widely used in psychophysiological research. Its computation requires detecting the moment when the aortic valve opens, which coincides with the B point in the first derivative of impedance cardiogram (ICG). Although this operation has been traditionally made via visual inspection, several algorithms based on derivative calculations have been developed to enable an automatic performance of the task. However, despite their popularity, data about their empirical validation are not always available. The present study analyzes the performance in the estimation of the aortic valve opening of three popular algorithms, by comparing their performance with the visual detection of the B point made by two independent scorers. Algorithm 1 is based on the first derivative of the ICG, Algorithm 2 on the second derivative, and Algorithm 3 on the third derivative. Algorithm 3 showed the highest accuracy rate (78.77%), followed by Algorithm 1 (24.57%) and Algorithm 2 (13.82%). In the automatic computation of PEP, Algorithm 2 resulted in significantly more missed cycles (48.57%) than Algorithm 1 (6.3%) and Algorithm 3 (3.5%). Algorithm 2 also estimated a significantly lower average PEP (70 ms), compared with the values obtained by Algorithm 1 (119 ms) and Algorithm 3 (113 ms). Our findings indicate that the algorithm based on the third derivative of the ICG performs significantly better. Nevertheless, a visual inspection of the signal proves indispensable, and this article provides a novel visual guide to facilitate the manual detection of the B point. © 2016 Society for Psychophysiological Research.

Automatic Detection and Classification of Pole-Like Objects for Urban Cartography Using Mobile Laser Scanning Data

PubMed Central

Ordóñez, Celestino; Cabo, Carlos; Sanz-Ablanedo, Enoc

2017-01-01

Mobile laser scanning (MLS) is a modern and powerful technology capable of obtaining massive point clouds of objects in a short period of time. Although this technology is nowadays being widely applied in urban cartography and 3D city modelling, it has some drawbacks that need to be avoided in order to strengthen it. One of the most important shortcomings of MLS data is concerned with the fact that it provides an unstructured dataset whose processing is very time-consuming. Consequently, there is a growing interest in developing algorithms for the automatic extraction of useful information from MLS point clouds. This work is focused on establishing a methodology and developing an algorithm to detect pole-like objects and classify them into several categories using MLS datasets. The developed procedure starts with the discretization of the point cloud by means of a voxelization, in order to simplify and reduce the processing time in the segmentation process. In turn, a heuristic segmentation algorithm was developed to detect pole-like objects in the MLS point cloud. Finally, two supervised classification algorithms, linear discriminant analysis and support vector machines, were used to distinguish between the different types of poles in the point cloud. The predictors are the principal component eigenvalues obtained from the Cartesian coordinates of the laser points, the range of the Z coordinate, and some shape-related indexes. The performance of the method was tested in an urban area with 123 poles of different categories. Very encouraging results were obtained, since the accuracy rate was over 90%. PMID:28640189

Digital temperature and velocity control of mach 0.3 atmospheric pressure durability testing burner rigs in long time, unattended cyclic testing

NASA Technical Reports Server (NTRS)

Deadmore, D. L.

1985-01-01

Hardware and software were developed to implement the hybrid digital control of two Jet A-1 fueled Mach 0.3 burners from startup to completion of a preset number of hot corrosion flame durability cycle tests of materials at 1652 F. This was accomplished by use of a basic language programmable microcomputer and data aquisition and control unit connected together by the IEEE-488 Bus. The absolute specimen temperature was controlled to + or - 3 F by use of digital adjustment of the fuel flow using a P-I-D (Proportional-Integral-Derivative) control algorithm. The specimen temperature was within + or - 2 F of the set point more than 90 percent of the time. Pressure control was achieved by digital adjustment of the combustion air flow using a proportional control algorithm. The burner pressure was controlled at 1.0 + or - 0.02 psig. Logic schemes were incorporated into the system to protect the test specimen from abnormal test conditions in the event of a hardware of software malfunction.

Automatic Marker-free Longitudinal Infrared Image Registration by Shape Context Based Matching and Competitive Winner-guided Optimal Corresponding

PubMed Central

Lee, Chia-Yen; Wang, Hao-Jen; Lai, Jhih-Hao; Chang, Yeun-Chung; Huang, Chiun-Sheng

2017-01-01

Long-term comparisons of infrared image can facilitate the assessment of breast cancer tissue growth and early tumor detection, in which longitudinal infrared image registration is a necessary step. However, it is hard to keep markers attached on a body surface for weeks, and rather difficult to detect anatomic fiducial markers and match them in the infrared image during registration process. The proposed study, automatic longitudinal infrared registration algorithm, develops an automatic vascular intersection detection method and establishes feature descriptors by shape context to achieve robust matching, as well as to obtain control points for the deformation model. In addition, competitive winner-guided mechanism is developed for optimal corresponding. The proposed algorithm is evaluated in two ways. Results show that the algorithm can quickly lead to accurate image registration and that the effectiveness is superior to manual registration with a mean error being 0.91 pixels. These findings demonstrate that the proposed registration algorithm is reasonably accurate and provide a novel method of extracting a greater amount of useful data from infrared images. PMID:28145474

Estimating Position of Mobile Robots From Omnidirectional Vision Using an Adaptive Algorithm.

PubMed

Li, Luyang; Liu, Yun-Hui; Wang, Kai; Fang, Mu

2015-08-01

This paper presents a novel and simple adaptive algorithm for estimating the position of a mobile robot with high accuracy in an unknown and unstructured environment by fusing images of an omnidirectional vision system with measurements of odometry and inertial sensors. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the positions of the robot and natural feature points, we propose a novel adaptive algorithm, which is similar to the Slotine-Li algorithm in model-based adaptive control, to estimate the robot's position by using the tracked feature points in image sequence, the robot's velocity, and orientation angles measured by odometry and inertial sensors. It is proved that the adaptive algorithm leads to global exponential convergence of the position estimation errors to zero. Simulations and real-world experiments are performed to demonstrate the performance of the proposed algorithm.

Improving HVAC operational efficiency in small-and medium-size commercial buildings

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

Kim, Woohyun; Katipamula, Srinivas; Lutes, Robert

Small- and medium-size (<100,000 sf) commercial buildings (SMBs) represent over 95% of the U.S. commercial building stock and consume over 60% of total site energy consumption. Many of these buildings use rudimentary controls that are mostly manual, with limited scheduling capability, no monitoring, or failure management. Therefore, many of these buildings are operated inefficiently and consume excess energy. SMBs typically use packaged rooftop units (RTUs) that are controlled by an individual thermostat. There is increased urgency to improve the operating efficiency of existing commercial building stock in the United States for many reasons, chief among them being to mitigate themore » climate change impacts. Studies have shown that managing set points and schedules of the RTUs will result in up to 20% energy and cost savings. Another problem associated with RTUs is short cycling, when an RTU goes through ON and OFF cycles too frequently. Excessive cycling can lead to excessive wear and to premature failure of the compressor or its components. Also, short cycling can result in a significantly decreased average efficiency (up to 10%), even if there are no physical failures in the equipment. Ensuring correct use of the zone set points and eliminating frequent cycling of RTUs thereby leading to persistent building operations can significantly increase the operational efficiency of the SMBs. A growing trend is to use low-cost control infrastructure that can enable scalable and cost-effective intelligent building operations. The work reported in this paper describes two algorithms for detecting the zone set point temperature and RTU cycling rate that can be deployed on the low-cost infrastructure. These algorithms only require the zone temperature data for detection. The algorithms have been tested and validated using field data from a number of RTUs from six buildings in different climate locations. Overall, the algorithms were successful in detecting the set points and ON/OFF cycles accurately using the peak detection technique. The paper describes the two algorithms, results from testing the algorithms using field data, how the algorithms can be used to improve SMBs efficiency, and presents related conclusions.« less

High-precision positioning system of four-quadrant detector based on the database query

NASA Astrophysics Data System (ADS)

Zhang, Xin; Deng, Xiao-guo; Su, Xiu-qin; Zheng, Xiao-qiang

2015-02-01

The fine pointing mechanism of the Acquisition, Pointing and Tracking (APT) system in free space laser communication usually use four-quadrant detector (QD) to point and track the laser beam accurately. The positioning precision of QD is one of the key factors of the pointing accuracy to APT system. A positioning system is designed based on FPGA and DSP in this paper, which can realize the sampling of AD, the positioning algorithm and the control of the fast swing mirror. We analyze the positioning error of facular center calculated by universal algorithm when the facular energy obeys Gauss distribution from the working principle of QD. A database is built by calculation and simulation with MatLab software, in which the facular center calculated by universal algorithm is corresponded with the facular center of Gaussian beam, and the database is stored in two pieces of E2PROM as the external memory of DSP. The facular center of Gaussian beam is inquiry in the database on the basis of the facular center calculated by universal algorithm in DSP. The experiment results show that the positioning accuracy of the high-precision positioning system is much better than the positioning accuracy calculated by universal algorithm.

Improvements to a five-phase ABS algorithm for experimental validation

NASA Astrophysics Data System (ADS)

Gerard, Mathieu; Pasillas-Lépine, William; de Vries, Edwin; Verhaegen, Michel

2012-10-01

The anti-lock braking system (ABS) is the most important active safety system for passenger cars. Unfortunately, the literature is not really precise about its description, stability and performance. This research improves a five-phase hybrid ABS control algorithm based on wheel deceleration [W. Pasillas-Lépine, Hybrid modeling and limit cycle analysis for a class of five-phase anti-lock brake algorithms, Veh. Syst. Dyn. 44 (2006), pp. 173-188] and validates it on a tyre-in-the-loop laboratory facility. Five relevant effects are modelled so that the simulation matches the reality: oscillations in measurements, wheel acceleration reconstruction, brake pressure dynamics, brake efficiency changes and tyre relaxation. The time delays in measurement and actuation have been identified as the main difficulty for the initial algorithm to work in practice. Three methods are proposed in order to deal with these delays. It is verified that the ABS limit cycles encircle the optimal braking point, without assuming any tyre parameter being a priori known. The ABS algorithm is compared with the commercial algorithm developed by Bosch.

Speech recognition for embedded automatic positioner for laparoscope

NASA Astrophysics Data System (ADS)

Chen, Xiaodong; Yin, Qingyun; Wang, Yi; Yu, Daoyin

2014-07-01

In this paper a novel speech recognition methodology based on Hidden Markov Model (HMM) is proposed for embedded Automatic Positioner for Laparoscope (APL), which includes a fixed point ARM processor as the core. The APL system is designed to assist the doctor in laparoscopic surgery, by implementing the specific doctor's vocal control to the laparoscope. Real-time respond to the voice commands asks for more efficient speech recognition algorithm for the APL. In order to reduce computation cost without significant loss in recognition accuracy, both arithmetic and algorithmic optimizations are applied in the method presented. First, depending on arithmetic optimizations most, a fixed point frontend for speech feature analysis is built according to the ARM processor's character. Then the fast likelihood computation algorithm is used to reduce computational complexity of the HMM-based recognition algorithm. The experimental results show that, the method shortens the recognition time within 0.5s, while the accuracy higher than 99%, demonstrating its ability to achieve real-time vocal control to the APL.

Adaptive Control Strategies for Flexible Robotic Arm

NASA Technical Reports Server (NTRS)

Bialasiewicz, Jan T.

1996-01-01

The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

Autonomous reinforcement learning with experience replay.

PubMed

Wawrzyński, Paweł; Tanwani, Ajay Kumar

2013-05-01

This paper considers the issues of efficiency and autonomy that are required to make reinforcement learning suitable for real-life control tasks. A real-time reinforcement learning algorithm is presented that repeatedly adjusts the control policy with the use of previously collected samples, and autonomously estimates the appropriate step-sizes for the learning updates. The algorithm is based on the actor-critic with experience replay whose step-sizes are determined on-line by an enhanced fixed point algorithm for on-line neural network training. An experimental study with simulated octopus arm and half-cheetah demonstrates the feasibility of the proposed algorithm to solve difficult learning control problems in an autonomous way within reasonably short time. Copyright © 2012 Elsevier Ltd. All rights reserved.

Research on Intelligent Control System of DC SQUID Magnetometer Parameters for Multi-channel System

NASA Astrophysics Data System (ADS)

Chen, Hua; Yang, Kang; Lu, Li; Kong, Xiangyan; Wang, Hai; Wu, Jun; Wang, Yongliang

2018-07-01

In a multi-channel SQUID measurement system, adjusting device parameters to optimal condition for all channels is time-consuming. In this paper, an intelligent control system is presented to determine the optimal working point of devices which is automatic and more efficient comparing to the manual one. An optimal working point searching algorithm is introduced as the core component of the control system. In this algorithm, the bias voltage V_bias is step scanned to obtain the maximal value of the peak-to-peak current value I_pp of the SQUID magnetometer modulation curve. We choose this point as the optimal one. Using the above control system, more than 30 weakly damped SQUID magnetometers with area of 5 × 5 mm^2 or 10 × 10 mm^2 are adjusted and a 36-channel magnetocardiography system perfectly worked in a magnetically shielded room. The average white flux noise is 15 {μ Φ }_0/Hz^{1/2}.

Research on Intelligent Control System of DC SQUID Magnetometer Parameters for Multi-channel System

NASA Astrophysics Data System (ADS)

Chen, Hua; Yang, Kang; Lu, Li; Kong, Xiangyan; Wang, Hai; Wu, Jun; Wang, Yongliang

2018-03-01

In a multi-channel SQUID measurement system, adjusting device parameters to optimal condition for all channels is time-consuming. In this paper, an intelligent control system is presented to determine the optimal working point of devices which is automatic and more efficient comparing to the manual one. An optimal working point searching algorithm is introduced as the core component of the control system. In this algorithm, the bias voltage V_bias is step scanned to obtain the maximal value of the peak-to-peak current value I_pp of the SQUID magnetometer modulation curve. We choose this point as the optimal one. Using the above control system, more than 30 weakly damped SQUID magnetometers with area of 5 × 5 mm^2 or 10 × 10 mm^2 are adjusted and a 36-channel magnetocardiography system perfectly worked in a magnetically shielded room. The average white flux noise is 15 μΦ_0/Hz^{1/2}.

Image registration with auto-mapped control volumes

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

Schreibmann, Eduard; Xing Lei

2006-04-15

Many image registration algorithms rely on the use of homologous control points on the two input image sets to be registered. In reality, the interactive identification of the control points on both images is tedious, difficult, and often a source of error. We propose a two-step algorithm to automatically identify homologous regions that are used as a priori information during the image registration procedure. First, a number of small control volumes having distinct anatomical features are identified on the model image in a somewhat arbitrary fashion. Instead of attempting to find their correspondences in the reference image through user interaction,more » in the proposed method, each of the control regions is mapped to the corresponding part of the reference image by using an automated image registration algorithm. A normalized cross-correlation (NCC) function or mutual information was used as the auto-mapping metric and a limited memory Broyden-Fletcher-Goldfarb-Shanno algorithm (L-BFGS) was employed to optimize the function to find the optimal mapping. For rigid registration, the transformation parameters of the system are obtained by averaging that derived from the individual control volumes. In our deformable calculation, the mapped control volumes are treated as the nodes or control points with known positions on the two images. If the number of control volumes is not enough to cover the whole image to be registered, additional nodes are placed on the model image and then located on the reference image in a manner similar to the conventional BSpline deformable calculation. For deformable registration, the established correspondence by the auto-mapped control volumes provides valuable guidance for the registration calculation and greatly reduces the dimensionality of the problem. The performance of the two-step registrations was applied to three rigid registration cases (two PET-CT registrations and a brain MRI-CT registration) and one deformable registration of inhale and exhale phases of a lung 4D CT. Algorithm convergence was confirmed by starting the registration calculations from a large number of initial transformation parameters. An accuracy of {approx}2 mm was achieved for both deformable and rigid registration. The proposed image registration method greatly reduces the complexity involved in the determination of homologous control points and allows us to minimize the subjectivity and uncertainty associated with the current manual interactive approach. Patient studies have indicated that the two-step registration technique is fast, reliable, and provides a valuable tool to facilitate both rigid and nonrigid image registrations.« less

Maximum power point tracking techniques for wind energy systems using three levels boost converter

NASA Astrophysics Data System (ADS)

Tran, Cuong Hung; Nollet, Frédéric; Essounbouli, Najib; Hamzaoui, Abdelaziz

2018-05-01

This paper presents modeling and simulation of three level Boost DC-DC converter in Wind Energy Conversion System (WECS). Three-level Boost converter has significant advantage compared to conventional Boost. A maximum power point tracking (MPPT) method for a variable speed wind turbine using permanent magnet synchronous generator (PMSG) is also presented. Simulation of three-level Boost converter topology with Perturb and Observe algorithm and Fuzzy Logic Control is implemented in MATLAB/SIMULINK. Results of this simulation show that the system with MPPT using fuzzy logic controller has better performance to the Perturb and Observe algorithm: fast response under changing conditions and small oscillation.

The Annular Suspension and Pointing System /ASPS/

NASA Technical Reports Server (NTRS)

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

1978-01-01

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

A Bidirectional Brain-Machine Interface Algorithm That Approximates Arbitrary Force-Fields

PubMed Central

Semprini, Marianna; Mussa-Ivaldi, Ferdinando A.; Panzeri, Stefano

2014-01-01

We examine bidirectional brain-machine interfaces that control external devices in a closed loop by decoding motor cortical activity to command the device and by encoding the state of the device by delivering electrical stimuli to sensory areas. Although it is possible to design this artificial sensory-motor interaction while maintaining two independent channels of communication, here we propose a rule that closes the loop between flows of sensory and motor information in a way that approximates a desired dynamical policy expressed as a field of forces acting upon the controlled external device. We previously developed a first implementation of this approach based on linear decoding of neural activity recorded from the motor cortex into a set of forces (a force field) applied to a point mass, and on encoding of position of the point mass into patterns of electrical stimuli delivered to somatosensory areas. However, this previous algorithm had the limitation that it only worked in situations when the position-to-force map to be implemented is invertible. Here we overcome this limitation by developing a new non-linear form of the bidirectional interface that can approximate a virtually unlimited family of continuous fields. The new algorithm bases both the encoding of position information and the decoding of motor cortical activity on an explicit map between spike trains and the state space of the device computed with Multi-Dimensional-Scaling. We present a detailed computational analysis of the performance of the interface and a validation of its robustness by using synthetic neural responses in a simulated sensory-motor loop. PMID:24626393

Development of quality control and instrumentation performance metrics for diffuse optical spectroscopic imaging instruments in the multi-center clinical environment

NASA Astrophysics Data System (ADS)

Keene, Samuel T.; Cerussi, Albert E.; Warren, Robert V.; Hill, Brian; Roblyer, Darren; Leproux, AnaÑ--s.; Durkin, Amanda F.; O'Sullivan, Thomas D.; Haghany, Hosain; Mantulin, William W.; Tromberg, Bruce J.

2013-03-01

Instrument equivalence and quality control are critical elements of multi-center clinical trials. We currently have five identical Diffuse Optical Spectroscopic Imaging (DOSI) instruments enrolled in the American College of Radiology Imaging Network (ACRIN, #6691) trial located at five academic clinical research sites in the US. The goal of the study is to predict the response of breast tumors to neoadjuvant chemotherapy in 60 patients. In order to reliably compare DOSI measurements across different instruments, operators and sites, we must be confident that the data quality is comparable. We require objective and reliable methods for identifying, correcting, and rejecting low quality data. To achieve this goal, we developed and tested an automated quality control algorithm that rejects data points below the instrument noise floor, improves tissue optical property recovery, and outputs a detailed data quality report. Using a new protocol for obtaining dark-noise data, we applied the algorithm to ACRIN patient data and successfully improved the quality of recovered physiological data in some cases.

Guidance control of small UAV with energy and maneuverability limitations for a search and coverage mission

NASA Astrophysics Data System (ADS)

Gramajo, German G.

This thesis presents an algorithm for a search and coverage mission that has increased autonomy in generating an ideal trajectory while explicitly considering the available energy in the optimization. Further, current algorithms used to generate trajectories depend on the operator providing a discrete set of turning rate requirements to obtain an optimal solution. This work proposes an additional modification to the algorithm so that it optimizes the trajectory for a range of turning rates instead of a discrete set of turning rates. This thesis conducts an evaluation of the algorithm with variation in turn duration, entry-heading angle, and entry point. Comparative studies of the algorithm with existing method indicates improved autonomy in choosing the optimization parameters while producing trajectories with better coverage area and closer final distance to the desired terminal point.

Design of permanent magnet synchronous motor speed control system based on SVPWM

NASA Astrophysics Data System (ADS)

Wu, Haibo

2017-04-01

The control system is designed to realize TMS320F28335 based on the permanent magnet synchronous motor speed control system, and put it to quoting all electric of injection molding machine. The system of the control method used SVPWM, through the sampling motor current and rotating transformer position information, realize speed, current double closed loop control. Through the TMS320F28335 hardware floating-point processing core, realize the application for permanent magnet synchronous motor in the floating point arithmetic, to replace the past fixed-point algorithm, and improve the efficiency of the code.

An innovative approach to compensator design

NASA Technical Reports Server (NTRS)

Mitchell, J. R.; Mcdaniel, W. L., Jr.

1973-01-01

The design is considered of a computer-aided-compensator for a control system from a frequency domain point of view. The design technique developed is based on describing the open loop frequency response by n discrete frequency points which result in n functions of the compensator coefficients. Several of these functions are chosen so that the system specifications are properly portrayed; then mathematical programming is used to improve all of these functions which have values below minimum standards. To do this, several definitions in regard to measuring the performance of a system in the frequency domain are given, e.g., relative stability, relative attenuation, proper phasing, etc. Next, theorems which govern the number of compensator coefficients necessary to make improvements in a certain number of functions are proved. After this a mathematical programming tool for aiding in the solution of the problem is developed. This tool is called the constraint improvement algorithm. Then for applying the constraint improvement algorithm generalized, gradients for the constraints are derived. Finally, the necessary theory is incorporated in a Computer program called CIP (compensator Improvement Program). The practical usefulness of CIP is demonstrated by two large system examples.

Development of a Numerical Model for High-Temperature Shape Memory Alloys

NASA Technical Reports Server (NTRS)

DeCastro, Jonathan A.; Melcher, Kevin J.; Noebe, Ronald D.; Gaydosh, Darrell J.

2006-01-01

A thermomechanical hysteresis model for a high-temperature shape memory alloy (HTSMA) actuator material is presented. The model is capable of predicting strain output of a tensile-loaded HTSMA when excited by arbitrary temperature-stress inputs for the purpose of actuator and controls design. Common quasi-static generalized Preisach hysteresis models available in the literature require large sets of experimental data for model identification at a particular operating point, and substantially more data for multiple operating points. The novel algorithm introduced here proposes an alternate approach to Preisach methods that is better suited for research-stage alloys, such as recently-developed HTSMAs, for which a complete database is not yet available. A detailed description of the minor loop hysteresis model is presented in this paper, as well as a methodology for determination of model parameters. The model is then qualitatively evaluated with respect to well-established Preisach properties and against a set of low-temperature cycled loading data using a modified form of the one-dimensional Brinson constitutive equation. The computationally efficient algorithm demonstrates adherence to Preisach properties and excellent agreement to the validation data set.

A novel SURE-based criterion for parametric PSF estimation.

PubMed

Xue, Feng; Blu, Thierry

2015-02-01

We propose an unbiased estimate of a filtered version of the mean squared error--the blur-SURE (Stein's unbiased risk estimate)--as a novel criterion for estimating an unknown point spread function (PSF) from the degraded image only. The PSF is obtained by minimizing this new objective functional over a family of Wiener processings. Based on this estimated blur kernel, we then perform nonblind deconvolution using our recently developed algorithm. The SURE-based framework is exemplified with a number of parametric PSF, involving a scaling factor that controls the blur size. A typical example of such parametrization is the Gaussian kernel. The experimental results demonstrate that minimizing the blur-SURE yields highly accurate estimates of the PSF parameters, which also result in a restoration quality that is very similar to the one obtained with the exact PSF, when plugged into our recent multi-Wiener SURE-LET deconvolution algorithm. The highly competitive results obtained outline the great potential of developing more powerful blind deconvolution algorithms based on SURE-like estimates.

Image restoration for three-dimensional fluorescence microscopy using an orthonormal basis for efficient representation of depth-variant point-spread functions

PubMed Central

Patwary, Nurmohammed; Preza, Chrysanthe

2015-01-01

A depth-variant (DV) image restoration algorithm for wide field fluorescence microscopy, using an orthonormal basis decomposition of DV point-spread functions (PSFs), is investigated in this study. The efficient PSF representation is based on a previously developed principal component analysis (PCA), which is computationally intensive. We present an approach developed to reduce the number of DV PSFs required for the PCA computation, thereby making the PCA-based approach computationally tractable for thick samples. Restoration results from both synthetic and experimental images show consistency and that the proposed algorithm addresses efficiently depth-induced aberration using a small number of principal components. Comparison of the PCA-based algorithm with a previously-developed strata-based DV restoration algorithm demonstrates that the proposed method improves performance by 50% in terms of accuracy and simultaneously reduces the processing time by 64% using comparable computational resources. PMID:26504634

Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines.

PubMed

Goher, K M; Almeshal, A M; Agouri, S A; Nasir, A N K; Tokhi, M O; Alenezi, M R; Al Zanki, T; Fadlallah, S O

2017-01-01

This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.

A Robustly Stabilizing Model Predictive Control Algorithm

NASA Technical Reports Server (NTRS)

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

2007-01-01

A model predictive control (MPC) algorithm that differs from prior MPC algorithms has been developed for controlling an uncertain nonlinear system. This algorithm guarantees the resolvability of an associated finite-horizon optimal-control problem in a receding-horizon implementation.

Registration of opthalmic images using control points

NASA Astrophysics Data System (ADS)

Heneghan, Conor; Maguire, Paul

2003-03-01

A method for registering pairs of digital ophthalmic images of the retina is presented using anatomical features as control points present in both images. The anatomical features chosen are blood vessel crossings and bifurcations. These control points are identified by a combination of local contrast enhancement, and morphological processing. In general, the matching between control points is unknown, however, so an automated algorithm is used to determine the matching pairs of control points in the two images as follows. Using two control points from each image, rigid global transform (RGT) coefficients are calculated for all possible combinations of control point pairs, and the set of RGT coefficients is identified. Once control point pairs are established, registration of two images can be achieved by using linear regression to optimize an RGT, bilinear or second order polynomial global transform. An example of cross-modal image registration using an optical image and a fluorescein angiogram of an eye is presented to illustrate the technique.

Control of equipment isolation system using wavelet-based hybrid sliding mode control

NASA Astrophysics Data System (ADS)

Huang, Shieh-Kung; Loh, Chin-Hsiung

2017-04-01

Critical non-structural equipment, including life-saving equipment in hospitals, circuit breakers, computers, high technology instrumentations, etc., is vulnerable to strong earthquakes, and on top of that, the failure of the vibration-sensitive equipment will cause severe economic loss. In order to protect vibration-sensitive equipment or machinery against strong earthquakes, various innovative control algorithms are developed to compensate the internal forces that to be applied. These new or improved control strategies, such as the control algorithms based on optimal control theory and sliding mode control (SMC), are also developed for structures engineering as a key element in smart structure technology. The optimal control theory, one of the most common methodologies in feedback control, finds control forces through achieving a certain optimal criterion by minimizing a cost function. For example, the linear-quadratic regulator (LQR) was the most popular control algorithm over the past three decades, and a number of modifications have been proposed to increase the efficiency of classical LQR algorithm. However, except to the advantage of simplicity and ease of implementation, LQR are susceptible to parameter uncertainty and modeling error due to complex nature of civil structures. Different from LQR control, a robust and easy to be implemented control algorithm, SMC has also been studied. SMC is a nonlinear control methodology that forces the structural system to slide along surfaces or boundaries; hence this control algorithm is naturally robust with respect to parametric uncertainties of a structure. Early attempts at protecting vibration-sensitive equipment were based on the use of existing control algorithms as described above. However, in recent years, researchers have tried to renew the existing control algorithms or developing a new control algorithm to adapt the complex nature of civil structures which include the control of both structures and non-structural components. The aim of this paper is to develop a hybrid control algorithm on the control of both structures and equipments simultaneously to overcome the limitations of classical feedback control through combining the advantage of classic LQR and SMC. To suppress vibrations with the frequency contents of strong earthquakes differing from the natural frequencies of civil structures, the hybrid control algorithms integrated with the wavelet-base vibration control algorithm is developed. The performance of classical, hybrid, and wavelet-based hybrid control algorithms as well as the responses of structure and non-structural components are evaluated and discussed through numerical simulation in this study.

MO-C-17A-11: A Segmentation and Point Matching Enhanced Deformable Image Registration Method for Dose Accumulation Between HDR CT Images

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

Zhen, X; Chen, H; Zhou, L

2014-06-15

Purpose: To propose and validate a novel and accurate deformable image registration (DIR) scheme to facilitate dose accumulation among treatment fractions of high-dose-rate (HDR) gynecological brachytherapy. Method: We have developed a method to adapt DIR algorithms to gynecologic anatomies with HDR applicators by incorporating a segmentation step and a point-matching step into an existing DIR framework. In the segmentation step, random walks algorithm is used to accurately segment and remove the applicator region (AR) in the HDR CT image. A semi-automatic seed point generation approach is developed to obtain the incremented foreground and background point sets to feed the randommore » walks algorithm. In the subsequent point-matching step, a feature-based thin-plate spline-robust point matching (TPS-RPM) algorithm is employed for AR surface point matching. With the resulting mapping, a DVF characteristic of the deformation between the two AR surfaces is generated by B-spline approximation, which serves as the initial DVF for the following Demons DIR between the two AR-free HDR CT images. Finally, the calculated DVF via Demons combined with the initial one serve as the final DVF to map doses between HDR fractions. Results: The segmentation and registration accuracy are quantitatively assessed by nine clinical HDR cases from three gynecological cancer patients. The quantitative results as well as the visual inspection of the DIR indicate that our proposed method can suppress the interference of the applicator with the DIR algorithm, and accurately register HDR CT images as well as deform and add interfractional HDR doses. Conclusions: We have developed a novel and robust DIR scheme that can perform registration between HDR gynecological CT images and yield accurate registration results. This new DIR scheme has potential for accurate interfractional HDR dose accumulation. This work is supported in part by the National Natural ScienceFoundation of China (no 30970866 and no 81301940)« less

Gait Planning and Stability Control of a Quadruped Robot

PubMed Central

Li, Junmin; Wang, Jinge; Yang, Simon X.; Zhou, Kedong; Tang, Huijuan

2016-01-01

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype. PMID:27143959

Gait Planning and Stability Control of a Quadruped Robot.

PubMed

Li, Junmin; Wang, Jinge; Yang, Simon X; Zhou, Kedong; Tang, Huijuan

2016-01-01

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.

Real time optimal guidance of low-thrust spacecraft: an application of nonlinear model predictive control.

PubMed

Arrieta-Camacho, Juan José; Biegler, Lorenz T

2005-12-01

Real time optimal guidance is considered for a class of low thrust spacecraft. In particular, nonlinear model predictive control (NMPC) is utilized for computing the optimal control actions required to transfer a spacecraft from a low Earth orbit to a mission orbit. The NMPC methodology presented is able to cope with unmodeled disturbances. The dynamics of the transfer are modeled using a set of modified equinoctial elements because they do not exhibit singularities for zero inclination and zero eccentricity. The idea behind NMPC is the repeated solution of optimal control problems; at each time step, a new control action is computed. The optimal control problem is solved using a direct method-fully discretizing the equations of motion. The large scale nonlinear program resulting from the discretization procedure is solved using IPOPT--a primal-dual interior point algorithm. Stability and robustness characteristics of the NMPC algorithm are reviewed. A numerical example is presented that encourages further development of the proposed methodology: the transfer from low-Earth orbit to a molniya orbit.

Automated information and control complex of hydro-gas endogenous mine processes

NASA Astrophysics Data System (ADS)

Davkaev, K. S.; Lyakhovets, M. V.; Gulevich, T. M.; Zolin, K. A.

2017-09-01

The automated information and control complex designed to prevent accidents, related to aerological situation in the underground workings, accounting of the received and handed over individual devices, transmission and display of measurement data, and the formation of preemptive solutions is considered. Examples for the automated workplace of an airgas control operator by individual means are given. The statistical characteristics of field data characterizing the aerological situation in the mine are obtained. The conducted studies of statistical characteristics confirm the feasibility of creating a subsystem of controlled gas distribution with an adaptive arrangement of points for gas control. The adaptive (multivariant) algorithm for processing measuring information of continuous multidimensional quantities and influencing factors has been developed.

Dynamic global model of oxide Czochralski process with weighing control

NASA Astrophysics Data System (ADS)

Mamedov, V. M.; Vasiliev, M. G.; Yuferev, V. S.

2011-03-01

A dynamic model of oxide Czochralski growth with weighing control has been developed for the first time. A time-dependent approach is used for the calculation of temperature fields in different parts of a crystallization set-up and convection patterns in a melt, while internal radiation in crystal is considered in a quasi-steady approximation. A special algorithm is developed for the calculation of displacement of a triple point and simulation of a crystal surface formation. To calculate variations in the heat generation, a model of weighing control with a commonly used PID regulator is applied. As an example, simulation of the growth process of gallium-gadolinium garnet (GGG) crystals starting from the stage of seeding is performed.

Boiler-turbine control system design using a genetic algorithm

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

Dimeo, R.; Lee, K.Y.

1995-12-01

This paper discusses the application of a genetic algorithm to control system design for a boiler-turbine plant. In particular the authors study the ability of the genetic algorithm to develop a proportional-integral (PI) controller and a state feedback controller for a non-linear multi-input/multi-output (MIMO) plant model. The plant model is presented along with a discussion of the inherent difficulties in such controller development. A sketch of the genetic algorithm (GA) is presented and its strategy as a method of control system design is discussed. Results are presented for two different control systems that have been designed with the genetic algorithm.

A semi-active suspension control algorithm for vehicle comprehensive vertical dynamics performance

NASA Astrophysics Data System (ADS)

Nie, Shida; Zhuang, Ye; Liu, Weiping; Chen, Fan

2017-08-01

Comprehensive performance of the vehicle, including ride qualities and road-holding, is essentially of great value in practice. Many up-to-date semi-active control algorithms improve vehicle dynamics performance effectively. However, it is hard to improve comprehensive performance for the conflict between ride qualities and road-holding around the second-order resonance. Hence, a new control algorithm is proposed to achieve a good trade-off between ride qualities and road-holding. In this paper, the properties of the invariant points are analysed, which gives an insight into the performance conflicting around the second-order resonance. Based on it, a new control algorithm is proposed. The algorithm employs a novel frequency selector to balance suspension ride and handling performance by adopting a medium damping around the second-order resonance. The results of this study show that the proposed control algorithm could improve the performance of ride qualities and suspension working space up to 18.3% and 8.2%, respectively, with little loss of road-holding compared to the passive suspension. Consequently, the comprehensive performance can be improved by 6.6%. Hence, the proposed algorithm is of great potential to be implemented in practice.

False Discovery Control in Large-Scale Spatial Multiple Testing

PubMed Central

Sun, Wenguang; Reich, Brian J.; Cai, T. Tony; Guindani, Michele; Schwartzman, Armin

2014-01-01

Summary This article develops a unified theoretical and computational framework for false discovery control in multiple testing of spatial signals. We consider both point-wise and cluster-wise spatial analyses, and derive oracle procedures which optimally control the false discovery rate, false discovery exceedance and false cluster rate, respectively. A data-driven finite approximation strategy is developed to mimic the oracle procedures on a continuous spatial domain. Our multiple testing procedures are asymptotically valid and can be effectively implemented using Bayesian computational algorithms for analysis of large spatial data sets. Numerical results show that the proposed procedures lead to more accurate error control and better power performance than conventional methods. We demonstrate our methods for analyzing the time trends in tropospheric ozone in eastern US. PMID:25642138

Performance optimization of a photovoltaic chain conversion by the PWM control

NASA Astrophysics Data System (ADS)

Rezoug, M. R.; Chenni, R.

2017-02-01

The interest of the research technique of maximum power point tracking, exposed by this article, lays in the fact of work instantly on the real characteristic of the photovoltaic module. This work is based on instantaneous measurements of its terminals' current & voltage as well as the exploitation of the characteristic "Power - Duty Cycle" to define rapidly the Duty cycle in which power reaches its maximum value. To ensure instantaneous tracking of the point of maximum power, we use "DC/DC Converter" based on "Pulse Wave Modulation's (PWM) Command" controlled by an algorithm implanted in a microcontroller's memory. This algorithm responds to the quick changes in climate (sunlight and temperature). To identify the control parameters "VPV & IPV" at any change in operating conditions, sensors are projected. this algorithm applied to the Duty cycle of the static converter enables the control of power supplied by the photovoltaic generator thanks to oscillatory movement around the MPP. Our article highlights the importance of this technique which lays in its simplicity and performance in changing climatic conditions. This efficiency is confirmed by experimental tests and this technique will improve its predecessors.

Multimodal optimization by using hybrid of artificial bee colony algorithm and BFGS algorithm

NASA Astrophysics Data System (ADS)

Anam, S.

2017-10-01

Optimization has become one of the important fields in Mathematics. Many problems in engineering and science can be formulated into optimization problems. They maybe have many local optima. The optimization problem with many local optima, known as multimodal optimization problem, is how to find the global solution. Several metaheuristic methods have been proposed to solve multimodal optimization problems such as Particle Swarm Optimization (PSO), Genetics Algorithm (GA), Artificial Bee Colony (ABC) algorithm, etc. The performance of the ABC algorithm is better than or similar to those of other population-based algorithms with the advantage of employing a fewer control parameters. The ABC algorithm also has the advantages of strong robustness, fast convergence and high flexibility. However, it has the disadvantages premature convergence in the later search period. The accuracy of the optimal value cannot meet the requirements sometimes. Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm is a good iterative method for finding a local optimum. Compared with other local optimization methods, the BFGS algorithm is better. Based on the advantages of the ABC algorithm and the BFGS algorithm, this paper proposes a hybrid of the artificial bee colony algorithm and the BFGS algorithm to solve the multimodal optimization problem. The first step is that the ABC algorithm is run to find a point. In the second step is that the point obtained by the first step is used as an initial point of BFGS algorithm. The results show that the hybrid method can overcome from the basic ABC algorithm problems for almost all test function. However, if the shape of function is flat, the proposed method cannot work well.

On the theoretical link between LLL-reduction and Lambda-decorrelation

NASA Astrophysics Data System (ADS)

Lannes, A.

2013-04-01

The LLL algorithm, introduced by Lenstra et al. (Math Ann 261:515-534, 1982), plays a key role in many fields of applied mathematics. In particular, it is used as an effective numerical tool for preconditioning the integer least-squares problems arising in high-precision geodetic positioning and Global Navigation Satellite Systems (GNSS). In 1992, Teunissen developed a method for solving these nearest-lattice point (NLP) problems. This method is referred to as Lambda (for Least-squares AMBiguity Decorrelation Adjustment). The preconditioning stage of Lambda corresponds to its decorrelation algorithm. From an epistemological point of view, the latter was devised through an innovative statistical approach completely independent of the LLL algorithm. Recent papers pointed out some similarities between the LLL algorithm and the Lambda-decorrelation algorithm. We try to clarify this point in the paper. We first introduce a parameter measuring the orthogonality defect of the integer basis in which the NLP problem is solved, the LLL-reduced basis of the LLL algorithm, or the Λ -basis of the Lambda method. With regard to this problem, the potential qualities of these bases can then be compared. The Λ -basis is built by working at the level of the variance-covariance matrix of the float solution, while the LLL-reduced basis is built by working at the level of its inverse. As a general rule, the orthogonality defect of the Λ -basis is greater than that of the corresponding LLL-reduced basis; these bases are however very close to one another. To specify this tight relationship, we present a method that provides the dual LLL-reduced basis of a given Λ -basis. As a consequence of this basic link, all the recent developments made on the LLL algorithm can be applied to the Lambda-decorrelation algorithm. This point is illustrated in a concrete manner: we present a parallel Λ -type decorrelation algorithm derived from the parallel LLL algorithm of Luo and Qiao (Proceedings of the fourth international C^* conference on computer science and software engineering. ACM Int Conf P Series. ACM Press, pp 93-101, 2012).

Lightweight Battery Charge Regulator Used to Track Solar Array Peak Power

NASA Technical Reports Server (NTRS)

Soeder, James F.; Button, Robert M.

1999-01-01

A battery charge regulator based on the series-connected boost regulator (SCBR) technology has been developed for high-voltage spacecraft applications. The SCBR regulates the solar array power during insolation to prevent battery overcharge or undercharge conditions. It can also be used to provide regulated battery output voltage to spacecraft loads if necessary. This technology uses industry-standard dc-dc converters and a unique interconnection to provide size, weight, efficiency, fault tolerance, and modularity benefits over existing systems. The high-voltage SCBR shown in the photograph has demonstrated power densities of over 1000 watts per kilogram (W/kg). Using four 150-W dc-dc converter modules, it can process 2500 W of power at 120 Vdc with a minimum input voltage of 90 Vdc. Efficiency of the SCBR was 94 to 98 percent over the entire operational range. Internally, the unit is made of two separate SCBR s, each with its own analog control circuitry, to demonstrate the modularity of the technology. The analog controllers regulate the output current and incorporate the output voltage limit with active current sharing between the two units. They also include voltage and current telemetry, on/off control, and baseplate temperature sensors. For peak power tracking, the SCBR was connected to a LabView-based data acquisition system for telemetry and control. A digital control algorithm for tracking the peak power point of a solar array was developed using the principle of matching the source impedance with the load impedance for maximum energy transfer. The algorithm was successfully demonstrated in a simulated spacecraft electrical system at the Boeing PhantomWorks High Voltage Test Facility in Seattle, Washington. The system consists of a 42-string, high-voltage solar array simulator, a 77-cell, 80-ampere-hour (A-hr) nickel-hydrogen battery, and a constant power-load module. The SCBR and the LabView control algorithm successfully tracked the solar array peak power point through various load transients, including sunlight discharge transients when the total load exceeded the maximum solar array output power.

A simple model-based control for Pichia pastoris allows a more efficient heterologous protein production bioprocess.

PubMed

Cos, Oriol; Ramon, Ramon; Montesinos, José Luis; Valero, Francisco

2006-09-05

A predictive control algorithm coupled with a PI feedback controller has been satisfactorily implemented in the heterologous Rhizopus oryzae lipase production by Pichia pastoris methanol utilization slow (Mut(s)) phenotype. This control algorithm has allowed the study of the effect of methanol concentration, ranging from 0.5 to 1.75 g/L, on heterologous protein production. The maximal lipolytic activity (490 UA/mL), specific yield (11,236 UA/g(biomass)), productivity (4,901 UA/L . h), and specific productivity (112 UA/g(biomass)h were reached for a methanol concentration of 1 g/L. These parameters are almost double than those obtained with a manual control at a similar methanol set-point. The study of the specific growth, consumption, and production rates showed different patterns for these rates depending on the methanol concentration set-point. Results obtained have shown the need of implementing a robust control scheme when reproducible quality and productivity are sought. It has been demonstrated that the model-based control proposed here is a very efficient, robust, and easy-to-implement strategy from an industrial application point of view. (c) 2006 Wiley Periodicals, Inc.

Open-closed-loop iterative learning control for a class of nonlinear systems with random data dropouts

NASA Astrophysics Data System (ADS)

Cheng, X. Y.; Wang, H. B.; Jia, Y. L.; Dong, YH

2018-05-01

In this paper, an open-closed-loop iterative learning control (ILC) algorithm is constructed for a class of nonlinear systems subjecting to random data dropouts. The ILC algorithm is implemented by a networked control system (NCS), where only the off-line data is transmitted by network while the real-time data is delivered in the point-to-point way. Thus, there are two controllers rather than one in the control system, which makes better use of the saved and current information and thereby improves the performance achieved by open-loop control alone. During the transfer of off-line data between the nonlinear plant and the remote controller data dropout occurs randomly and the data dropout rate is modeled as a binary Bernoulli random variable. Both measurement and control data dropouts are taken into consideration simultaneously. The convergence criterion is derived based on rigorous analysis. Finally, the simulation results verify the effectiveness of the proposed method.

Discrete-Time Local Value Iteration Adaptive Dynamic Programming: Admissibility and Termination Analysis.

PubMed

Wei, Qinglai; Liu, Derong; Lin, Qiao

In this paper, a novel local value iteration adaptive dynamic programming (ADP) algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The focuses of this paper are to study admissibility properties and the termination criteria of discrete-time local value iteration ADP algorithms. In the discrete-time local value iteration ADP algorithm, the iterative value functions and the iterative control laws are both updated in a given subset of the state space in each iteration, instead of the whole state space. For the first time, admissibility properties of iterative control laws are analyzed for the local value iteration ADP algorithm. New termination criteria are established, which terminate the iterative local ADP algorithm with an admissible approximate optimal control law. Finally, simulation results are given to illustrate the performance of the developed algorithm.In this paper, a novel local value iteration adaptive dynamic programming (ADP) algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The focuses of this paper are to study admissibility properties and the termination criteria of discrete-time local value iteration ADP algorithms. In the discrete-time local value iteration ADP algorithm, the iterative value functions and the iterative control laws are both updated in a given subset of the state space in each iteration, instead of the whole state space. For the first time, admissibility properties of iterative control laws are analyzed for the local value iteration ADP algorithm. New termination criteria are established, which terminate the iterative local ADP algorithm with an admissible approximate optimal control law. Finally, simulation results are given to illustrate the performance of the developed algorithm.

Control over structure-specific flexibility improves anatomical accuracy for point-based deformable registration in bladder cancer radiotherapy

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

Wognum, S.; Chai, X.; Hulshof, M. C. C. M.

2013-02-15

Purpose: Future developments in image guided adaptive radiotherapy (IGART) for bladder cancer require accurate deformable image registration techniques for the precise assessment of tumor and bladder motion and deformation that occur as a result of large bladder volume changes during the course of radiotherapy treatment. The aim was to employ an extended version of a point-based deformable registration algorithm that allows control over tissue-specific flexibility in combination with the authors' unique patient dataset, in order to overcome two major challenges of bladder cancer registration, i.e., the difficulty in accounting for the difference in flexibility between the bladder wall and tumormore » and the lack of visible anatomical landmarks for validation. Methods: The registration algorithm used in the current study is an extension of the symmetric-thin plate splines-robust point matching (S-TPS-RPM) algorithm, a symmetric feature-based registration method. The S-TPS-RPM algorithm has been previously extended to allow control over the degree of flexibility of different structures via a weight parameter. The extended weighted S-TPS-RPM algorithm was tested and validated on CT data (planning- and four to five repeat-CTs) of five urinary bladder cancer patients who received lipiodol injections before radiotherapy. The performance of the weighted S-TPS-RPM method, applied to bladder and tumor structures simultaneously, was compared with a previous version of the S-TPS-RPM algorithm applied to bladder wall structure alone and with a simultaneous nonweighted S-TPS-RPM registration of the bladder and tumor structures. Performance was assessed in terms of anatomical and geometric accuracy. The anatomical accuracy was calculated as the residual distance error (RDE) of the lipiodol markers and the geometric accuracy was determined by the surface distance, surface coverage, and inverse consistency errors. Optimal parameter values for the flexibility and bladder weight parameters were determined for the weighted S-TPS-RPM. Results: The weighted S-TPS-RPM registration algorithm with optimal parameters significantly improved the anatomical accuracy as compared to S-TPS-RPM registration of the bladder alone and reduced the range of the anatomical errors by half as compared with the simultaneous nonweighted S-TPS-RPM registration of the bladder and tumor structures. The weighted algorithm reduced the RDE range of lipiodol markers from 0.9-14 mm after rigid bone match to 0.9-4.0 mm, compared to a range of 1.1-9.1 mm with S-TPS-RPM of bladder alone and 0.9-9.4 mm for simultaneous nonweighted registration. All registration methods resulted in good geometric accuracy on the bladder; average error values were all below 1.2 mm. Conclusions: The weighted S-TPS-RPM registration algorithm with additional weight parameter allowed indirect control over structure-specific flexibility in multistructure registrations of bladder and bladder tumor, enabling anatomically coherent registrations. The availability of an anatomically validated deformable registration method opens up the horizon for improvements in IGART for bladder cancer.« less

A general optimality criteria algorithm for a class of engineering optimization problems

NASA Astrophysics Data System (ADS)

Belegundu, Ashok D.

2015-05-01

An optimality criteria (OC)-based algorithm for optimization of a general class of nonlinear programming (NLP) problems is presented. The algorithm is only applicable to problems where the objective and constraint functions satisfy certain monotonicity properties. For multiply constrained problems which satisfy these assumptions, the algorithm is attractive compared with existing NLP methods as well as prevalent OC methods, as the latter involve computationally expensive active set and step-size control strategies. The fixed point algorithm presented here is applicable not only to structural optimization problems but also to certain problems as occur in resource allocation and inventory models. Convergence aspects are discussed. The fixed point update or resizing formula is given physical significance, which brings out a strength and trim feature. The number of function evaluations remains independent of the number of variables, allowing the efficient solution of problems with large number of variables.

Tele-Autonomous control involving contact. Final Report Thesis; [object localization

NASA Technical Reports Server (NTRS)

Shao, Lejun; Volz, Richard A.; Conway, Lynn; Walker, Michael W.

1990-01-01

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Deformable structure registration of bladder through surface mapping.

PubMed

Xiong, Li; Viswanathan, Akila; Stewart, Alexandra J; Haker, Steven; Tempany, Clare M; Chin, Lee M; Cormack, Robert A

2006-06-01

Cumulative dose distributions in fractionated radiation therapy depict the dose to normal tissues and therefore may permit an estimation of the risk of normal tissue complications. However, calculation of these distributions is highly challenging because of interfractional changes in the geometry of patient anatomy. This work presents an algorithm for deformable structure registration of the bladder and the verification of the accuracy of the algorithm using phantom and patient data. In this algorithm, the registration process involves conformal mapping of genus zero surfaces using finite element analysis, and guided by three control landmarks. The registration produces a correspondence between fractions of the triangular meshes used to describe the bladder surface. For validation of the algorithm, two types of balloons were inflated gradually to three times their original size, and several computerized tomography (CT) scans were taken during the process. The registration algorithm yielded a local accuracy of 4 mm along the balloon surface. The algorithm was then applied to CT data of patients receiving fractionated high-dose-rate brachytherapy to the vaginal cuff, with the vaginal cylinder in situ. The patients' bladder filling status was intentionally different for each fraction. The three required control landmark points were identified for the bladder based on anatomy. Out of an Institutional Review Board (IRB) approved study of 20 patients, 3 had radiographically identifiable points near the bladder surface that were used for verification of the accuracy of the registration. The verification point as seen in each fraction was compared with its predicted location based on affine as well as deformable registration. Despite the variation in bladder shape and volume, the deformable registration was accurate to 5 mm, consistently outperforming the affine registration. We conclude that the structure registration algorithm presented works with reasonable accuracy and provides a means of calculating cumulative dose distributions.

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

Li Xiong; Viswanathan, Akila; Stewart, Alexandra J.

Cumulative dose distributions in fractionated radiation therapy depict the dose to normal tissues and therefore may permit an estimation of the risk of normal tissue complications. However, calculation of these distributions is highly challenging because of interfractional changes in the geometry of patient anatomy. This work presents an algorithm for deformable structure registration of the bladder and the verification of the accuracy of the algorithm using phantom and patient data. In this algorithm, the registration process involves conformal mapping of genus zero surfaces using finite element analysis, and guided by three control landmarks. The registration produces a correspondence between fractionsmore » of the triangular meshes used to describe the bladder surface. For validation of the algorithm, two types of balloons were inflated gradually to three times their original size, and several computerized tomography (CT) scans were taken during the process. The registration algorithm yielded a local accuracy of 4 mm along the balloon surface. The algorithm was then applied to CT data of patients receiving fractionated high-dose-rate brachytherapy to the vaginal cuff, with the vaginal cylinder in situ. The patients' bladder filling status was intentionally different for each fraction. The three required control landmark points were identified for the bladder based on anatomy. Out of an Institutional Review Board (IRB) approved study of 20 patients, 3 had radiographically identifiable points near the bladder surface that were used for verification of the accuracy of the registration. The verification point as seen in each fraction was compared with its predicted location based on affine as well as deformable registration. Despite the variation in bladder shape and volume, the deformable registration was accurate to 5 mm, consistently outperforming the affine registration. We conclude that the structure registration algorithm presented works with reasonable accuracy and provides a means of calculating cumulative dose distributions.« less

Scaled Runge-Kutta algorithms for handling dense output

NASA Technical Reports Server (NTRS)

Horn, M. K.

1981-01-01

Low order Runge-Kutta algorithms are developed which determine the solution of a system of ordinary differential equations at any point within a given integration step, as well as at the end of each step. The scaled Runge-Kutta methods are designed to be used with existing Runge-Kutta formulas, using the derivative evaluations of these defining algorithms as the core of the system. For a slight increase in computing time, the solution may be generated within the integration step, improving the efficiency of the Runge-Kutta algorithms, since the step length need no longer be severely reduced to coincide with the desired output point. Scaled Runge-Kutta algorithms are presented for orders 3 through 5, along with accuracy comparisons between the defining algorithms and their scaled versions for a test problem.

Validation of Point Clouds Segmentation Algorithms Through Their Application to Several Case Studies for Indoor Building Modelling

NASA Astrophysics Data System (ADS)

Macher, H.; Landes, T.; Grussenmeyer, P.

2016-06-01

Laser scanners are widely used for the modelling of existing buildings and particularly in the creation process of as-built BIM (Building Information Modelling). However, the generation of as-built BIM from point clouds involves mainly manual steps and it is consequently time consuming and error-prone. Along the path to automation, a three steps segmentation approach has been developed. This approach is composed of two phases: a segmentation into sub-spaces namely floors and rooms and a plane segmentation combined with the identification of building elements. In order to assess and validate the developed approach, different case studies are considered. Indeed, it is essential to apply algorithms to several datasets and not to develop algorithms with a unique dataset which could influence the development with its particularities. Indoor point clouds of different types of buildings will be used as input for the developed algorithms, going from an individual house of almost one hundred square meters to larger buildings of several thousand square meters. Datasets provide various space configurations and present numerous different occluding objects as for example desks, computer equipments, home furnishings and even wine barrels. For each dataset, the results will be illustrated. The analysis of the results will provide an insight into the transferability of the developed approach for the indoor modelling of several types of buildings.

Conversion of urodynamic pressures measured simultaneously by air-charged and water-filled catheter systems.

PubMed

Awada, Hassan K; Fletter, Paul C; Zaszczurynski, Paul J; Cooper, Mitchell A; Damaser, Margot S

2015-08-01

The objective of this study was to compare the simultaneous responses of water-filled (WFC) and air-charged (ACC) catheters during simulated urodynamic pressures and develop an algorithm to convert peak pressures measured using an ACC to those measured by a WFC. Examples of cough leak point pressure and valsalva leak point pressure data (n = 4) were obtained from the literature, digitized, and modified in amplitude and duration to create a set of simulated data that ranged in amplitude from 15 to 220 cm H2 O (n = 25) and duration from 0.1 to 3.0 sec (n = 25) for each original signal. Simulated pressure signals were recorded simultaneously by WFCs, ACCs, and a reference transducer in a specially designed pressure chamber. Peak pressure and time to peak pressure were calculated for each simulated pressure signal and were used to develop an algorithm to convert peak pressures recorded with ACCs to corresponding peak pressures recorded with WFCs. The algorithm was validated with additional simulated urodynamic pressure signals and additional catheters that had not been utilized to develop the algorithm. ACCs significantly underestimated peak pressures of more rapidly changing pressures, as in coughs, compared to those measured by WFCs. The algorithm corrected 90% of peak pressures measured by ACCs to within 5% of those measured by WFCs when simultaneously exposed to the same pressure signals. The developed algorithm can be used to convert rapidly changing urodynamic pressures, such as cough leak point pressure, obtained using ACC systems to corresponding values expected from WFC systems. © 2014 Wiley Periodicals, Inc.

Rocketdyne Safety Algorithm: Space Shuttle Main Engine Fault Detection

NASA Technical Reports Server (NTRS)

Norman, Arnold M., Jr.

1994-01-01

The Rocketdyne Safety Algorithm (RSA) has been developed to the point of use on the TTBE at MSFC on Task 4 of LeRC contract NAS3-25884. This document contains a description of the work performed, the results of the nominal test of the major anomaly test cases and a table of the resulting cutoff times, a plot of the RSA value vs. time for each anomaly case, a logic flow description of the algorithm, the algorithm code, and a development plan for future efforts.

TH-EF-BRB-04: 4π Dynamic Conformal Arc Therapy Dynamic Conformal Arc Therapy (DCAT) for SBRT

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

Chiu, T; Long, T; Tian, Z.

2016-06-15

Purpose: To develop an efficient and effective trajectory optimization methodology for 4π dynamic conformal arc treatment (4π DCAT) with synchronized gantry and couch motion; and to investigate potential clinical benefits for stereotactic body radiation therapy (SBRT) to breast, lung, liver and spine tumors. Methods: The entire optimization framework for 4π DCAT inverse planning consists of two parts: 1) integer programming algorithm and 2) particle swarm optimization (PSO) algorithm. The integer programming is designed to find an optimal solution for arc delivery trajectory with both couch and gantry rotation, while PSO minimize a non-convex objective function based on the selected trajectorymore » and dose-volume constraints. In this study, control point interaction is explicitly taken into account. Beam trajectory was modeled as a series of control points connected together to form a deliverable path. With linear treatment planning objectives, a mixed-integer program (MIP) was formulated. Under mild assumptions, the MIP is tractable. Assigning monitor units to control points along the path can be integrated into the model and done by PSO. The developed 4π DCAT inverse planning strategy is evaluated on SBRT cases and compared to clinically treated plans. Results: The resultant dose distribution of this technique was evaluated between 3D conformal treatment plan generated by Pinnacle treatment planning system and 4π DCAT on a lung SBRT patient case. Both plans share the same scale of MU, 3038 and 2822 correspondingly to 3D conformal plan and 4π DCAT. The mean doses for most of OARs were greatly reduced at 32% (cord), 70% (esophagus), 2.8% (lung) and 42.4% (stomach). Conclusion: Initial results in this study show the proposed 4π DCAT treatment technique can achieve better OAR sparing and lower MUs, which indicates that the developed technique is promising for high dose SBRT to reduce the risk of secondary cancer.« less

Visualizing and quantifying movement from pre-recorded videos: The spectral time-lapse (STL) algorithm

PubMed Central

Madan, Christopher R

2014-01-01

When studying animal behaviour within an open environment, movement-related data are often important for behavioural analyses. Therefore, simple and efficient techniques are needed to present and analyze the data of such movements. However, it is challenging to present both spatial and temporal information of movements within a two-dimensional image representation. To address this challenge, we developed the spectral time-lapse (STL) algorithm that re-codes an animal’s position at every time point with a time-specific color, and overlays it with a reference frame of the video, to produce a summary image. We additionally incorporated automated motion tracking, such that the animal’s position can be extracted and summary statistics such as path length and duration can be calculated, as well as instantaneous velocity and acceleration. Here we describe the STL algorithm and offer a freely available MATLAB toolbox that implements the algorithm and allows for a large degree of end-user control and flexibility. PMID:25580219

a Hadoop-Based Algorithm of Generating dem Grid from Point Cloud Data

NASA Astrophysics Data System (ADS)

Jian, X.; Xiao, X.; Chengfang, H.; Zhizhong, Z.; Zhaohui, W.; Dengzhong, Z.

2015-04-01

Airborne LiDAR technology has proven to be the most powerful tools to obtain high-density, high-accuracy and significantly detailed surface information of terrain and surface objects within a short time, and from which the Digital Elevation Model of high quality can be extracted. Point cloud data generated from the pre-processed data should be classified by segmentation algorithms, so as to differ the terrain points from disorganized points, then followed by a procedure of interpolating the selected points to turn points into DEM data. The whole procedure takes a long time and huge computing resource due to high-density, that is concentrated on by a number of researches. Hadoop is a distributed system infrastructure developed by the Apache Foundation, which contains a highly fault-tolerant distributed file system (HDFS) with high transmission rate and a parallel programming model (Map/Reduce). Such a framework is appropriate for DEM generation algorithms to improve efficiency. Point cloud data of Dongting Lake acquired by Riegl LMS-Q680i laser scanner was utilized as the original data to generate DEM by a Hadoop-based algorithms implemented in Linux, then followed by another traditional procedure programmed by C++ as the comparative experiment. Then the algorithm's efficiency, coding complexity, and performance-cost ratio were discussed for the comparison. The results demonstrate that the algorithm's speed depends on size of point set and density of DEM grid, and the non-Hadoop implementation can achieve a high performance when memory is big enough, but the multiple Hadoop implementation can achieve a higher performance-cost ratio, while point set is of vast quantities on the other hand.

A proposed adaptive step size perturbation and observation maximum power point tracking algorithm based on photovoltaic system modeling

NASA Astrophysics Data System (ADS)

Huang, Yu

Solar energy becomes one of the major alternative renewable energy options for its huge abundance and accessibility. Due to the intermittent nature, the high demand of Maximum Power Point Tracking (MPPT) techniques exists when a Photovoltaic (PV) system is used to extract energy from the sunlight. This thesis proposed an advanced Perturbation and Observation (P&O) algorithm aiming for relatively practical circumstances. Firstly, a practical PV system model is studied with determining the series and shunt resistances which are neglected in some research. Moreover, in this proposed algorithm, the duty ratio of a boost DC-DC converter is the object of the perturbation deploying input impedance conversion to achieve working voltage adjustment. Based on the control strategy, the adaptive duty ratio step size P&O algorithm is proposed with major modifications made for sharp insolation change as well as low insolation scenarios. Matlab/Simulink simulation for PV model, boost converter control strategy and various MPPT process is conducted step by step. The proposed adaptive P&O algorithm is validated by the simulation results and detail analysis of sharp insolation changes, low insolation condition and continuous insolation variation.

Use of parallel computing in mass processing of laser data

NASA Astrophysics Data System (ADS)

Będkowski, J.; Bratuś, R.; Prochaska, M.; Rzonca, A.

2015-12-01

The first part of the paper includes a description of the rules used to generate the algorithm needed for the purpose of parallel computing and also discusses the origins of the idea of research on the use of graphics processors in large scale processing of laser scanning data. The next part of the paper includes the results of an efficiency assessment performed for an array of different processing options, all of which were substantially accelerated with parallel computing. The processing options were divided into the generation of orthophotos using point clouds, coloring of point clouds, transformations, and the generation of a regular grid, as well as advanced processes such as the detection of planes and edges, point cloud classification, and the analysis of data for the purpose of quality control. Most algorithms had to be formulated from scratch in the context of the requirements of parallel computing. A few of the algorithms were based on existing technology developed by the Dephos Software Company and then adapted to parallel computing in the course of this research study. Processing time was determined for each process employed for a typical quantity of data processed, which helped confirm the high efficiency of the solutions proposed and the applicability of parallel computing to the processing of laser scanning data. The high efficiency of parallel computing yields new opportunities in the creation and organization of processing methods for laser scanning data.

Mechanism synthesis and 2-D control designs of an active three cable crane

NASA Technical Reports Server (NTRS)

Yang, Li-Farn; Mikulas, Martin M., Jr.

1992-01-01

A Lunar Crane with a suspension system based on a three cable mechanism is investigated to provide a stable end-effector for hoisting, positioning, and assembling large components during construction and servicing of a Lunar Base. The three cable suspension mechanism consists of a structural framework of three cables pointing to a common point that closely coincides with the suspended payload's center of gravity. The vibrational characteristics of this three cable suspension system are investigated by comparing a simple 2-D symmetric suspension model and a swinging pendulum in terms of their analytical natural frequency equations. A study is also made of actively controlling the dynamics of the crane using two different actuator concepts. Also, Lyapunov-based control algorithms are developed to determine two regulator-type control laws performing the system vibrational suppression for both system dynamics. Simulations including initial-valued dynamic responses as well as control performances for two different system dynamics are also presented.

A model of cloud application assignments in software-defined storages

NASA Astrophysics Data System (ADS)

Bolodurina, Irina P.; Parfenov, Denis I.; Polezhaev, Petr N.; E Shukhman, Alexander

2017-01-01

The aim of this study is to analyze the structure and mechanisms of interaction of typical cloud applications and to suggest the approaches to optimize their placement in storage systems. In this paper, we describe a generalized model of cloud applications including the three basic layers: a model of application, a model of service, and a model of resource. The distinctive feature of the model suggested implies analyzing cloud resources from the user point of view and from the point of view of a software-defined infrastructure of the virtual data center (DC). The innovation character of this model is in describing at the same time the application data placements, as well as the state of the virtual environment, taking into account the network topology. The model of software-defined storage has been developed as a submodel within the resource model. This model allows implementing the algorithm for control of cloud application assignments in software-defined storages. Experimental researches returned this algorithm decreases in cloud application response time and performance growth in user request processes. The use of software-defined data storages allows the decrease in the number of physical store devices, which demonstrates the efficiency of our algorithm.

Learning-based computing techniques in geoid modeling for precise height transformation

NASA Astrophysics Data System (ADS)

Erol, B.; Erol, S.

2013-03-01

Precise determination of local geoid is of particular importance for establishing height control in geodetic GNSS applications, since the classical leveling technique is too laborious. A geoid model can be accurately obtained employing properly distributed benchmarks having GNSS and leveling observations using an appropriate computing algorithm. Besides the classical multivariable polynomial regression equations (MPRE), this study attempts an evaluation of learning based computing algorithms: artificial neural networks (ANNs), adaptive network-based fuzzy inference system (ANFIS) and especially the wavelet neural networks (WNNs) approach in geoid surface approximation. These algorithms were developed parallel to advances in computer technologies and recently have been used for solving complex nonlinear problems of many applications. However, they are rather new in dealing with precise modeling problem of the Earth gravity field. In the scope of the study, these methods were applied to Istanbul GPS Triangulation Network data. The performances of the methods were assessed considering the validation results of the geoid models at the observation points. In conclusion the ANFIS and WNN revealed higher prediction accuracies compared to ANN and MPRE methods. Beside the prediction capabilities, these methods were also compared and discussed from the practical point of view in conclusions.

Active vibration control of a full scale aircraft wing using a reconfigurable controller

NASA Astrophysics Data System (ADS)

Prakash, Shashikala; Renjith Kumar, T. G.; Raja, S.; Dwarakanathan, D.; Subramani, H.; Karthikeyan, C.

2016-01-01

This work highlights the design of a Reconfigurable Active Vibration Control (AVC) System for aircraft structures using adaptive techniques. The AVC system with a multichannel capability is realized using Filtered-X Least Mean Square algorithm (FxLMS) on Xilinx Virtex-4 Field Programmable Gate Array (FPGA) platform in Very High Speed Integrated Circuits Hardware Description Language, (VHDL). The HDL design is made based on Finite State Machine (FSM) model with Floating point Intellectual Property (IP) cores for arithmetic operations. The use of FPGA facilitates to modify the system parameters even during runtime depending on the changes in user's requirements. The locations of the control actuators are optimized based on dynamic modal strain approach using genetic algorithm (GA). The developed system has been successfully deployed for the AVC testing of the full-scale wing of an all composite two seater transport aircraft. Several closed loop configurations like single channel and multi-channel control have been tested. The experimental results from the studies presented here are very encouraging. They demonstrate the usefulness of the system's reconfigurability for real time applications.

Robust control of electrostatic torsional micromirrors using adaptive sliding-mode control

NASA Astrophysics Data System (ADS)

Sane, Harshad S.; Yazdi, Navid; Mastrangelo, Carlos H.

2005-01-01

This paper presents high-resolution control of torsional electrostatic micromirrors beyond their inherent pull-in instability using robust sliding-mode control (SMC). The objectives of this paper are two-fold - firstly, to demonstrate the applicability of SMC for MEMS devices; secondly - to present a modified SMC algorithm that yields improved control accuracy. SMC enables compact realization of a robust controller tolerant of device characteristic variations and nonlinearities. Robustness of the control loop is demonstrated through extensive simulations and measurements on MEMS with a wide range in their characteristics. Control of two-axis gimbaled micromirrors beyond their pull-in instability with overall 10-bit pointing accuracy is confirmed experimentally. In addition, this paper presents an analysis of the sources of errors in discrete-time implementation of the control algorithm. To minimize these errors, we present an adaptive version of the SMC algorithm that yields substantial performance improvement without considerably increasing implementation complexity.

Evolving a Behavioral Repertoire for a Walking Robot.

PubMed

Cully, A; Mouret, J-B

2016-01-01

Numerous algorithms have been proposed to allow legged robots to learn to walk. However, most of these algorithms are devised to learn walking in a straight line, which is not sufficient to accomplish any real-world mission. Here we introduce the Transferability-based Behavioral Repertoire Evolution algorithm (TBR-Evolution), a novel evolutionary algorithm that simultaneously discovers several hundreds of simple walking controllers, one for each possible direction. By taking advantage of solutions that are usually discarded by evolutionary processes, TBR-Evolution is substantially faster than independently evolving each controller. Our technique relies on two methods: (1) novelty search with local competition, which searches for both high-performing and diverse solutions, and (2) the transferability approach, which combines simulations and real tests to evolve controllers for a physical robot. We evaluate this new technique on a hexapod robot. Results show that with only a few dozen short experiments performed on the robot, the algorithm learns a repertoire of controllers that allows the robot to reach every point in its reachable space. Overall, TBR-Evolution introduced a new kind of learning algorithm that simultaneously optimizes all the achievable behaviors of a robot.

Design of laser diode driver with constant current and temperature control system

NASA Astrophysics Data System (ADS)

Wang, Ming-cai; Yang, Kai-yong; Wang, Zhi-guo; Fan, Zhen-fang

2017-10-01

A laser Diode (LD) driver with constant current and temperature control system is designed according to the LD working characteristics. We deeply researched the protection circuit and temperature control circuit based on thermos-electric cooler(TEC) cooling circuit and PID algorithm. The driver could realize constant current output and achieve stable temperature control of LD. Real-time feedback control method was adopted in the temperature control system to make LD work on its best temperature point. The output power variety and output wavelength shift of LD caused by current and temperature instability were decreased. Furthermore, the driving current and working temperature is adjustable according to specific requirements. The experiment result showed that the developed LD driver meets the characteristics of LD.

Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

NASA Technical Reports Server (NTRS)

Zhou, Zhiqiang

2012-01-01

A paper describes attitude-control algorithms using the combination of magnetic actuators with reaction wheel assemblies (RWAs) or other types of actuators such as thrusters. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for nadir-pointing, pitch, and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude- control accuracy is comparable with RWA-based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude-control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode, and the control accuracy can be maintained. The attitude-control algorithms of the combined actuators are derived, which can guarantee the spacecraft attitude and rates to track the commanded values precisely. Results show that precise attitude tracking can be reached, and the attitude-control accuracy is comparable with 3-axis wheel control.

Development of a control algorithm for the ultrasound scanning robot (NCCUSR) using ultrasound image and force feedback.

PubMed

Kim, Yeoun Jae; Seo, Jong Hyun; Kim, Hong Rae; Kim, Kwang Gi

2017-06-01

Clinicians who frequently perform ultrasound scanning procedures often suffer from musculoskeletal disorders, arthritis, and myalgias. To minimize their occurrence and to assist clinicians, ultrasound scanning robots have been developed worldwide. Although, to date, there is still no commercially available ultrasound scanning robot, many control methods have been suggested and researched. These control algorithms are either image based or force based. If the ultrasound scanning robot control algorithm was a combination of the two algorithms, it could benefit from the advantage of each one. However, there are no existing control methods for ultrasound scanning robots that combine force control and image analysis. Therefore, in this work, a control algorithm is developed for an ultrasound scanning robot using force feedback and ultrasound image analysis. A manipulator-type ultrasound scanning robot named 'NCCUSR' is developed and a control algorithm for this robot is suggested and verified. First, conventional hybrid position-force control is implemented for the robot and the hybrid position-force control algorithm is combined with ultrasound image analysis to fully control the robot. The control method is verified using a thyroid phantom. It was found that the proposed algorithm can be applied to control the ultrasound scanning robot and experimental outcomes suggest that the images acquired using the proposed control method can yield a rating score that is equivalent to images acquired directly by the clinicians. The proposed control method can be applied to control the ultrasound scanning robot. However, more work must be completed to verify the proposed control method in order to become clinically feasible. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Congestion control and routing over satellite networks

NASA Astrophysics Data System (ADS)

Cao, Jinhua

Satellite networks and transmissions find their application in fields of computer communications, telephone communications, television broadcasting, transportation, space situational awareness systems and so on. This thesis mainly focuses on two networking issues affecting satellite networking: network congestion control and network routing optimization. Congestion, which leads to long queueing delays, packet losses or both, is a networking problem that has drawn the attention of many researchers. The goal of congestion control mechanisms is to ensure high bandwidth utilization while avoiding network congestion by regulating the rate at which traffic sources inject packets into a network. In this thesis, we propose a stable congestion controller using data-driven, safe switching control theory to improve the dynamic performance of satellite Transmission Control Protocol/Active Queue Management (TCP/AQM) networks. First, the stable region of the Proportional-Integral (PI) parameters for a nominal model is explored. Then, a PI controller, whose parameters are adaptively tuned by switching among members of a given candidate set, using observed plant data, is presented and compared with some classical AQM policy examples, such as Random Early Detection (RED) and fixed PI control. A new cost detectable switching law with an interval cost function switching algorithm, which improves the performance and also saves the computational cost, is developed and compared with a law commonly used in the switching control literature. Finite-gain stability of the system is proved. A fuzzy logic PI controller is incorporated as a special candidate to achieve good performance at all nominal points with the available set of candidate controllers. Simulations are presented to validate the theory. An effocient routing algorithm plays a key role in optimizing network resources. In this thesis, we briefly analyze Low Earth Orbit (LEO) satellite networks, review the Cross Entropy (CE) method and then develop a novel on-demand routing system named Cross Entropy Accelerated Ant Routing System (CEAARS) for regular constellation LEO satellite networks. By implementing simulations on an Iridium-like satellite network, we compare the proposed CEAARS algorithm with the two approaches to adaptive routing protocols on the Internet: distance-vector (DV) and link-state (LS), as well as with the original Cross Entropy Ant Routing System (CEARS). DV algorithms are based on distributed Bellman Ford algorithm, and LS algorithms are implementation of Dijkstras single source shortest path. The results show that CEAARS not only remarkably improves the convergence speed of achieving optimal or suboptimal paths, but also reduces the number of overhead ants (management packets).

Adaptive Cross-correlation Algorithm and Experiment of Extended Scene Shack-Hartmann Wavefront Sensing

NASA Technical Reports Server (NTRS)

Sidick, Erkin; Morgan, Rhonda M.; Green, Joseph J.; Ohara, Catherine M.; Redding, David C.

2007-01-01

We have developed a new, adaptive cross-correlation (ACC) algorithm to estimate with high accuracy the shift as large as several pixels in two extended-scene images captured by a Shack-Hartmann wavefront sensor (SH-WFS). It determines the positions of all of the extended-scene image cells relative to a reference cell using an FFT-based iterative image shifting algorithm. It works with both point-source spot images as well as extended scene images. We have also set up a testbed for extended0scene SH-WFS, and tested the ACC algorithm with the measured data of both point-source and extended-scene images. In this paper we describe our algorithm and present out experimental results.

Software for C1 interpolation

NASA Technical Reports Server (NTRS)

Lawson, C. L.

1977-01-01

The problem of mathematically defining a smooth surface, passing through a finite set of given points is studied. Literature relating to the problem is briefly reviewed. An algorithm is described that first constructs a triangular grid in the (x,y) domain, and first partial derivatives at the modal points are estimated. Interpolation in the triangular cells using a method that gives C sup.1 continuity overall is examined. Performance of software implementing the algorithm is discussed. Theoretical results are presented that provide valuable guidance in the development of algorithms for constructing triangular grids.

On-orbit demonstration of automated closure and capture using ESA-developed proximity operations technologies and an existing, serviceable NASA Explorer Platform spacecraft

NASA Technical Reports Server (NTRS)

Hohwiesner, Bill; Claudinon, Bernard

1991-01-01

The European Space Agency (ESA) has been working to develop an autonomous rendezvous and docking capability since 1984 to enable Hermes to automatically dock with Columbus. As a result, ESA with Matra, MBB, and other space companies have developed technologies that are also directly supportive of the current NASA initiative for Automated Rendezvous and Capture. Fairchild and Matra would like to discuss the results of the applicable ESA/Matra rendezvous and capture developments, and suggest how these capabilities could be used, together with an existing NASA Explorer Platform satellite, to minimize new development and accomplish a cost effective automatic closure and capture demonstration program. Several RV sensors have been developed at breadboard level for the Hermes/Columbus program by Matra, MBB, and SAAB. Detailed algorithms for automatic rendezvous, closure, and capture have been developed by ESA and CNES for application with Hermes to Columbus rendezvous and docking, and they currently are being verified with closed-loop software simulation. The algorithms have multiple closed-loop control modes and phases starting at long range using GPS navigation. Differential navigation is used for coast/continuous thrust homing, holdpoint acquisition, V-bar hopping, and station point acquisition. The proximity operation sensor is used for final closure and capture. A subset of these algorithms, comprising the proximity operations algorithms, could easily be extracted and tailored to a limited objective closure and capture flight demonstration.

Outdoor Illegal Construction Identification Algorithm Based on 3D Point Cloud Segmentation

NASA Astrophysics Data System (ADS)

An, Lu; Guo, Baolong

2018-03-01

Recently, various illegal constructions occur significantly in our surroundings, which seriously restrict the orderly development of urban modernization. The 3D point cloud data technology is used to identify the illegal buildings, which could address the problem above effectively. This paper proposes an outdoor illegal construction identification algorithm based on 3D point cloud segmentation. Initially, in order to save memory space and reduce processing time, a lossless point cloud compression method based on minimum spanning tree is proposed. Then, a ground point removing method based on the multi-scale filtering is introduced to increase accuracy. Finally, building clusters on the ground can be obtained using a region growing method, as a result, the illegal construction can be marked. The effectiveness of the proposed algorithm is verified using a publicly data set collected from the International Society for Photogrammetry and Remote Sensing (ISPRS).

Influence of measuring algorithm on shape accuracy in the compensating turning of high gradient thin-wall parts

NASA Astrophysics Data System (ADS)

Wang, Tao; Wang, Guilin; Zhu, Dengchao; Li, Shengyi

2015-02-01

In order to meet the requirement of aerodynamics, the infrared domes or windows with conformal and thin-wall structure becomes the development trend of high-speed aircrafts in the future. But these parts usually have low stiffness, the cutting force will change along with the axial position, and it is very difficult to meet the requirement of shape accuracy by single machining. Therefore, on-machine measurement and compensating turning are used to control the shape errors caused by the fluctuation of cutting force and the change of stiffness. In this paper, on the basis of ultra precision diamond lathe, a contact measuring system with five DOFs is developed to achieve on-machine measurement of conformal thin-wall parts with high accuracy. According to high gradient surface, the optimizing algorithm is designed on the distribution of measuring points by using the data screening method. The influence rule of sampling frequency is analyzed on measuring errors, the best sampling frequency is found out based on planning algorithm, the effect of environmental factors and the fitting errors are controlled within lower range, and the measuring accuracy of conformal dome is greatly improved in the process of on-machine measurement. According to MgF2 conformal dome with high gradient, the compensating turning is implemented by using the designed on-machine measuring algorithm. The shape error is less than PV 0.8μm, greatly superior compared with PV 3μm before compensating turning, which verifies the correctness of measuring algorithm.

Application of a Smart Parachute Release Algorithm to the CPAS Test Architecture

NASA Technical Reports Server (NTRS)

Bledsoe, Kristin

2013-01-01

One of the primary test vehicles for the Capsule Parachute Assembly System (CPAS) is the Parachute Test Vehicle (PTV), a capsule shaped structure similar to the Orion design but truncated to fit in the cargo area of a C-17 aircraft. The PTV has a full Orion-like parachute compartment and similar aerodynamics; however, because of the single point attachment of the CPAS parachutes and the lack of Orion-like Reaction Control System (RCS), the PTV has the potential to reach significant body rates. High body rates at the time of the Drogue release may cause the PTV to flip while the parachutes deploy, which may result in the severing of the Pilot or Main risers. In order to prevent high rates at the time of Drogue release, a "smart release" algorithm was implemented in the PTV avionics system. This algorithm, which was developed for the Orion Flight system, triggers the Drogue parachute release when the body rates are near a minimum. This paper discusses the development and testing of the smart release algorithm; its implementation in the PTV avionics and the pretest simulation; and the results of its use on two CPAS tests.

Effects of window size and shape on accuracy of subpixel centroid estimation of target images

NASA Technical Reports Server (NTRS)

Welch, Sharon S.

1993-01-01

A new algorithm is presented for increasing the accuracy of subpixel centroid estimation of (nearly) point target images in cases where the signal-to-noise ratio is low and the signal amplitude and shape vary from frame to frame. In the algorithm, the centroid is calculated over a data window that is matched in width to the image distribution. Fourier analysis is used to explain the dependency of the centroid estimate on the size of the data window, and simulation and experimental results are presented which demonstrate the effects of window size for two different noise models. The effects of window shape were also investigated for uniform and Gaussian-shaped windows. The new algorithm was developed to improve the dynamic range of a close-range photogrammetric tracking system that provides feedback for control of a large gap magnetic suspension system (LGMSS).

Big data challenges in decoding cortical activity in a human with quadriplegia to inform a brain computer interface.

PubMed

Friedenberg, David A; Bouton, Chad E; Annetta, Nicholas V; Skomrock, Nicholas; Mingming Zhang; Schwemmer, Michael; Bockbrader, Marcia A; Mysiw, W Jerry; Rezai, Ali R; Bresler, Herbert S; Sharma, Gaurav

2016-08-01

Recent advances in Brain Computer Interfaces (BCIs) have created hope that one day paralyzed patients will be able to regain control of their paralyzed limbs. As part of an ongoing clinical study, we have implanted a 96-electrode Utah array in the motor cortex of a paralyzed human. The array generates almost 3 million data points from the brain every second. This presents several big data challenges towards developing algorithms that should not only process the data in real-time (for the BCI to be responsive) but are also robust to temporal variations and non-stationarities in the sensor data. We demonstrate an algorithmic approach to analyze such data and present a novel method to evaluate such algorithms. We present our methodology with examples of decoding human brain data in real-time to inform a BCI.

Trajectory generation for an on-road autonomous vehicle

NASA Astrophysics Data System (ADS)

Horst, John; Barbera, Anthony

2006-05-01

We describe an algorithm that generates a smooth trajectory (position, velocity, and acceleration at uniformly sampled instants of time) for a car-like vehicle autonomously navigating within the constraints of lanes in a road. The technique models both vehicle paths and lane segments as straight line segments and circular arcs for mathematical simplicity and elegance, which we contrast with cubic spline approaches. We develop the path in an idealized space, warp the path into real space and compute path length, generate a one-dimensional trajectory along the path length that achieves target speeds and positions, and finally, warp, translate, and rotate the one-dimensional trajectory points onto the path in real space. The algorithm moves a vehicle in lane safely and efficiently within speed and acceleration maximums. The algorithm functions in the context of other autonomous driving functions within a carefully designed vehicle control hierarchy.

Spiking Neural Network Decoder for Brain-Machine Interfaces.

PubMed

Dethier, Julie; Gilja, Vikash; Nuyujukian, Paul; Elassaad, Shauki A; Shenoy, Krishna V; Boahen, Kwabena

2011-01-01

We used a spiking neural network (SNN) to decode neural data recorded from a 96-electrode array in premotor/motor cortex while a rhesus monkey performed a point-to-point reaching arm movement task. We mapped a Kalman-filter neural prosthetic decode algorithm developed to predict the arm's velocity on to the SNN using the Neural Engineering Framework and simulated it using Nengo , a freely available software package. A 20,000-neuron network matched the standard decoder's prediction to within 0.03% (normalized by maximum arm velocity). A 1,600-neuron version of this network was within 0.27%, and run in real-time on a 3GHz PC. These results demonstrate that a SNN can implement a statistical signal processing algorithm widely used as the decoder in high-performance neural prostheses (Kalman filter), and achieve similar results with just a few thousand neurons. Hardware SNN implementations-neuromorphic chips-may offer power savings, essential for realizing fully-implantable cortically controlled prostheses.

Surface registration technique for close-range mapping applications

NASA Astrophysics Data System (ADS)

Habib, Ayman F.; Cheng, Rita W. T.

2006-08-01

Close-range mapping applications such as cultural heritage restoration, virtual reality modeling for the entertainment industry, and anatomical feature recognition for medical activities require 3D data that is usually acquired by high resolution close-range laser scanners. Since these datasets are typically captured from different viewpoints and/or at different times, accurate registration is a crucial procedure for 3D modeling of mapped objects. Several registration techniques are available that work directly with the raw laser points or with extracted features from the point cloud. Some examples include the commonly known Iterative Closest Point (ICP) algorithm and a recently proposed technique based on matching spin-images. This research focuses on developing a surface matching algorithm that is based on the Modified Iterated Hough Transform (MIHT) and ICP to register 3D data. The proposed algorithm works directly with the raw 3D laser points and does not assume point-to-point correspondence between two laser scans. The algorithm can simultaneously establish correspondence between two surfaces and estimates the transformation parameters relating them. Experiment with two partially overlapping laser scans of a small object is performed with the proposed algorithm and shows successful registration. A high quality of fit between the two scans is achieved and improvement is found when compared to the results obtained using the spin-image technique. The results demonstrate the feasibility of the proposed algorithm for registering 3D laser scanning data in close-range mapping applications to help with the generation of complete 3D models.

FADS: A demonstrator for MilComSat AOCS

NASA Astrophysics Data System (ADS)

Huddleston, Martin; Cope, Paul

1995-03-01

This project covers the attitude and orbit control systems (AOCS) research program being carried out as part of the MOD applied research program for AD CIS(OR)1. The project program is to evaluate the candidate sensor technologies and control algorithms, such as Kalman filters, which may be applied to future UK military ComSats. The specific needs of military satellites for robust and threat-resistant control are not offered by current civil technologies which normally use vulnerable earth sensors or RF pointing which is vulnerable to deception. The program is also to investigate ways of reducing control system complexity and improvements in attitude control precision by enabling structural modes to be controlled. The project examines the most promising attitude control system technologies required to support such future communications payloads. User requirements indicate a need for improved threat resistance and for narrower spot beams, and the program supports this perceived need by the use of improved sensors and control algorithms. Improved pointing on civil ComSats is normally by means of ground RF measurements to form a closed loop control system with the spacecraft. For threat reasons this method is unsuitable for military ComSats, and on-board sensors are therefore used. The use of Silicon array star or earth sensors are the most promising, and the sensor program is to concentrate on these. Limited development and available civil sensors will be considered. Experimental work is based on demonstrating and evaluating real hardware in-the-loop on an existing air bearing experimental rig. This offers the closest simulation of real flight performance that can be obtained. The program will develop the Filtered Attitude Determination System (FADS)rig to be fully representative of a MilSatCom satellite, threat-resistant AOCS solution, employing Silicon array star and earth sensors. Both the BAe Mosaic Earth Sensor (MES) nad Marconi Versatile Star Sensor (VSS) technologies show considerable potential as attitude sensors. The VSS and MES capabilities will be evalutated on the FADS rig.

Noniterative three-dimensional grid generation using parabolic partial differential equations

NASA Technical Reports Server (NTRS)

Edwards, T. A.

1985-01-01

A new algorithm for generating three-dimensional grids has been developed and implemented which numerically solves a parabolic partial differential equation (PDE). The solution procedure marches outward in two coordinate directions, and requires inversion of a scalar tridiagonal system in the third. Source terms have been introduced to control the spacing and angle of grid lines near the grid boundaries, and to control the outer boundary point distribution. The method has been found to generate grids about 100 times faster than comparable grids generated via solution of elliptic PDEs, and produces smooth grids for finite-difference flow calculations.

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.

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

Kim, Woohyun; Katipamula, Srinivas; Lutes, Robert G.

Small- and medium-sized (<100,000 sf) commercial buildings (SMBs) represent over 95% of the U.S. commercial building stock and consume over 60% of total site energy consumption. Many of these buildings use rudimentary controls that are mostly manual, with limited scheduling capability, no monitoring or failure management. Therefore, many of these buildings are operated inefficiently and consume excess energy. SMBs typically utilize packaged rooftop units (RTUs) that are controlled by an individual thermostat. There is increased urgency to improve the operating efficiency of existing commercial building stock in the U.S. for many reasons, chief among them is to mitigate the climatemore » change impacts. Studies have shown that managing set points and schedules of the RTUs will result in up to 20% energy and cost savings. Another problem associated with RTUs is short-cycling, where an RTU goes through ON and OFF cycles too frequently. Excessive cycling can lead to excessive wear and lead to premature failure of the compressor or its components. The short cycling can result in a significantly decreased average efficiency (up to 10%), even if there are no physical failures in the equipment. Also, SMBs use a time-of-day scheduling is to start the RTUs before the building will be occupied and shut it off when unoccupied. Ensuring correct use of the zone set points and eliminating frequent cycling of RTUs thereby leading to persistent building operations can significantly increase the operational efficiency of the SMBs. A growing trend is to use low-cost control infrastructure that can enable scalable and cost-effective intelligent building operations. The work reported in this report describes three algorithms for detecting the zone set point temperature, RTU cycling rate and occupancy schedule detection that can be deployed on the low-cost infrastructure. These algorithms only require the zone temperature data for detection. The algorithms have been tested and validated using field data from a number of RTUs from six buildings in different climate locations. Overall, the algorithms were successful in detecting the set points and ON/OFF cycles accurately using the peak detection technique and occupancy schedule using symbolic aggregate approximation technique. The report describes the three algorithms, results from testing the algorithms using field data, how the algorithms can be used to improve SMBs efficiency, and presents related conclusions.« less

Hip and Wrist Accelerometer Algorithms for Free-Living Behavior Classification.

PubMed

Ellis, Katherine; Kerr, Jacqueline; Godbole, Suneeta; Staudenmayer, John; Lanckriet, Gert

2016-05-01

Accelerometers are a valuable tool for objective measurement of physical activity (PA). Wrist-worn devices may improve compliance over standard hip placement, but more research is needed to evaluate their validity for measuring PA in free-living settings. Traditional cut-point methods for accelerometers can be inaccurate and need testing in free living with wrist-worn devices. In this study, we developed and tested the performance of machine learning (ML) algorithms for classifying PA types from both hip and wrist accelerometer data. Forty overweight or obese women (mean age = 55.2 ± 15.3 yr; BMI = 32.0 ± 3.7) wore two ActiGraph GT3X+ accelerometers (right hip, nondominant wrist; ActiGraph, Pensacola, FL) for seven free-living days. Wearable cameras captured ground truth activity labels. A classifier consisting of a random forest and hidden Markov model classified the accelerometer data into four activities (sitting, standing, walking/running, and riding in a vehicle). Free-living wrist and hip ML classifiers were compared with each other, with traditional accelerometer cut points, and with an algorithm developed in a laboratory setting. The ML classifier obtained average values of 89.4% and 84.6% balanced accuracy over the four activities using the hip and wrist accelerometer, respectively. In our data set with average values of 28.4 min of walking or running per day, the ML classifier predicted average values of 28.5 and 24.5 min of walking or running using the hip and wrist accelerometer, respectively. Intensity-based cut points and the laboratory algorithm significantly underestimated walking minutes. Our results demonstrate the superior performance of our PA-type classification algorithm, particularly in comparison with traditional cut points. Although the hip algorithm performed better, additional compliance achieved with wrist devices might justify using a slightly lower performing algorithm.

Obstacle avoidance for redundant robots using configuration control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor); Colbaugh, Richard D. (Inventor); Glass, Kristin L. (Inventor)

1992-01-01

A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.

Constrained optimization by radial basis function interpolation for high-dimensional expensive black-box problems with infeasible initial points

NASA Astrophysics Data System (ADS)

Regis, Rommel G.

2014-02-01

This article develops two new algorithms for constrained expensive black-box optimization that use radial basis function surrogates for the objective and constraint functions. These algorithms are called COBRA and Extended ConstrLMSRBF and, unlike previous surrogate-based approaches, they can be used for high-dimensional problems where all initial points are infeasible. They both follow a two-phase approach where the first phase finds a feasible point while the second phase improves this feasible point. COBRA and Extended ConstrLMSRBF are compared with alternative methods on 20 test problems and on the MOPTA08 benchmark automotive problem (D.R. Jones, Presented at MOPTA 2008), which has 124 decision variables and 68 black-box inequality constraints. The alternatives include a sequential penalty derivative-free algorithm, a direct search method with kriging surrogates, and two multistart methods. Numerical results show that COBRA algorithms are competitive with Extended ConstrLMSRBF and they generally outperform the alternatives on the MOPTA08 problem and most of the test problems.

Efficient Delaunay Tessellation through K-D Tree Decomposition

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

Morozov, Dmitriy; Peterka, Tom

Delaunay tessellations are fundamental data structures in computational geometry. They are important in data analysis, where they can represent the geometry of a point set or approximate its density. The algorithms for computing these tessellations at scale perform poorly when the input data is unbalanced. We investigate the use of k-d trees to evenly distribute points among processes and compare two strategies for picking split points between domain regions. Because resulting point distributions no longer satisfy the assumptions of existing parallel Delaunay algorithms, we develop a new parallel algorithm that adapts to its input and prove its correctness. We evaluatemore » the new algorithm using two late-stage cosmology datasets. The new running times are up to 50 times faster using k-d tree compared with regular grid decomposition. Moreover, in the unbalanced data sets, decomposing the domain into a k-d tree is up to five times faster than decomposing it into a regular grid.« less

A scoring algorithm for predicting the presence of adult asthma: a prospective derivation study.

PubMed

Tomita, Katsuyuki; Sano, Hiroyuki; Chiba, Yasutaka; Sato, Ryuji; Sano, Akiko; Nishiyama, Osamu; Iwanaga, Takashi; Higashimoto, Yuji; Haraguchi, Ryuta; Tohda, Yuji

2013-03-01

To predict the presence of asthma in adult patients with respiratory symptoms, we developed a scoring algorithm using clinical parameters. We prospectively analysed 566 adult outpatients who visited Kinki University Hospital for the first time with complaints of nonspecific respiratory symptoms. Asthma was comprehensively diagnosed by specialists using symptoms, signs, and objective tools including bronchodilator reversibility and/or the assessment of bronchial hyperresponsiveness (BHR). Multiple logistic regression analysis was performed to categorise patients and determine the accuracy of diagnosing asthma. A scoring algorithm using the symptom-sign score was developed, based on diurnal variation of symptoms (1 point), recurrent episodes (2 points), medical history of allergic diseases (1 point), and wheeze sound (2 points). A score of >3 had 35% sensitivity and 97% specificity for discriminating between patients with and without asthma and assigned a high probability of having asthma (accuracy 90%). A score of 1 or 2 points assigned intermediate probability (accuracy 68%). After providing additional data of forced expiratory volume in 1 second/forced vital capacity (FEV(1)/FVC) ratio <0.7, the post-test probability of having asthma was increased to 93%. A score of 0 points assigned low probability (accuracy 31%). After providing additional data of positive reversibility, the post-test probability of having asthma was increased to 88%. This pragmatic diagnostic algorithm is useful for predicting the presence of adult asthma and for determining the appropriate time for consultation with a pulmonologist.

Adaptive control in the presence of unmodeled dynamics. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Rohrs, C. E.

1982-01-01

Stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances were investigated. The class of adaptive algorithms considered are those commonly referred to as model reference adaptive control algorithms, self-tuning controllers, and dead beat adaptive controllers, developed for both continuous-time systems and discrete-time systems. A unified analytical approach was developed to examine the class of existing adaptive algorithms. It was discovered that all existing algorithms contain an infinite gain operator in the dynamic system that defines command reference errors and parameter errors; it is argued that such an infinite gain operator appears to be generic to all adaptive algorithms, whether they exhibit explicit or implicit parameter identification. It is concluded that none of the adaptive algorithms considered can be used with confidence in a practical control system design, because instability will set in with a high probability.

The life-cycle of upper-tropospheric jet streams identified with a novel data segmentation algorithm

NASA Astrophysics Data System (ADS)

Limbach, S.; Schömer, E.; Wernli, H.

2010-09-01

Jet streams are prominent features of the upper-tropospheric atmospheric flow. Through the thermal wind relationship these regions with intense horizontal wind speed (typically larger than 30 m/s) are associated with pronounced baroclinicity, i.e., with regions where extratropical cyclones develop due to baroclinic instability processes. Individual jet streams are non-stationary elongated features that can extend over more than 2000 km in the along-flow and 200-500 km in the across-flow direction, respectively. Their lifetime can vary between a few days and several weeks. In recent years, feature-based algorithms have been developed that allow compiling synoptic climatologies and typologies of upper-tropospheric jet streams based upon objective selection criteria and climatological reanalysis datasets. In this study a novel algorithm to efficiently identify jet streams using an extended region-growing segmentation approach is introduced. This algorithm iterates over a 4-dimensional field of horizontal wind speed from ECMWF analyses and decides at each grid point whether all prerequisites for a jet stream are met. In a single pass the algorithm keeps track of all adjacencies of these grid points and creates the 4-dimensional connected segments associated with each jet stream. In addition to the detection of these sets of connected grid points, the algorithm analyzes the development over time of the distinct 3-dimensional features each segment consists of. Important events in the development of these features, for example mergings and splittings, are detected and analyzed on a per-grid-point and per-feature basis. The output of the algorithm consists of the actual sets of grid-points augmented with information about the particular events, and of the so-called event graphs, which are an abstract representation of the distinct 3-dimensional features and events of each segment. This technique provides comprehensive information about the frequency of upper-tropospheric jet streams, their preferred regions of genesis, merging, splitting, and lysis, and statistical information about their size, amplitude and lifetime. The presentation will introduce the technique, provide example visualizations of the time evolution of the identified 3-dimensional jet stream features, and present results from a first multi-month "climatology" of upper-tropospheric jets. In the future, the technique can be applied to longer datasets, for instance reanalyses and output from global climate model simulations - and provide detailed information about key characteristics of jet stream life cycles.

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.

Initiation of insulin glargine therapy in type 2 diabetes subjects suboptimally controlled on oral antidiabetic agents: results from the AT.LANTUS trial.

PubMed

Davies, M; Lavalle-González, F; Storms, F; Gomis, R

2008-05-01

For many patients with type 2 diabetes, oral antidiabetic agents (OADs) do not provide optimal glycaemic control, necessitating insulin therapy. Fear of hypoglycaemia is a major barrier to initiating insulin therapy. The AT.LANTUS study investigated optimal methods to initiate and maintain insulin glargine (LANTUS, glargine, Sanofi-aventis, Paris, France) therapy using two treatment algorithms. This subgroup analysis investigated the initiation of once-daily glargine therapy in patients suboptimally controlled on multiple OADs. This study was a 24-week, multinational (59 countries), multicenter (611), randomized study. Algorithm 1 was a clinic-driven titration and algorithm 2 was a patient-driven titration. Titration was based on target fasting blood glucose < or =100 mg/dl (< or =5.5 mmol/l). Algorithms were compared for incidence of severe hypoglycaemia [requiring assistance and blood glucose <50 mg/dl (<2.8 mmol/l)] and baseline to end-point change in haemoglobin A(1c) (HbA(1c)). Of the 4961 patients enrolled in the study, 865 were included in this subgroup analysis: 340 received glargine plus 1 OAD and 525 received glargine plus >1 OAD. Incidence of severe hypoglycaemia was <1%. HbA(1c) decreased significantly between baseline and end-point for patients receiving glargine plus 1 OAD (-1.4%, p < 0.001; algorithm 1 -1.3% vs. algorithm 2 -1.5%; p = 0.03) and glargine plus >1 OAD (-1.7%, p < 0.001; algorithm 1 -1.5% vs. algorithm 2 -1.8%; p = 0.001). This study shows that initiation of once-daily glargine with OADs results in significant reduction of HbA(1c) with a low risk of hypoglycaemia. The greater reduction in HbA(1c) was seen in patients randomized to the patient-driven algorithm (algorithm 2) on 1 or >1 OAD.

Comparing, optimizing, and benchmarking quantum-control algorithms in a unifying programming framework

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

Machnes, S.; Institute for Theoretical Physics, University of Ulm, D-89069 Ulm; Sander, U.

2011-08-15

For paving the way to novel applications in quantum simulation, computation, and technology, increasingly large quantum systems have to be steered with high precision. It is a typical task amenable to numerical optimal control to turn the time course of pulses, i.e., piecewise constant control amplitudes, iteratively into an optimized shape. Here, we present a comparative study of optimal-control algorithms for a wide range of finite-dimensional applications. We focus on the most commonly used algorithms: GRAPE methods which update all controls concurrently, and Krotov-type methods which do so sequentially. Guidelines for their use are given and open research questions aremore » pointed out. Moreover, we introduce a unifying algorithmic framework, DYNAMO (dynamic optimization platform), designed to provide the quantum-technology community with a convenient matlab-based tool set for optimal control. In addition, it gives researchers in optimal-control techniques a framework for benchmarking and comparing newly proposed algorithms with the state of the art. It allows a mix-and-match approach with various types of gradients, update and step-size methods as well as subspace choices. Open-source code including examples is made available at http://qlib.info.« less

Multi-agent systems design for aerospace applications

NASA Astrophysics Data System (ADS)

Waslander, Steven L.

2007-12-01

Engineering systems with independent decision makers are becoming increasingly prevalent and present many challenges in coordinating actions to achieve systems goals. In particular, this work investigates the applications of air traffic flow control and autonomous vehicles as motivation to define algorithms that allow agents to agree to safe, efficient and equitable solutions in a distributed manner. To ensure system requirements will be satisfied in practice, each method is evaluated for a specific model of agent behavior, be it cooperative or non-cooperative. The air traffic flow control problem is investigated from the point of view of the airlines, whose costs are directly affected by resource allocation decisions made by the Federal Aviation Administration in order to mitigate traffic disruptions caused by weather. Airlines are first modeled as cooperative, and a distributed algorithm is presented with various global cost metrics which balance efficient and equitable use of resources differently. Next, a competitive airline model is assumed and two market mechanisms are developed for allocating contested airspace resources. The resource market mechanism provides a solution for which convergence to an efficient solution can be guaranteed, and each airline will improve on the solution that would occur without its inclusion in the decision process. A lump-sum market is then introduced as an alternative mechanism, for which efficiency loss bounds exist if airlines attempt to manipulate prices. Initial convergence results for lump-sum markets are presented for simplified problems with a single resource. To validate these algorithms, two air traffic flow models are developed which extend previous techniques, the first a convenient convex model made possible by assuming constant velocity flow, and the second a more complex flow model with full inflow, velocity and rerouting control. Autonomous vehicle teams are envisaged for many applications including mobile sensing and search and rescue. To enable these high-level applications, multi-vehicle collision avoidance is solved using a cooperative, decentralized algorithm. For the development of coordination algorithms for autonomous vehicles, the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) is presented. This testbed provides significant advantages over other aerial testbeds due to its small size and low maintenance requirements.

Model reference adaptive control of robots

NASA Technical Reports Server (NTRS)

Steinvorth, Rodrigo

1991-01-01

This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load.

New algorithms for motion error detection of numerical control machine tool by laser tracking measurement on the basis of GPS principle.

PubMed

Wang, Jindong; Chen, Peng; Deng, Yufen; Guo, Junjie

2018-01-01

As a three-dimensional measuring instrument, the laser tracker is widely used in industrial measurement. To avoid the influence of angle measurement error on the overall measurement accuracy, the multi-station and time-sharing measurement with a laser tracker is introduced on the basis of the global positioning system (GPS) principle in this paper. For the proposed method, how to accurately determine the coordinates of each measuring point by using a large amount of measured data is a critical issue. Taking detecting motion error of a numerical control machine tool, for example, the corresponding measurement algorithms are investigated thoroughly. By establishing the mathematical model of detecting motion error of a machine tool with this method, the analytical algorithm concerning on base station calibration and measuring point determination is deduced without selecting the initial iterative value in calculation. However, when the motion area of the machine tool is in a 2D plane, the coefficient matrix of base station calibration is singular, which generates a distortion result. In order to overcome the limitation of the original algorithm, an improved analytical algorithm is also derived. Meanwhile, the calibration accuracy of the base station with the improved algorithm is compared with that with the original analytical algorithm and some iterative algorithms, such as the Gauss-Newton algorithm and Levenberg-Marquardt algorithm. The experiment further verifies the feasibility and effectiveness of the improved algorithm. In addition, the different motion areas of the machine tool have certain influence on the calibration accuracy of the base station, and the corresponding influence of measurement error on the calibration result of the base station depending on the condition number of coefficient matrix are analyzed.

New algorithms for motion error detection of numerical control machine tool by laser tracking measurement on the basis of GPS principle

NASA Astrophysics Data System (ADS)

Wang, Jindong; Chen, Peng; Deng, Yufen; Guo, Junjie

2018-01-01

As a three-dimensional measuring instrument, the laser tracker is widely used in industrial measurement. To avoid the influence of angle measurement error on the overall measurement accuracy, the multi-station and time-sharing measurement with a laser tracker is introduced on the basis of the global positioning system (GPS) principle in this paper. For the proposed method, how to accurately determine the coordinates of each measuring point by using a large amount of measured data is a critical issue. Taking detecting motion error of a numerical control machine tool, for example, the corresponding measurement algorithms are investigated thoroughly. By establishing the mathematical model of detecting motion error of a machine tool with this method, the analytical algorithm concerning on base station calibration and measuring point determination is deduced without selecting the initial iterative value in calculation. However, when the motion area of the machine tool is in a 2D plane, the coefficient matrix of base station calibration is singular, which generates a distortion result. In order to overcome the limitation of the original algorithm, an improved analytical algorithm is also derived. Meanwhile, the calibration accuracy of the base station with the improved algorithm is compared with that with the original analytical algorithm and some iterative algorithms, such as the Gauss-Newton algorithm and Levenberg-Marquardt algorithm. The experiment further verifies the feasibility and effectiveness of the improved algorithm. In addition, the different motion areas of the machine tool have certain influence on the calibration accuracy of the base station, and the corresponding influence of measurement error on the calibration result of the base station depending on the condition number of coefficient matrix are analyzed.

Filtering Airborne LIDAR Data by AN Improved Morphological Method Based on Multi-Gradient Analysis

NASA Astrophysics Data System (ADS)

Li, Y.

2013-05-01

The technology of airborne Light Detection And Ranging (LIDAR) is capable of acquiring dense and accurate 3D geospatial data. Although many related efforts have been made by a lot of researchers in the last few years, LIDAR data filtering is still a challenging task, especially for area with high relief or hybrid geographic features. In order to address the bare-ground extraction from LIDAR point clouds of complex landscapes, a novel morphological filtering algorithm is proposed based on multi-gradient analysis in terms of the characteristic of LIDAR data distribution in this paper. Firstly, point clouds are organized by an index mesh. Then, the multigradient of each point is calculated using the morphological method. And, objects are removed gradually by choosing some points to carry on an improved opening operation constrained by multi-gradient iteratively. 15 sample data provided by ISPRS Working Group III/3 are employed to test the filtering algorithm proposed. These sample data include those environments that may lead to filtering difficulty. Experimental results show that filtering algorithm proposed by this paper is of high adaptability to various scenes including urban and rural areas. Omission error, commission error and total error can be simultaneously controlled in a relatively small interval. This algorithm can efficiently remove object points while preserves ground points to a great degree.

Dynamic Harmony Search with Polynomial Mutation Algorithm for Valve-Point Economic Load Dispatch

PubMed Central

Karthikeyan, M.; Sree Ranga Raja, T.

2015-01-01

Economic load dispatch (ELD) problem is an important issue in the operation and control of modern control system. The ELD problem is complex and nonlinear with equality and inequality constraints which makes it hard to be efficiently solved. This paper presents a new modification of harmony search (HS) algorithm named as dynamic harmony search with polynomial mutation (DHSPM) algorithm to solve ORPD problem. In DHSPM algorithm the key parameters of HS algorithm like harmony memory considering rate (HMCR) and pitch adjusting rate (PAR) are changed dynamically and there is no need to predefine these parameters. Additionally polynomial mutation is inserted in the updating step of HS algorithm to favor exploration and exploitation of the search space. The DHSPM algorithm is tested with three power system cases consisting of 3, 13, and 40 thermal units. The computational results show that the DHSPM algorithm is more effective in finding better solutions than other computational intelligence based methods. PMID:26491710

Dynamic Harmony Search with Polynomial Mutation Algorithm for Valve-Point Economic Load Dispatch.

PubMed

Karthikeyan, M; Raja, T Sree Ranga

2015-01-01

Economic load dispatch (ELD) problem is an important issue in the operation and control of modern control system. The ELD problem is complex and nonlinear with equality and inequality constraints which makes it hard to be efficiently solved. This paper presents a new modification of harmony search (HS) algorithm named as dynamic harmony search with polynomial mutation (DHSPM) algorithm to solve ORPD problem. In DHSPM algorithm the key parameters of HS algorithm like harmony memory considering rate (HMCR) and pitch adjusting rate (PAR) are changed dynamically and there is no need to predefine these parameters. Additionally polynomial mutation is inserted in the updating step of HS algorithm to favor exploration and exploitation of the search space. The DHSPM algorithm is tested with three power system cases consisting of 3, 13, and 40 thermal units. The computational results show that the DHSPM algorithm is more effective in finding better solutions than other computational intelligence based methods.

Parallel, stochastic measurement of molecular surface area.

PubMed

Juba, Derek; Varshney, Amitabh

2008-08-01

Biochemists often wish to compute surface areas of proteins. A variety of algorithms have been developed for this task, but they are designed for traditional single-processor architectures. The current trend in computer hardware is towards increasingly parallel architectures for which these algorithms are not well suited. We describe a parallel, stochastic algorithm for molecular surface area computation that maps well to the emerging multi-core architectures. Our algorithm is also progressive, providing a rough estimate of surface area immediately and refining this estimate as time goes on. Furthermore, the algorithm generates points on the molecular surface which can be used for point-based rendering. We demonstrate a GPU implementation of our algorithm and show that it compares favorably with several existing molecular surface computation programs, giving fast estimates of the molecular surface area with good accuracy.

Conception of discrete systems decomposition algorithm using p-invariants and hypergraphs

NASA Astrophysics Data System (ADS)

Stefanowicz, Ł.

2016-09-01

In the article author presents an idea of decomposition algorithm of discrete systems described by Petri Nets using pinvariants. Decomposition process is significant from the point of view of discrete systems design, because it allows separation of the smaller sequential parts. Proposed algorithm uses modified Martinez-Silva method as well as author's selection algorithm. The developed method is a good complement of classical decomposition algorithms using graphs and hypergraphs.

A high speed implementation of the random decrement algorithm

NASA Technical Reports Server (NTRS)

Kiraly, L. J.

1982-01-01

The algorithm is useful for measuring net system damping levels in stochastic processes and for the development of equivalent linearized system response models. The algorithm works by summing together all subrecords which occur after predefined threshold level is crossed. The random decrement signature is normally developed by scanning stored data and adding subrecords together. The high speed implementation of the random decrement algorithm exploits the digital character of sampled data and uses fixed record lengths of 2(n) samples to greatly speed up the process. The contributions to the random decrement signature of each data point was calculated only once and in the same sequence as the data were taken. A hardware implementation of the algorithm using random logic is diagrammed and the process is shown to be limited only by the record size and the threshold crossing frequency of the sampled data. With a hardware cycle time of 200 ns and 1024 point signature, a threshold crossing frequency of 5000 Hertz can be processed and a stably averaged signature presented in real time.

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.

Development of an algorithm for controlling a multilevel three-phase converter

NASA Astrophysics Data System (ADS)

Taissariyeva, Kyrmyzy; Ilipbaeva, Lyazzat

2017-08-01

This work is devoted to the development of an algorithm for controlling transistors in a three-phase multilevel conversion system. The developed algorithm allows to organize a correct operation and describes the state of transistors at each moment of time when constructing a computer model of a three-phase multilevel converter. The developed algorithm of operation of transistors provides in-phase of a three-phase converter and obtaining a sinusoidal voltage curve at the converter output.

Geopositioning with a quadcopter: Extracted feature locations and predicted accuracy without a priori sensor attitude information

NASA Astrophysics Data System (ADS)

Dolloff, John; Hottel, Bryant; Edwards, David; Theiss, Henry; Braun, Aaron

2017-05-01

This paper presents an overview of the Full Motion Video-Geopositioning Test Bed (FMV-GTB) developed to investigate algorithm performance and issues related to the registration of motion imagery and subsequent extraction of feature locations along with predicted accuracy. A case study is included corresponding to a video taken from a quadcopter. Registration of the corresponding video frames is performed without the benefit of a priori sensor attitude (pointing) information. In particular, tie points are automatically measured between adjacent frames using standard optical flow matching techniques from computer vision, an a priori estimate of sensor attitude is then computed based on supplied GPS sensor positions contained in the video metadata and a photogrammetric/search-based structure from motion algorithm, and then a Weighted Least Squares adjustment of all a priori metadata across the frames is performed. Extraction of absolute 3D feature locations, including their predicted accuracy based on the principles of rigorous error propagation, is then performed using a subset of the registered frames. Results are compared to known locations (check points) over a test site. Throughout this entire process, no external control information (e.g. surveyed points) is used other than for evaluation of solution errors and corresponding accuracy.

Foliage penetration by using 4-D point cloud data

NASA Astrophysics Data System (ADS)

Méndez Rodríguez, Javier; Sánchez-Reyes, Pedro J.; Cruz-Rivera, Sol M.

2012-06-01

Real-time awareness and rapid target detection are critical for the success of military missions. New technologies capable of detecting targets concealed in forest areas are needed in order to track and identify possible threats. Currently, LAser Detection And Ranging (LADAR) systems are capable of detecting obscured targets; however, tracking capabilities are severely limited. Now, a new LADAR-derived technology is under development to generate 4-D datasets (3-D video in a point cloud format). As such, there is a new need for algorithms that are able to process data in real time. We propose an algorithm capable of removing vegetation and other objects that may obfuscate concealed targets in a real 3-D environment. The algorithm is based on wavelets and can be used as a pre-processing step in a target recognition algorithm. Applications of the algorithm in a real-time 3-D system could help make pilots aware of high risk hidden targets such as tanks and weapons, among others. We will be using a 4-D simulated point cloud data to demonstrate the capabilities of our algorithm.

Face pose tracking using the four-point algorithm

NASA Astrophysics Data System (ADS)

Fung, Ho Yin; Wong, Kin Hong; Yu, Ying Kin; Tsui, Kwan Pang; Kam, Ho Chuen

2017-06-01

In this paper, we have developed an algorithm to track the pose of a human face robustly and efficiently. Face pose estimation is very useful in many applications such as building virtual reality systems and creating an alternative input method for the disabled. Firstly, we have modified a face detection toolbox called DLib for the detection of a face in front of a camera. The detected face features are passed to a pose estimation method, known as the four-point algorithm, for pose computation. The theory applied and the technical problems encountered during system development are discussed in the paper. It is demonstrated that the system is able to track the pose of a face in real time using a consumer grade laptop computer.

An absolute interval scale of order for point patterns

PubMed Central

Protonotarios, Emmanouil D.; Baum, Buzz; Johnston, Alan; Hunter, Ginger L.; Griffin, Lewis D.

2014-01-01

Human observers readily make judgements about the degree of order in planar arrangements of points (point patterns). Here, based on pairwise ranking of 20 point patterns by degree of order, we have been able to show that judgements of order are highly consistent across individuals and the dimension of order has an interval scale structure spanning roughly 10 just-notable-differences (jnd) between disorder and order. We describe a geometric algorithm that estimates order to an accuracy of half a jnd by quantifying the variability of the size and shape of spaces between points. The algorithm is 70% more accurate than the best available measures. By anchoring the output of the algorithm so that Poisson point processes score on average 0, perfect lattices score 10 and unit steps correspond closely to jnds, we construct an absolute interval scale of order. We demonstrate its utility in biology by using this scale to quantify order during the development of the pattern of bristles on the dorsal thorax of the fruit fly. PMID:25079866

Speech coding at 4800 bps for mobile satellite communications

NASA Technical Reports Server (NTRS)

Gersho, Allen; Chan, Wai-Yip; Davidson, Grant; Chen, Juin-Hwey; Yong, Mei

1988-01-01

A speech compression project has recently been completed to develop a speech coding algorithm suitable for operation in a mobile satellite environment aimed at providing telephone quality natural speech at 4.8 kbps. The work has resulted in two alternative techniques which achieve reasonably good communications quality at 4.8 kbps while tolerating vehicle noise and rather severe channel impairments. The algorithms are embodied in a compact self-contained prototype consisting of two AT and T 32-bit floating-point DSP32 digital signal processors (DSP). A Motorola 68HC11 microcomputer chip serves as the board controller and interface handler. On a wirewrapped card, the prototype's circuit footprint amounts to only 200 sq cm, and consumes about 9 watts of power.

Recent Flight Results of the TRMM Kalman Filter

NASA Technical Reports Server (NTRS)

Andrews, Stephen F.; Bilanow, Stephen; Bauer, Frank (Technical Monitor)

2002-01-01

The Tropical Rainfall Measuring Mission (TRMM) spacecraft is a nadir pointing spacecraft that nominally controls the roll and pitch attitude based on the Earth Sensor Assembly (ESA) output. TRMM's nominal orbit altitude was 350 km, until raised to 402 km to prolong mission life. During the boost, the ESA experienced a decreasing signal to noise ratio, until sun interference at 393 km altitude made the ESA data unreliable for attitude determination. At that point, the backup attitude determination algorithm, an extended Kalman filter, was enabled. After the boost finished, TRMM reacquired its nadir-pointing attitude, and continued its mission. This paper will briefly discuss the boost and the decision to turn on the backup attitude determination algorithm. A description of the extended Kalman filter algorithm will be given. In addition, flight results from analyzing attitude data and the results of software changes made onboard TRMM will be discussed. Some lessons learned are presented.

High-performance two-axis gimbal system for free space laser communications onboard unmanned aircraft systems

NASA Astrophysics Data System (ADS)

Locke, Michael; Czarnomski, Mariusz; Qadir, Ashraf; Setness, Brock; Baer, Nicolai; Meyer, Jennifer; Semke, William H.

2011-03-01

A custom designed and manufactured gimbal with a wide field-of-view and fast response time is developed. This enhanced custom design is a 24 volt system with integrated motor controllers and drivers which offers a full 180o fieldof- view in both azimuth and elevation; this provides a more continuous tracking capability as well as increased velocities of up to 479° per second. The addition of active high-frequency vibration control, to complement the passive vibration isolation system, is also in development. The ultimate goal of this research is to achieve affordable, reliable, and secure air-to-air laser communications between two separate remotely piloted aircraft. As a proof-of-concept, the practical implementation of an air-to-ground laserbased video communications payload system flown by a small Unmanned Aerial Vehicle (UAV) will be demonstrated. A numerical tracking algorithm has been written, tested, and used to aim the airborne laser transmitter at a stationary ground-based receiver with known GPS coordinates; however, further refinement of the tracking capabilities is dependent on an improved gimbal design for precision pointing of the airborne laser transmitter. The current gimbal pointing system is a two-axis, commercial-off-the-shelf component, which is limited in both range and velocity. The current design is capable of 360o of pan and 78o of tilt at a velocity of 60o per second. The control algorithm used for aiming the gimbal is executed on a PC-104 format embedded computer onboard the payload to accurately track a stationary ground-based receiver. This algorithm autonomously calculates a line-of-sight vector in real-time by using the UAV autopilot's Differential Global Positioning System (DGPS) which provides latitude, longitude, and altitude and Inertial Measurement Unit (IMU) which provides the roll, pitch, and yaw data, along with the known Global Positioning System (GPS) location of the ground-based photodiode array receiver.

Sun-Relative Pointing for Dual-Axis Solar Trackers Employing Azimuth and Elevation Rotations

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

Riley, Daniel; Hansen, Clifford W.

Dual axis trackers employing azimuth and elevation rotations are common in the field of photovoltaic (PV) energy generation. Accurate sun-tracking algorithms are widely available. However, a steering algorithm has not been available to accurately point the tracker away from the sun such that a vector projection of the sun beam onto the tracker face falls along a desired path relative to the tracker face. We have developed an algorithm which produces the appropriate azimuth and elevation angles for a dual axis tracker when given the sun position, desired angle of incidence, and the desired projection of the sun beam ontomore » the tracker face. Development of this algorithm was inspired by the need to accurately steer a tracker to desired sun-relative positions in order to better characterize the electro-optical properties of PV and CPV modules.« less

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.

Star adaptation for two-algorithms used on serial computers

NASA Technical Reports Server (NTRS)

Howser, L. M.; Lambiotte, J. J., Jr.

1974-01-01

Two representative algorithms used on a serial computer and presently executed on the Control Data Corporation 6000 computer were adapted to execute efficiently on the Control Data STAR-100 computer. Gaussian elimination for the solution of simultaneous linear equations and the Gauss-Legendre quadrature formula for the approximation of an integral are the two algorithms discussed. A description is given of how the programs were adapted for STAR and why these adaptations were necessary to obtain an efficient STAR program. Some points to consider when adapting an algorithm for STAR are discussed. Program listings of the 6000 version coded in 6000 FORTRAN, the adapted STAR version coded in 6000 FORTRAN, and the STAR version coded in STAR FORTRAN are presented in the appendices.

An optimal output feedback gain variation scheme for the control of plants exhibiting gross parameter changes

NASA Technical Reports Server (NTRS)

Moerder, Daniel D.

1987-01-01

A concept for optimally designing output feedback controllers for plants whose dynamics exhibit gross changes over their operating regimes was developed. This was to formulate the design problem in such a way that the implemented feedback gains vary as the output of a dynamical system whose independent variable is a scalar parameterization of the plant operating point. The results of this effort include derivation of necessary conditions for optimality for the general problem formulation, and for several simplified cases. The question of existence of a solution to the design problem was also examined, and it was shown that the class of gain variation schemes developed are capable of achieving gain variation histories which are arbitrarily close to the unconstrained gain solution for each point in the plant operating range. The theory was implemented in a feedback design algorithm, which was exercised in a numerical example. The results are applicable to the design of practical high-performance feedback controllers for plants whose dynamics vary significanly during operation. Many aerospace systems fall into this category.

External calibration of polarimetric radars using point and distributed targets

NASA Technical Reports Server (NTRS)

Yueh, S. H.; Kong, J. A.; Shin, R. T.

1991-01-01

Polarimetric calibration algorithms using combinations of point targets and reciprocal distributed targets are developed. From the reciprocity relations of distributed targets, and equivalent point target response is derived. Then the problem of polarimetric calibration using two point targets and one distributed target reduces to that using three point targets, which has been previously solved. For calibration using one point target and one reciprocal distributed target, two cases are analyzed with the point target being a trihedral reflector or a polarimetric active radar calibrator (PARC). For both cases, the general solutions of the system distortion matrices are written as a product of a particular solution and a matrix with one free parameter. For the trihedral-reflector case, this free parameter is determined by assuming azimuthal symmetry for the distributed target. For the PARC case, knowledge of one ratio of two covariance matrix elements of the distributed target is required to solve for the free parameter. Numerical results are simulated to demonstrate the usefulness of the developed algorithms.

External calibration of polarimetric radars using point and distributed targets

NASA Astrophysics Data System (ADS)

Yueh, S. H.; Kong, J. A.; Shin, R. T.

1991-08-01

Polarimetric calibration algorithms using combinations of point targets and reciprocal distributed targets are developed. From the reciprocity relations of distributed targets, and equivalent point target response is derived. Then the problem of polarimetric calibration using two point targets and one distributed target reduces to that using three point targets, which has been previously solved. For calibration using one point target and one reciprocal distributed target, two cases are analyzed with the point target being a trihedral reflector or a polarimetric active radar calibrator (PARC). For both cases, the general solutions of the system distortion matrices are written as a product of a particular solution and a matrix with one free parameter. For the trihedral-reflector case, this free parameter is determined by assuming azimuthal symmetry for the distributed target. For the PARC case, knowledge of one ratio of two covariance matrix elements of the distributed target is required to solve for the free parameter. Numerical results are simulated to demonstrate the usefulness of the developed algorithms.

Robust and real-time control of magnetic bearings for space engines

NASA Technical Reports Server (NTRS)

Sinha, Alok; Wang, Kon-Well; Mease, K.; Lewis, S.

1991-01-01

Currently, NASA Lewis Research Center is developing magnetic bearings for Space Shuttle Main Engine (SSME) turbopumps. The control algorithms which have been used are based on either the proportional-intergral-derivative control (PID) approach or the linear quadratic (LQ) state space approach. These approaches lead to an acceptable performance only when the system model is accurately known, which is seldom true in practice. For example, the rotor eccentricity, which is a major source of vibration at high speeds, cannot be predicted accurately. Furthermore, the dynamics of a rotor shaft, which must be treated as a flexible system to model the elastic rotor shaft, is infinite dimensional in theory and the controller can only be developed on the basis of a finite number of modes. Therefore, the development of the control system is further complicated by the possibility of closed loop system instability because of residual or uncontrolled modes, the so called spillover problem. Consequently, novel control algorithms for magnetic bearings are being developed to be robust to inevitable parametric uncertainties, external disturbances, spillover phenomenon and noise. Also, as pointed out earlier, magnetic bearings must exhibit good performance at a speed over 30,000 rpm. This implies that the sampling period available for the design of a digital control system has to be of the order of 0.5 milli-seconds. Therefore, feedback coefficients and other required controller parameters have to be computed off-line so that the on-line computational burden is extremely small. The development of the robust and real-time control algorithms is based on the sliding mode control theory. In this method, a dynamic system is made to move along a manifold of sliding hyperplanes to the origin of the state space. The number of sliding hyperplanes equals that of actuators. The sliding mode controller has two parts; linear state feedback and nonlinear terms. The nonlinear terms guarantee that the systems would reach the intersection of all sliding hyperplanes and remain on it when bounds on the errors in the system parameters and external disturbances are known. The linear part of the control drives the system to the origin of state space. Another important feature is that the controller parameter can be computed off-line. Consequently, on-line computational burden is small.

Selection of floating-point or fixed-point for adaptive noise canceller in somatosensory evoked potential measurement.

PubMed

Shen, Chongfei; Liu, Hongtao; Xie, Xb; Luk, Keith Dk; Hu, Yong

2007-01-01

Adaptive noise canceller (ANC) has been used to improve signal to noise ratio (SNR) of somsatosensory evoked potential (SEP). In order to efficiently apply the ANC in hardware system, fixed-point algorithm based ANC can achieve fast, cost-efficient construction, and low-power consumption in FPGA design. However, it is still questionable whether the SNR improvement performance by fixed-point algorithm is as good as that by floating-point algorithm. This study is to compare the outputs of ANC by floating-point and fixed-point algorithm ANC when it was applied to SEP signals. The selection of step-size parameter (micro) was found different in fixed-point algorithm from floating-point algorithm. In this simulation study, the outputs of fixed-point ANC showed higher distortion from real SEP signals than that of floating-point ANC. However, the difference would be decreased with increasing micro value. In the optimal selection of micro, fixed-point ANC can get as good results as floating-point algorithm.

Compliance control based on PSO algorithm to improve the feeling during physical human-robot interaction.

PubMed

Jiang, Zhongliang; Sun, Yu; Gao, Peng; Hu, Ying; Zhang, Jianwei

2016-01-01

Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We design a controller which can sense the force acting on any point of a robot and ensure the robot can move according to the force. First, a spring-mass-dashpot system was used to describe the physical model, and the second-order system is the kernel of the controller. Then, we can establish the state space equations of the system. In addition, the particle swarm optimization algorithm had been used to obtain the system parameters. In order to test the stability of system, the root-locus diagram had been shown in the paper. Ultimately, some experiments had been carried out on the robotic spinal surgery system, which is developed by our team, and the result shows that the new controller performs better during human-robot interaction.

Nonlinear Performance Seeking Control using Fuzzy Model Reference Learning Control and the Method of Steepest Descent

NASA Technical Reports Server (NTRS)

Kopasakis, George

1997-01-01

Performance Seeking Control (PSC) attempts to find and control the process at the operating condition that will generate maximum performance. In this paper a nonlinear multivariable PSC methodology will be developed, utilizing the Fuzzy Model Reference Learning Control (FMRLC) and the method of Steepest Descent or Gradient (SDG). This PSC control methodology employs the SDG method to find the operating condition that will generate maximum performance. This operating condition is in turn passed to the FMRLC controller as a set point for the control of the process. The conventional SDG algorithm is modified in this paper in order for convergence to occur monotonically. For the FMRLC control, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for effective tuning of the FMRLC controller.

A Comparison of Two Skip Entry Guidance Algorithms

NASA Technical Reports Server (NTRS)

Rea, Jeremy R.; Putnam, Zachary R.

2007-01-01

The Orion capsule vehicle will have a Lift-to-Drag ratio (L/D) of 0.3-0.35. For an Apollo-like direct entry into the Earth's atmosphere from a lunar return trajectory, this L/D will give the vehicle a maximum range of about 2500 nm and a maximum crossrange of 216 nm. In order to y longer ranges, the vehicle lift must be used to loft the trajectory such that the aerodynamic forces are decreased. A Skip-Trajectory results if the vehicle leaves the sensible atmosphere and a second entry occurs downrange of the atmospheric exit point. The Orion capsule is required to have landing site access (either on land or in water) inside the Continental United States (CONUS) for lunar returns anytime during the lunar month. This requirement means the vehicle must be capable of flying ranges of at least 5500 nm. For the L/D of the vehicle, this is only possible with the use of a guided Skip-Trajectory. A skip entry guidance algorithm is necessary to achieve this requirement. Two skip entry guidance algorithms have been developed: the Numerical Skip Entry Guidance (NSEG) algorithm was developed at NASA/JSC and PredGuid was developed at Draper Laboratory. A comparison of these two algorithms will be presented in this paper. Each algorithm has been implemented in a high-fidelity, 6 degree-of-freedom simulation called the Advanced NASA Technology Architecture for Exploration Studies (ANTARES). NASA and Draper engineers have completed several monte carlo analyses in order to compare the performance of each algorithm in various stress states. Each algorithm has been tested for entry-to-target ranges to include direct entries and skip entries of varying length. Dispersions have been included on the initial entry interface state, vehicle mass properties, vehicle aerodynamics, atmosphere, and Reaction Control System (RCS). Performance criteria include miss distance to the target, RCS fuel usage, maximum g-loads and heat rates for the first and second entry, total heat load, and control system saturation. The comparison of the performance criteria has led to a down select and guidance merger that will take the best ideas from each algorithm to create one skip entry guidance algorithm for the Orion vehicle.

New recursive-least-squares algorithms for nonlinear active control of sound and vibration using neural networks.

PubMed

Bouchard, M

2001-01-01

In recent years, a few articles describing the use of neural networks for nonlinear active control of sound and vibration were published. Using a control structure with two multilayer feedforward neural networks (one as a nonlinear controller and one as a nonlinear plant model), steepest descent algorithms based on two distinct gradient approaches were introduced for the training of the controller network. The two gradient approaches were sometimes called the filtered-x approach and the adjoint approach. Some recursive-least-squares algorithms were also introduced, using the adjoint approach. In this paper, an heuristic procedure is introduced for the development of recursive-least-squares algorithms based on the filtered-x and the adjoint gradient approaches. This leads to the development of new recursive-least-squares algorithms for the training of the controller neural network in the two networks structure. These new algorithms produce a better convergence performance than previously published algorithms. Differences in the performance of algorithms using the filtered-x and the adjoint gradient approaches are discussed in the paper. The computational load of the algorithms discussed in the paper is evaluated for multichannel systems of nonlinear active control. Simulation results are presented to compare the convergence performance of the algorithms, showing the convergence gain provided by the new algorithms.

AMERICAN ASSOCIATION OF CLINICAL ENDOCRINOLOGISTS AND AMERICAN COLLEGE OF ENDOCRINOLOGY PROTOCOL FOR STANDARDIZED PRODUCTION OF CLINICAL PRACTICE GUIDELINES, ALGORITHMS, AND CHECKLISTS - 2017 UPDATE.

PubMed

Mechanick, Jeffrey I; Pessah-Pollack, Rachel; Camacho, Pauline; Correa, Ricardo; Figaro, M Kathleen; Garber, Jeffrey R; Jasim, Sina; Pantalone, Kevin M; Trence, Dace; Upala, Sikarin

2017-08-01

Clinical practice guideline (CPG), clinical practice algorithm (CPA), and clinical checklist (CC, collectively CPGAC) development is a high priority of the American Association of Clinical Endocrinologists (AACE) and American College of Endocrinology (ACE). This 2017 update in CPG development consists of (1) a paradigm change wherein first, environmental scans identify important clinical issues and needs, second, CPA construction focuses on these clinical issues and needs, and third, CPG provide CPA node/edge-specific scientific substantiation and appended CC; (2) inclusion of new technical semantic and numerical descriptors for evidence types, subjective factors, and qualifiers; and (3) incorporation of patient-centered care components such as economics and transcultural adaptations, as well as implementation, validation, and evaluation strategies. This third point highlights the dominating factors of personal finances, governmental influences, and third-party payer dictates on CPGAC implementation, which ultimately impact CPGAC development. The AACE/ACE guidelines for the CPGAC program is a successful and ongoing iterative exercise to optimize endocrine care in a changing and challenging healthcare environment. AACE = American Association of Clinical Endocrinologists ACC = American College of Cardiology ACE = American College of Endocrinology ASeRT = ACE Scientific Referencing Team BEL = best evidence level CC = clinical checklist CPA = clinical practice algorithm CPG = clinical practice guideline CPGAC = clinical practice guideline, algorithm, and checklist EBM = evidence-based medicine EHR = electronic health record EL = evidence level G4GAC = Guidelines for Guidelines, Algorithms, and Checklists GAC = guidelines, algorithms, and checklists HCP = healthcare professional(s) POEMS = patient-oriented evidence that matters PRCT = prospective randomized controlled trial.

Automatic detection of zebra crossings from mobile LiDAR data

NASA Astrophysics Data System (ADS)

Riveiro, B.; González-Jorge, H.; Martínez-Sánchez, J.; Díaz-Vilariño, L.; Arias, P.

2015-07-01

An algorithm for the automatic detection of zebra crossings from mobile LiDAR data is developed and tested to be applied for road management purposes. The algorithm consists of several subsequent processes starting with road segmentation by performing a curvature analysis for each laser cycle. Then, intensity images are created from the point cloud using rasterization techniques, in order to detect zebra crossing using the Standard Hough Transform and logical constrains. To optimize the results, image processing algorithms are applied to the intensity images from the point cloud. These algorithms include binarization to separate the painting area from the rest of the pavement, median filtering to avoid noisy points, and mathematical morphology to fill the gaps between the pixels in the border of white marks. Once the road marking is detected, its position is calculated. This information is valuable for inventorying purposes of road managers that use Geographic Information Systems. The performance of the algorithm has been evaluated over several mobile LiDAR strips accounting for a total of 30 zebra crossings. That test showed a completeness of 83%. Non-detected marks mainly come from painting deterioration of the zebra crossing or by occlusions in the point cloud produced by other vehicles on the road.

Strategic Control Algorithm Development : Volume 3. Strategic Algorithm Report.

DOT National Transportation Integrated Search

1974-08-01

The strategic algorithm report presents a detailed description of the functional basic strategic control arrival algorithm. This description is independent of a particular computer or language. Contained in this discussion are the geometrical and env...

Enhanced Fuel-Optimal Trajectory-Generation Algorithm for Planetary Pinpoint Landing

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Blackmore, James C.; Scharf, Daniel P.

2011-01-01

An enhanced algorithm is developed that builds on a previous innovation of fuel-optimal powered-descent guidance (PDG) for planetary pinpoint landing. The PDG problem is to compute constrained, fuel-optimal trajectories to land a craft at a prescribed target on a planetary surface, starting from a parachute cut-off point and using a throttleable descent engine. The previous innovation showed the minimal-fuel PDG problem can be posed as a convex optimization problem, in particular, as a Second-Order Cone Program, which can be solved to global optimality with deterministic convergence properties, and hence is a candidate for onboard implementation. To increase the speed and robustness of this convex PDG algorithm for possible onboard implementation, the following enhancements are incorporated: 1) Fast detection of infeasibility (i.e., control authority is not sufficient for soft-landing) for subsequent fault response. 2) The use of a piecewise-linear control parameterization, providing smooth solution trajectories and increasing computational efficiency. 3) An enhanced line-search algorithm for optimal time-of-flight, providing quicker convergence and bounding the number of path-planning iterations needed. 4) An additional constraint that analytically guarantees inter-sample satisfaction of glide-slope and non-sub-surface flight constraints, allowing larger discretizations and, hence, faster optimization. 5) Explicit incorporation of Mars rotation rate into the trajectory computation for improved targeting accuracy. These enhancements allow faster convergence to the fuel-optimal solution and, more importantly, remove the need for a "human-in-the-loop," as constraints will be satisfied over the entire path-planning interval independent of step-size (as opposed to just at the discrete time points) and infeasible initial conditions are immediately detected. Finally, while the PDG stage is typically only a few minutes, ignoring the rotation rate of Mars can introduce 10s of meters of error. By incorporating it, the enhanced PDG algorithm becomes capable of pinpoint targeting.

Oven controlled N++ [1 0 0] length-extensional mode silicon resonator with frequency stability of 1 ppm over industrial temperature range

NASA Astrophysics Data System (ADS)

You, Weilong; Pei, Binbin; Sun, Ke; Zhang, Lei; Yang, Heng; Li, Xinxin

2017-10-01

This paper presents an oven controlled N++ [1 0 0] length-extensional mode silicon resonator, with a lookup-table based control algorithm. The temperature coefficient of resonant frequency (TCF) of the N++ doped resonator is nonlinear, and there is a turnover temperature point at which the TCF is equal to zero. The resonator is maintained at the turnover point by Joule heating; this temperature is a little higher than the upper limit of the industrial temperature range. It is demonstrated that the control algorithm based on the thermoresistor on the substrate and the lookup table for heating voltage versus chip temperature is sufficiently accurate to achieve a frequency stability of  ±0.5 ppm over the industrial temperature range. Because only two leads are required for electrical heating and piezoresistive sensing, the power required for heating of this resonator can be potentially lower than that of the oscillators with closed-loop oven control algorithm. It is also shown that the phase noise can be suppressed at the turnover temperature because of the very low value of the TCF, which justifies the usage of the heating voltage as the excitation voltage of the Wheatstone half-bridge.

On the Hilbert-Huang Transform Theoretical Foundation

NASA Technical Reports Server (NTRS)

Kizhner, Semion; Blank, Karin; Huang, Norden E.

2004-01-01

The Hilbert-Huang Transform [HHT] is a novel empirical method for spectrum analysis of non-linear and non-stationary signals. The HHT is a recent development and much remains to be done to establish the theoretical foundation of the HHT algorithms. This paper develops the theoretical foundation for the convergence of the HHT sifting algorithm and it proves that the finest spectrum scale will always be the first generated by the HHT Empirical Mode Decomposition (EMD) algorithm. The theoretical foundation for cutting an extrema data points set into two parts is also developed. This then allows parallel signal processing for the HHT computationally complex sifting algorithm and its optimization in hardware.

Efficient Controls for Finitely Convergent Sequential Algorithms

PubMed Central

Chen, Wei; Herman, Gabor T.

2010-01-01

Finding a feasible point that satisfies a set of constraints is a common task in scientific computing: examples are the linear feasibility problem and the convex feasibility problem. Finitely convergent sequential algorithms can be used for solving such problems; an example of such an algorithm is ART3, which is defined in such a way that its control is cyclic in the sense that during its execution it repeatedly cycles through the given constraints. Previously we found a variant of ART3 whose control is no longer cyclic, but which is still finitely convergent and in practice it usually converges faster than ART3 does. In this paper we propose a general methodology for automatic transformation of finitely convergent sequential algorithms in such a way that (i) finite convergence is retained and (ii) the speed of convergence is improved. The first of these two properties is proven by mathematical theorems, the second is illustrated by applying the algorithms to a practical problem. PMID:20953327

Design of the EO-1 Pulsed Plasma Thruster Attitude Control Experiment

NASA Technical Reports Server (NTRS)

Zakrzwski, Charles; Sanneman, Paul; Hunt, Teresa; Blackman, Kathie; Bauer, Frank H. (Technical Monitor)

2001-01-01

The Pulsed Plasma Thruster (PPT) Experiment on the Earth Observing 1 (EO-1) spacecraft has been designed to demonstrate the capability of a new generation PPT to perform spacecraft attitude control. The PPT is a small, self-contained pulsed electromagnetic Propulsion system capable of delivering high specific impulse (900-1200 s), very small impulse bits (10-1000 micro N-s) at low average power (less than 1 to 100 W). EO-1 has a single PPT that can produce torque in either the positive or negative pitch direction. For the PPT in-flight experiment, the pitch reaction wheel will be replaced by the PPT during nominal EO-1 nadir pointing. A PPT specific proportional-integral-derivative (PID) control algorithm was developed for the experiment. High fidelity simulations of the spacecraft attitude control capability using the PPT were conducted. The simulations, which showed PPT control performance within acceptable mission limits, will be used as the benchmark for on-orbit performance. The flight validation will demonstrate the ability of the PPT to provide precision pointing resolution. response and stability as an attitude control actuator.

Experimental designs for detecting synergy and antagonism between two drugs in a pre-clinical study.

PubMed

Sperrin, Matthew; Thygesen, Helene; Su, Ting-Li; Harbron, Chris; Whitehead, Anne

2015-01-01

The identification of synergistic interactions between combinations of drugs is an important area within drug discovery and development. Pre-clinically, large numbers of screening studies to identify synergistic pairs of compounds can often be ran, necessitating efficient and robust experimental designs. We consider experimental designs for detecting interaction between two drugs in a pre-clinical in vitro assay in the presence of uncertainty of the monotherapy response. The monotherapies are assumed to follow the Hill equation with common lower and upper asymptotes, and a common variance. The optimality criterion used is the variance of the interaction parameter. We focus on ray designs and investigate two algorithms for selecting the optimum set of dose combinations. The first is a forward algorithm in which design points are added sequentially. This is found to give useful solutions in simple cases but can lack robustness when knowledge about the monotherapy parameters is insufficient. The second algorithm is a more pragmatic approach where the design points are constrained to be distributed log-normally along the rays and monotherapy doses. We find that the pragmatic algorithm is more stable than the forward algorithm, and even when the forward algorithm has converged, the pragmatic algorithm can still out-perform it. Practically, we find that good designs for detecting an interaction have equal numbers of points on monotherapies and combination therapies, with those points typically placed in positions where a 50% response is expected. More uncertainty in monotherapy parameters leads to an optimal design with design points that are more spread out. Copyright © 2015 John Wiley & Sons, Ltd.

Admission Control Over Internet of Vehicles Attached With Medical Sensors for Ubiquitous Healthcare Applications.

PubMed

Lin, Di; Labeau, Fabrice; Yao, Yuanzhe; Vasilakos, Athanasios V; Tang, Yu

2016-07-01

Wireless technologies and vehicle-mounted or wearable medical sensors are pervasive to support ubiquitous healthcare applications. However, a critical issue of using wireless communications under a healthcare scenario rests at the electromagnetic interference (EMI) caused by radio frequency transmission. A high level of EMI may lead to a critical malfunction of medical sensors, and in such a scenario, a few users who are not transmitting emergency data could be required to reduce their transmit power or even temporarily disconnect from the network in order to guarantee the normal operation of medical sensors as well as the transmission of emergency data. In this paper, we propose a joint power and admission control algorithm to schedule the users' transmission of medical data. The objective of this algorithm is to minimize the number of users who are forced to disconnect from the network while keeping the EMI on medical sensors at an acceptable level. We show that a fixed point of proposed algorithm always exists, and at the fixed point, our proposed algorithm can minimize the number of low-priority users who are required to disconnect from the network. Numerical results illustrate that the proposed algorithm can achieve robust performance against the variations of mobile hospital environments.

Dynamic Leading-Edge Stagnation Point Determination Utilizing an Array of Hot-Film Sensors with Unknown Calibration

NASA Technical Reports Server (NTRS)

Ellsworth, Joel C.

2017-01-01

During flight-testing of the National Aeronautics and Space Administration (NASA) Gulfstream III (G-III) airplane (Gulfstream Aerospace Corporation, Savannah, Georgia) SubsoniC Research Aircraft Testbed (SCRAT) between March 2013 and April 2015 it became evident that the sensor array used for stagnation point detection was not functioning as expected. The stagnation point detection system is a self calibrating hot-film array; the calibration was unknown and varied between flights, however, the channel with the lowest power consumption was expected to correspond with the point of least surface shear. While individual channels showed the expected behavior for the hot-film sensors, more often than not the lowest power consumption occurred at a single sensor (despite in-flight maneuvering) in the array located far from the expected stagnation point. An algorithm was developed to process the available system output and determine the stagnation point location. After multiple updates and refinements, the final algorithm was not sensitive to the failure of a single sensor in the array, but adjacent failures beneath the stagnation point crippled the algorithm.

The algorithm of central axis in surface reconstruction

NASA Astrophysics Data System (ADS)

Zhao, Bao Ping; Zhang, Zheng Mei; Cai Li, Ji; Sun, Da Ming; Cao, Hui Ying; Xing, Bao Liang

2017-09-01

Reverse engineering is an important technique means of product imitation and new product development. Its core technology -- surface reconstruction is the current research for scholars. In the various algorithms of surface reconstruction, using axis reconstruction is a kind of important method. For the various reconstruction, using medial axis algorithm was summarized, pointed out the problems existed in various methods, as well as the place needs to be improved. Also discussed the later surface reconstruction and development of axial direction.

Testing of the on-board attitude determination and control algorithms for SAMPEX

NASA Technical Reports Server (NTRS)

Mccullough, Jon D.; Flatley, Thomas W.; Henretty, Debra A.; Markley, F. Landis; San, Josephine K.

1993-01-01

Algorithms for on-board attitude determination and control of the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX) have been expanded to include a constant gain Kalman filter for the spacecraft angular momentum, pulse width modulation for the reaction wheel command, an algorithm to avoid pointing the Heavy Ion Large Telescope (HILT) instrument boresight along the spacecraft velocity vector, and the addition of digital sun sensor (DSS) failure detection logic. These improved algorithms were tested in a closed-loop environment for three orbit geometries, one with the sun perpendicular to the orbit plane, and two with the sun near the orbit plane - at Autumnal Equinox and at Winter Solstice. The closed-loop simulator was enhanced and used as a truth model for the control systems' performance evaluation and sensor/actuator contingency analysis. The simulations were performed on a VAX 8830 using a prototype version of the on-board software.

An Iterative Closest Points Algorithm for Registration of 3D Laser Scanner Point Clouds with Geometric Features.

PubMed

He, Ying; Liang, Bin; Yang, Jun; Li, Shunzhi; He, Jin

2017-08-11

The Iterative Closest Points (ICP) algorithm is the mainstream algorithm used in the process of accurate registration of 3D point cloud data. The algorithm requires a proper initial value and the approximate registration of two point clouds to prevent the algorithm from falling into local extremes, but in the actual point cloud matching process, it is difficult to ensure compliance with this requirement. In this paper, we proposed the ICP algorithm based on point cloud features (GF-ICP). This method uses the geometrical features of the point cloud to be registered, such as curvature, surface normal and point cloud density, to search for the correspondence relationships between two point clouds and introduces the geometric features into the error function to realize the accurate registration of two point clouds. The experimental results showed that the algorithm can improve the convergence speed and the interval of convergence without setting a proper initial value.

An Iterative Closest Points Algorithm for Registration of 3D Laser Scanner Point Clouds with Geometric Features

PubMed Central

Liang, Bin; Yang, Jun; Li, Shunzhi; He, Jin

2017-01-01

The Iterative Closest Points (ICP) algorithm is the mainstream algorithm used in the process of accurate registration of 3D point cloud data. The algorithm requires a proper initial value and the approximate registration of two point clouds to prevent the algorithm from falling into local extremes, but in the actual point cloud matching process, it is difficult to ensure compliance with this requirement. In this paper, we proposed the ICP algorithm based on point cloud features (GF-ICP). This method uses the geometrical features of the point cloud to be registered, such as curvature, surface normal and point cloud density, to search for the correspondence relationships between two point clouds and introduces the geometric features into the error function to realize the accurate registration of two point clouds. The experimental results showed that the algorithm can improve the convergence speed and the interval of convergence without setting a proper initial value. PMID:28800096

HYTESS 2: A Hypothetical Turbofan Engine Simplified Simulation with multivariable control and sensor analytical redundancy

NASA Technical Reports Server (NTRS)

Merrill, W. C.

1986-01-01

A hypothetical turbofan engine simplified simulation with a multivariable control and sensor failure detection, isolation, and accommodation logic (HYTESS II) is presented. The digital program, written in FORTRAN, is self-contained, efficient, realistic and easily used. Simulated engine dynamics were developed from linearized operating point models. However, essential nonlinear effects are retained. The simulation is representative of the hypothetical, low bypass ratio turbofan engine with an advanced control and failure detection logic. Included is a description of the engine dynamics, the control algorithm, and the sensor failure detection logic. Details of the simulation including block diagrams, variable descriptions, common block definitions, subroutine descriptions, and input requirements are given. Example simulation results are also presented.

Aerodynamic Optimization of Rocket Control Surface Geometry Using Cartesian Methods and CAD Geometry

NASA Technical Reports Server (NTRS)

Nelson, Andrea; Aftosmis, Michael J.; Nemec, Marian; Pulliam, Thomas H.

2004-01-01

Aerodynamic design is an iterative process involving geometry manipulation and complex computational analysis subject to physical constraints and aerodynamic objectives. A design cycle consists of first establishing the performance of a baseline design, which is usually created with low-fidelity engineering tools, and then progressively optimizing the design to maximize its performance. Optimization techniques have evolved from relying exclusively on designer intuition and insight in traditional trial and error methods, to sophisticated local and global search methods. Recent attempts at automating the search through a large design space with formal optimization methods include both database driven and direct evaluation schemes. Databases are being used in conjunction with surrogate and neural network models as a basis on which to run optimization algorithms. Optimization algorithms are also being driven by the direct evaluation of objectives and constraints using high-fidelity simulations. Surrogate methods use data points obtained from simulations, and possibly gradients evaluated at the data points, to create mathematical approximations of a database. Neural network models work in a similar fashion, using a number of high-fidelity database calculations as training iterations to create a database model. Optimal designs are obtained by coupling an optimization algorithm to the database model. Evaluation of the current best design then gives either a new local optima and/or increases the fidelity of the approximation model for the next iteration. Surrogate methods have also been developed that iterate on the selection of data points to decrease the uncertainty of the approximation model prior to searching for an optimal design. The database approximation models for each of these cases, however, become computationally expensive with increase in dimensionality. Thus the method of using optimization algorithms to search a database model becomes problematic as the number of design variables is increased.

Stereo Image Dense Matching by Integrating Sift and Sgm Algorithm

NASA Astrophysics Data System (ADS)

Zhou, Y.; Song, Y.; Lu, J.

2018-05-01

Semi-global matching(SGM) performs the dynamic programming by treating the different path directions equally. It does not consider the impact of different path directions on cost aggregation, and with the expansion of the disparity search range, the accuracy and efficiency of the algorithm drastically decrease. This paper presents a dense matching algorithm by integrating SIFT and SGM. It takes the successful matching pairs matched by SIFT as control points to direct the path in dynamic programming with truncating error propagation. Besides, matching accuracy can be improved by using the gradient direction of the detected feature points to modify the weights of the paths in different directions. The experimental results based on Middlebury stereo data sets and CE-3 lunar data sets demonstrate that the proposed algorithm can effectively cut off the error propagation, reduce disparity search range and improve matching accuracy.

An Improved Vision-based Algorithm for Unmanned Aerial Vehicles Autonomous Landing

NASA Astrophysics Data System (ADS)

Zhao, Yunji; Pei, Hailong

In vision-based autonomous landing system of UAV, the efficiency of target detecting and tracking will directly affect the control system. The improved algorithm of SURF(Speed Up Robust Features) will resolve the problem which is the inefficiency of the SURF algorithm in the autonomous landing system. The improved algorithm is composed of three steps: first, detect the region of the target using the Camshift; second, detect the feature points in the region of the above acquired using the SURF algorithm; third, do the matching between the template target and the region of target in frame. The results of experiment and theoretical analysis testify the efficiency of the algorithm.

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.

Development and application of a modified dynamic time warping algorithm (DTW-S) to analyses of primate brain expression time series

PubMed Central

2011-01-01

Background Comparing biological time series data across different conditions, or different specimens, is a common but still challenging task. Algorithms aligning two time series represent a valuable tool for such comparisons. While many powerful computation tools for time series alignment have been developed, they do not provide significance estimates for time shift measurements. Results Here, we present an extended version of the original DTW algorithm that allows us to determine the significance of time shift estimates in time series alignments, the DTW-Significance (DTW-S) algorithm. The DTW-S combines important properties of the original algorithm and other published time series alignment tools: DTW-S calculates the optimal alignment for each time point of each gene, it uses interpolated time points for time shift estimation, and it does not require alignment of the time-series end points. As a new feature, we implement a simulation procedure based on parameters estimated from real time series data, on a series-by-series basis, allowing us to determine the false positive rate (FPR) and the significance of the estimated time shift values. We assess the performance of our method using simulation data and real expression time series from two published primate brain expression datasets. Our results show that this method can provide accurate and robust time shift estimates for each time point on a gene-by-gene basis. Using these estimates, we are able to uncover novel features of the biological processes underlying human brain development and maturation. Conclusions The DTW-S provides a convenient tool for calculating accurate and robust time shift estimates at each time point for each gene, based on time series data. The estimates can be used to uncover novel biological features of the system being studied. The DTW-S is freely available as an R package TimeShift at http://www.picb.ac.cn/Comparative/data.html. PMID:21851598

Development and application of a modified dynamic time warping algorithm (DTW-S) to analyses of primate brain expression time series.

PubMed

Yuan, Yuan; Chen, Yi-Ping Phoebe; Ni, Shengyu; Xu, Augix Guohua; Tang, Lin; Vingron, Martin; Somel, Mehmet; Khaitovich, Philipp

2011-08-18

Comparing biological time series data across different conditions, or different specimens, is a common but still challenging task. Algorithms aligning two time series represent a valuable tool for such comparisons. While many powerful computation tools for time series alignment have been developed, they do not provide significance estimates for time shift measurements. Here, we present an extended version of the original DTW algorithm that allows us to determine the significance of time shift estimates in time series alignments, the DTW-Significance (DTW-S) algorithm. The DTW-S combines important properties of the original algorithm and other published time series alignment tools: DTW-S calculates the optimal alignment for each time point of each gene, it uses interpolated time points for time shift estimation, and it does not require alignment of the time-series end points. As a new feature, we implement a simulation procedure based on parameters estimated from real time series data, on a series-by-series basis, allowing us to determine the false positive rate (FPR) and the significance of the estimated time shift values. We assess the performance of our method using simulation data and real expression time series from two published primate brain expression datasets. Our results show that this method can provide accurate and robust time shift estimates for each time point on a gene-by-gene basis. Using these estimates, we are able to uncover novel features of the biological processes underlying human brain development and maturation. The DTW-S provides a convenient tool for calculating accurate and robust time shift estimates at each time point for each gene, based on time series data. The estimates can be used to uncover novel biological features of the system being studied. The DTW-S is freely available as an R package TimeShift at http://www.picb.ac.cn/Comparative/data.html.

Discrete-Time Stable Generalized Self-Learning Optimal Control With Approximation Errors.

PubMed

Wei, Qinglai; Li, Benkai; Song, Ruizhuo

2018-04-01

In this paper, a generalized policy iteration (GPI) algorithm with approximation errors is developed for solving infinite horizon optimal control problems for nonlinear systems. The developed stable GPI algorithm provides a general structure of discrete-time iterative adaptive dynamic programming algorithms, by which most of the discrete-time reinforcement learning algorithms can be described using the GPI structure. It is for the first time that approximation errors are explicitly considered in the GPI algorithm. The properties of the stable GPI algorithm with approximation errors are analyzed. The admissibility of the approximate iterative control law can be guaranteed if the approximation errors satisfy the admissibility criteria. The convergence of the developed algorithm is established, which shows that the iterative value function is convergent to a finite neighborhood of the optimal performance index function, if the approximate errors satisfy the convergence criterion. Finally, numerical examples and comparisons are presented.

Alocomotino Control Algorithm for Robotic Linkage Systems

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

Dohner, Jeffrey L.

This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.

Magnetic attitude control torque generation of a gravity gradient stabilized satellite

NASA Astrophysics Data System (ADS)

Suhadis, N. M.; Salleh, M. B.; Rajendran, P.

2018-05-01

Magnetic torquer is used to generate a magnetic dipole moment onboard satellites whereby a control torque for attitude control purposes is generated when it couples with the geomagnetic field. This technique has been considered very attractive for satellites operated in Low Earth Orbit (LEO) as the strength of the geomagnetic field is relatively high below the altitude of 1000 km. This paper presents the algorithm used to generate required magnetic dipole moment by 3 magnetic torquers mounted onboard a gravity gradient stabilized satellite operated at an altitude of 540 km with nadir pointing mission. As the geomagnetic field cannot be altered and its magnitude and direction vary with respect to the orbit altitude and inclination, a comparison study of attitude control torque generation performance with various orbit inclination is performed where the structured control algorithm is simulated for 13°, 33° and 53° orbit inclinations to see how the variation of the satellite orbit affects the satellite's attitude control torque generation. Results from simulation show that the higher orbit inclination generates optimum magnetic attitude control torque for accurate nadir pointing mission.

Adaptive Dynamic Programming for Discrete-Time Zero-Sum Games.

PubMed

Wei, Qinglai; Liu, Derong; Lin, Qiao; Song, Ruizhuo

2018-04-01

In this paper, a novel adaptive dynamic programming (ADP) algorithm, called "iterative zero-sum ADP algorithm," is developed to solve infinite-horizon discrete-time two-player zero-sum games of nonlinear systems. The present iterative zero-sum ADP algorithm permits arbitrary positive semidefinite functions to initialize the upper and lower iterations. A novel convergence analysis is developed to guarantee the upper and lower iterative value functions to converge to the upper and lower optimums, respectively. When the saddle-point equilibrium exists, it is emphasized that both the upper and lower iterative value functions are proved to converge to the optimal solution of the zero-sum game, where the existence criteria of the saddle-point equilibrium are not required. If the saddle-point equilibrium does not exist, the upper and lower optimal performance index functions are obtained, respectively, where the upper and lower performance index functions are proved to be not equivalent. Finally, simulation results and comparisons are shown to illustrate the performance of the present method.

Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

NASA Technical Reports Server (NTRS)

Zhou, Zhiqiang

2010-01-01

The accuracy of spacecraft attitude control using magnetic actuators only is low and on the order of 0.4-5 degrees. The key reason is that the magnetic torque is two-dimensional and it is only in the plane perpendicular to the magnetic field vector. In this paper novel attitude control algorithms using the combination of magnetic actuators with Reaction Wheel Assembles (RWAs) or other types of actuators, such as thrusters, are presented. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for Nadir pointing, pitch and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude control accuracy is comparable with RWAs based attitude control. The algorithms are also useful for the RWAs based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode and the control accuracy can be maintained.

Guidance and control of swarms of spacecraft

NASA Astrophysics Data System (ADS)

Morgan, Daniel James

There has been considerable interest in formation flying spacecraft due to their potential to perform certain tasks at a cheaper cost than monolithic spacecraft. Formation flying enables the use of smaller, cheaper spacecraft that distribute the risk of the mission. Recently, the ideas of formation flying have been extended to spacecraft swarms made up of hundreds to thousands of 100-gram-class spacecraft known as femtosatellites. The large number of spacecraft and limited capabilities of each individual spacecraft present a significant challenge in guidance, navigation, and control. This dissertation deals with the guidance and control algorithms required to enable the flight of spacecraft swarms. The algorithms developed in this dissertation are focused on achieving two main goals: swarm keeping and swarm reconfiguration. The objectives of swarm keeping are to maintain bounded relative distances between spacecraft, prevent collisions between spacecraft, and minimize the propellant used by each spacecraft. Swarm reconfiguration requires the transfer of the swarm to a specific shape. Like with swarm keeping, minimizing the propellant used and preventing collisions are the main objectives. Additionally, the algorithms required for swarm keeping and swarm reconfiguration should be decentralized with respect to communication and computation so that they can be implemented on femtosats, which have limited hardware capabilities. The algorithms developed in this dissertation are concerned with swarms located in low Earth orbit. In these orbits, Earth oblateness and atmospheric drag have a significant effect on the relative motion of the swarm. The complicated dynamic environment of low Earth orbits further complicates the swarm-keeping and swarm-reconfiguration problems. To better develop and test these algorithms, a nonlinear, relative dynamic model with J2 and drag perturbations is developed. This model is used throughout this dissertation to validate the algorithms using computer simulations. The swarm-keeping problem can be solved by placing the spacecraft on J2-invariant relative orbits, which prevent collisions and minimize the drift of the swarm over hundreds of orbits using a single burn. These orbits are achieved by energy matching the spacecraft to the reference orbit. Additionally, these conditions can be repeatedly applied to minimize the drift of the swarm when atmospheric drag has a large effect (orbits with an altitude under 500 km). The swarm reconfiguration is achieved using two steps: trajectory optimization and assignment. The trajectory optimization problem can be written as a nonlinear, optimal control problem. This optimal control problem is discretized, decoupled, and convexified so that the individual femtosats can efficiently solve the optimization. Sequential convex programming is used to generate the control sequences and trajectories required to safely and efficiently transfer a spacecraft from one position to another. The sequence of trajectories is shown to converge to a Karush-Kuhn-Tucker point of the nonconvex problem. In the case where many of the spacecraft are interchangeable, a variable-swarm, distributed auction algorithm is used to determine the assignment of spacecraft to target positions. This auction algorithm requires only local communication and all of the bidding parameters are stored locally. The assignment generated using this auction algorithm is shown to be near optimal and to converge in a finite number of bids. Additionally, the bidding process is used to modify the number of targets used in the assignment so that the reconfiguration can be achieved even when there is a disconnected communication network or a significant loss of agents. Once the assignment is achieved, the trajectory optimization can be run using the terminal positions determined by the auction algorithm. To implement these algorithms in real time a model predictive control formulation is used. Model predictive control uses a finite horizon to apply the most up-to-date control sequence while simultaneously calculating a new assignment and trajectory based on updated state information. Using a finite horizon allows collisions to only be considered between spacecraft that are near each other at the current time. This relaxes the all-to-all communication assumption so that only neighboring agents need to communicate. Experimental validation is done using the formation flying testbed. The swarm-reconfiguration algorithms are tested using multiple quadrotors. Experiments have been performed using sequential convex programming for offline trajectory planning, model predictive control and sequential convex programming for real-time trajectory generation, and the variable-swarm, distributed auction algorithm for optimal assignment. These experiments show that the swarm-reconfiguration algorithms can be implemented in real time using actual hardware. In general, this dissertation presents guidance and control algorithms that maintain and reconfigure swarms of spacecraft while maintaining the shape of the swarm, preventing collisions between the spacecraft, and minimizing the amount of propellant used.

A Hybrid Maximum Power Point Tracking Method for Automobile Exhaust Thermoelectric Generator

NASA Astrophysics Data System (ADS)

Quan, Rui; Zhou, Wei; Yang, Guangyou; Quan, Shuhai

2017-05-01

To make full use of the maximum output power of automobile exhaust thermoelectric generator (AETEG) based on Bi2Te3 thermoelectric modules (TEMs), taking into account the advantages and disadvantages of existing maximum power point tracking methods, and according to the output characteristics of TEMs, a hybrid maximum power point tracking method combining perturb and observe (P&O) algorithm, quadratic interpolation and constant voltage tracking method was put forward in this paper. Firstly, it searched the maximum power point with P&O algorithms and a quadratic interpolation method, then, it forced the AETEG to work at its maximum power point with constant voltage tracking. A synchronous buck converter and controller were implemented in the electric bus of the AETEG applied in a military sports utility vehicle, and the whole system was modeled and simulated with a MATLAB/Simulink environment. Simulation results demonstrate that the maximum output power of the AETEG based on the proposed hybrid method is increased by about 3.0% and 3.7% compared with that using only the P&O algorithm and the quadratic interpolation method, respectively. The shorter tracking time is only 1.4 s, which is reduced by half compared with that of the P&O algorithm and quadratic interpolation method, respectively. The experimental results demonstrate that the tracked maximum power is approximately equal to the real value using the proposed hybrid method,and it can preferentially deal with the voltage fluctuation of the AETEG with only P&O algorithm, and resolve the issue that its working point can barely be adjusted only with constant voltage tracking when the operation conditions change.

Load Frequency Control of AC Microgrid Interconnected Thermal Power System

NASA Astrophysics Data System (ADS)

Lal, Deepak Kumar; Barisal, Ajit Kumar

2017-08-01

In this paper, a microgrid (MG) power generation system is interconnected with a single area reheat thermal power system for load frequency control study. A new meta-heuristic optimization algorithm i.e. Moth-Flame Optimization (MFO) algorithm is applied to evaluate optimal gains of the fuzzy based proportional, integral and derivative (PID) controllers. The system dynamic performance is studied by comparing the results with MFO optimized classical PI/PID controllers. Also the system performance is investigated with fuzzy PID controller optimized by recently developed grey wolf optimizer (GWO) algorithm, which has proven its superiority over other previously developed algorithm in many interconnected power systems.

Summary of Research 1997, Department of Mathematics.

DTIC Science & Technology

1999-01-01

problems. This capabil- ity is especially important at the present time when technology in general, and information operations in particular, are changing...compression algorithms, especially the Radiant TIN algorithm and its use on tactical imagery. SUMMARY: Several aspects of this problem were...points are not always the same, especially when bifurcation occurs. The equilibrium sets of control systems and their bifurcations are classified based

Reducing cross-sectional data using a genetic algorithm method and effects on cross-section geometry and steady-flow profiles

USGS Publications Warehouse

Berenbrock, Charles E.

2015-01-01

The effects of reduced cross-sectional data points on steady-flow profiles were also determined. Thirty-five cross sections of the original steady-flow model of the Kootenai River were used. These two methods were tested for all cross sections with each cross section resolution reduced to 10, 20 and 30 data points, that is, six tests were completed for each of the thirty-five cross sections. Generally, differences from the original water-surface elevation were smaller as the number of data points in reduced cross sections increased, but this was not always the case, especially in the braided reach. Differences were smaller for reduced cross sections developed by the genetic algorithm method than the standard algorithm method.

Vision-based guidance for an automated roving vehicle

NASA Technical Reports Server (NTRS)

Griffin, M. D.; Cunningham, R. T.; Eskenazi, R.

1978-01-01

A controller designed to guide an automated vehicle to a specified target without external intervention is described. The intended application is to the requirements of planetary exploration, where substantial autonomy is required because of the prohibitive time lags associated with closed-loop ground control. The guidance algorithm consists of a set of piecewise-linear control laws for velocity and steering commands, and is executable in real time with fixed-point arithmetic. The use of a previously-reported object tracking algorithm for the vision system to provide position feedback data is described. Test results of the control system on a breadboard rover at the Jet Propulsion Laboratory are included.

Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery

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

Liu, Xinmin; Belcher, Andrew H.; Grelewicz, Zachary

Purpose: To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). Methods: A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared headmore » position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. Results: The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. Conclusions: The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS.« less

A Maximum Power Point Tracking Control Method of a Photovoltaic Power Generator with Consideration of Dynamic Characteristics of Solar Cells

NASA Astrophysics Data System (ADS)

Watanabe, Takashi; Yoshida, Toshiya; Ohniwa, Katsumi

This paper discusses a new control strategy for photovoltaic power generation systems with consideration of dynamic characteristics of the photovoltaic cells. The controller estimates internal currents of an equivalent circuit for the cells. This estimated, or the virtual current and the actual voltage of the cells are fed to a conventional Maximum-Power-Point-Tracking (MPPT) controller. Consequently, this MPPT controller still tracks the optimum point even though it is so designed that the seeking speed of the operating point is extremely high. This system may suit for applications, which are installed in rapidly changeable insolation and temperature-conditions e.g. automobiles, trains, and airplanes. The proposed method is verified by experiment with a combination of this estimating function and the modified Boehringer's MPPT algorithm.

Resonance frequency control of RF normal conducting cavity using gradient estimator of reflected power

NASA Astrophysics Data System (ADS)

Leewe, R.; Shahriari, Z.; Moallem, M.

2017-10-01

Control of the natural resonance frequency of an RF cavity is essential for accelerator structures due to their high cavity sensitivity to internal and external vibrations and the dependency of resonant frequency on temperature changes. Due to the relatively high radio frequencies involved (MHz to GHz), direct measurement of the resonant frequency for real-time control is not possible by using conventional microcontroller hardware. So far, all operational cavities are tuned using phase comparison techniques. The temperature dependent phase measurements render this technique labor and time intensive. To eliminate the phase measurement, reduce man hours and speed up cavity start up time, this paper presents a control theme that relies solely on the reflected power measurement. The control algorithm for the nonlinear system is developed through Lyapunov's method. The controller stabilizes the resonance frequency of the cavity using a nonlinear control algorithm in combination with a gradient estimation method. Experimental results of the proposed system on a test cavity show that the resonance frequency can be tuned to its optimum operating point while the start up time of a single cavity and the accompanied man hours are significantly decreased. A test result of the fully commissioned control system on one of TRIUMF's DTL tanks verifies its performance under real environmental conditions.

Line following using a two camera guidance system for a mobile robot

NASA Astrophysics Data System (ADS)

Samu, Tayib; Kelkar, Nikhal; Perdue, David; Ruthemeyer, Michael A.; Matthews, Bradley O.; Hall, Ernest L.

1996-10-01

Automated unmanned guided vehicles have many potential applications in manufacturing, medicine, space and defense. A mobile robot has been designed for the 1996 Automated Unmanned Vehicle Society competition which was held in Orlando, Florida on July 15, 1996. The competition required the vehicle to follow solid and dashed lines around an approximately 800 ft. path while avoiding obstacles, overcoming terrain changes such as inclines and sand traps, and attempting to maximize speed. The purpose of this paper is to describe the algorithm developed for the line following. The line following algorithm images two windows and locates their centroid and with the knowledge that the points are on the ground plane, a mathematical and geometrical relationship between the image coordinates of the points and their corresponding ground coordinates are established. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. Two cameras are mounted on the robot with a camera on each side. One camera guides the robot and when it loses track of the line on its side, the robot control system automatically switches to the other camera. The test bed system has provided an educational experience for all involved and permits understanding and extending the state of the art in autonomous vehicle design.

Multivariate Spline Algorithms for CAGD

NASA Technical Reports Server (NTRS)

Boehm, W.

1985-01-01

Two special polyhedra present themselves for the definition of B-splines: a simplex S and a box or parallelepiped B, where the edges of S project into an irregular grid, while the edges of B project into the edges of a regular grid. More general splines may be found by forming linear combinations of these B-splines, where the three-dimensional coefficients are called the spline control points. Univariate splines are simplex splines, where s = 1, whereas splines over a regular triangular grid are box splines, where s = 2. Two simple facts render the development of the construction of B-splines: (1) any face of a simplex or a box is again a simplex or box but of lower dimension; and (2) any simplex or box can be easily subdivided into smaller simplices or boxes. The first fact gives a geometric approach to Mansfield-like recursion formulas that express a B-spline in B-splines of lower order, where the coefficients depend on x. By repeated recursion, the B-spline will be expressed as B-splines of order 1; i.e., piecewise constants. In the case of a simplex spline, the second fact gives a so-called insertion algorithm that constructs the new control points if an additional knot is inserted.

Orion Guidance and Control Ascent Abort Algorithm Design and Performance Results

NASA Technical Reports Server (NTRS)

Proud, Ryan W.; Bendle, John R.; Tedesco, Mark B.; Hart, Jeremy J.

2009-01-01

During the ascent flight phase of NASA s Constellation Program, the Ares launch vehicle propels the Orion crew vehicle to an agreed to insertion target. If a failure occurs at any point in time during ascent then a system must be in place to abort the mission and return the crew to a safe landing with a high probability of success. To achieve continuous abort coverage one of two sets of effectors is used. Either the Launch Abort System (LAS), consisting of the Attitude Control Motor (ACM) and the Abort Motor (AM), or the Service Module (SM), consisting of SM Orion Main Engine (OME), Auxiliary (Aux) Jets, and Reaction Control System (RCS) jets, is used. The LAS effectors are used for aborts from liftoff through the first 30 seconds of second stage flight. The SM effectors are used from that point through Main Engine Cutoff (MECO). There are two distinct sets of Guidance and Control (G&C) algorithms that are designed to maximize the performance of these abort effectors. This paper will outline the necessary inputs to the G&C subsystem, the preliminary design of the G&C algorithms, the ability of the algorithms to predict what abort modes are achievable, and the resulting success of the abort system. Abort success will be measured against the Preliminary Design Review (PDR) abort performance metrics and overall performance will be reported. Finally, potential improvements to the G&C design will be discussed.

A grid spacing control technique for algebraic grid generation methods

NASA Technical Reports Server (NTRS)

Smith, R. E.; Kudlinski, R. A.; Everton, E. L.

1982-01-01

A technique which controls the spacing of grid points in algebraically defined coordinate transformations is described. The technique is based on the generation of control functions which map a uniformly distributed computational grid onto parametric variables defining the physical grid. The control functions are smoothed cubic splines. Sets of control points are input for each coordinate directions to outline the control functions. Smoothed cubic spline functions are then generated to approximate the input data. The technique works best in an interactive graphics environment where control inputs and grid displays are nearly instantaneous. The technique is illustrated with the two-boundary grid generation algorithm.

Automation of the Image Analysis for Thermographic Inspection

NASA Technical Reports Server (NTRS)

Plotnikov, Yuri A.; Winfree, William P.

1998-01-01

Several data processing procedures for the pulse thermal inspection require preliminary determination of an unflawed region. Typically, an initial analysis of the thermal images is performed by an operator to determine the locations of unflawed and the defective areas. In the present work an algorithm is developed for automatically determining a reference point corresponding to an unflawed region. Results are obtained for defects which are arbitrarily located in the inspection region. A comparison is presented of the distributions of derived values with right and wrong localization of the reference point. Different algorithms of automatic determination of the reference point are compared.

Development of robots and application to industrial processes

NASA Technical Reports Server (NTRS)

Palm, W. J.; Liscano, R.

1984-01-01

An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accomodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction.

Parallel processing approach to transform-based image coding

NASA Astrophysics Data System (ADS)

Normile, James O.; Wright, Dan; Chu, Ken; Yeh, Chia L.

1991-06-01

This paper describes a flexible parallel processing architecture designed for use in real time video processing. The system consists of floating point DSP processors connected to each other via fast serial links, each processor has access to a globally shared memory. A multiple bus architecture in combination with a dual ported memory allows communication with a host control processor. The system has been applied to prototyping of video compression and decompression algorithms. The decomposition of transform based algorithms for decompression into a form suitable for parallel processing is described. A technique for automatic load balancing among the processors is developed and discussed, results ar presented with image statistics and data rates. Finally techniques for accelerating the system throughput are analyzed and results from the application of one such modification described.

Modeling of Aerobrake Ballute Stagnation Point Temperature and Heat Transfer to Inflation Gas

NASA Technical Reports Server (NTRS)

Bahrami, Parviz A.

2012-01-01

A trailing Ballute drag device concept for spacecraft aerocapture is considered. A thermal model for calculation of the Ballute membrane temperature and the inflation gas temperature is developed. An algorithm capturing the most salient features of the concept is implemented. In conjunction with the thermal model, trajectory calculations for two candidate missions, Titan Explorer and Neptune Orbiter missions, are used to estimate the stagnation point temperature and the inflation gas temperature. Radiation from both sides of the membrane at the stagnation point and conduction to the inflating gas is included. The results showed that the radiation from the membrane and to a much lesser extent conduction to the inflating gas, are likely to be the controlling heat transfer mechanisms and that the increase in gas temperature due to aerodynamic heating is of secondary importance.

Large-Scale Parallel Viscous Flow Computations using an Unstructured Multigrid Algorithm

NASA Technical Reports Server (NTRS)

Mavriplis, Dimitri J.

1999-01-01

The development and testing of a parallel unstructured agglomeration multigrid algorithm for steady-state aerodynamic flows is discussed. The agglomeration multigrid strategy uses a graph algorithm to construct the coarse multigrid levels from the given fine grid, similar to an algebraic multigrid approach, but operates directly on the non-linear system using the FAS (Full Approximation Scheme) approach. The scalability and convergence rate of the multigrid algorithm are examined on the SGI Origin 2000 and the Cray T3E. An argument is given which indicates that the asymptotic scalability of the multigrid algorithm should be similar to that of its underlying single grid smoothing scheme. For medium size problems involving several million grid points, near perfect scalability is obtained for the single grid algorithm, while only a slight drop-off in parallel efficiency is observed for the multigrid V- and W-cycles, using up to 128 processors on the SGI Origin 2000, and up to 512 processors on the Cray T3E. For a large problem using 25 million grid points, good scalability is observed for the multigrid algorithm using up to 1450 processors on a Cray T3E, even when the coarsest grid level contains fewer points than the total number of processors.

Towards global optimization with adaptive simulated annealing

NASA Astrophysics Data System (ADS)

Forbes, Gregory W.; Jones, Andrew E.

1991-01-01

The structure of the simulated annealing algorithm is presented and its rationale is discussed. A unifying heuristic is then introduced which serves as a guide in the design of all of the sub-components of the algorithm. Simply put this heuristic principle states that at every cycle in the algorithm the occupation density should be kept as close as possible to the equilibrium distribution. This heuristic has been used as a guide to develop novel step generation and temperature control methods intended to improve the efficiency of the simulated annealing algorithm. The resulting algorithm has been used in attempts to locate good solutions for one of the lens design problems associated with this conference viz. the " monochromatic quartet" and a sample of the results is presented. 1 Global optimization in the context oflens design Whatever the context optimization algorithms relate to problems that take the following form: Given some configuration space with coordinates r (x1 . . x) and a merit function written asffr) find the point r whereftr) takes it lowest value. That is find the global minimum. In many cases there is also a set of auxiliary constraints that must be met so the problem statement becomes: Find the global minimum of the merit function within the region defined by E. (r) 0 j 1 2 . . . p and 0 j 1 2 . . . q.

Individual welfare maximization in electricity markets including consumer and full transmission system modeling

NASA Astrophysics Data System (ADS)

Weber, James Daniel

1999-11-01

This dissertation presents a new algorithm that allows a market participant to maximize its individual welfare in the electricity spot market. The use of such an algorithm in determining market equilibrium points, called Nash equilibria, is also demonstrated. The start of the algorithm is a spot market model that uses the optimal power flow (OPF), with a full representation of the transmission system. The OPF is also extended to model consumer behavior, and a thorough mathematical justification for the inclusion of the consumer model in the OPF is presented. The algorithm utilizes price and dispatch sensitivities, available from the Hessian matrix of the OPF, to help determine an optimal change in an individual's bid. The algorithm is shown to be successful in determining local welfare maxima, and the prospects for scaling the algorithm up to realistically sized systems are very good. Assuming a market in which all participants maximize their individual welfare, economic equilibrium points, called Nash equilibria, are investigated. This is done by iteratively solving the individual welfare maximization algorithm for each participant until a point is reached where all individuals stop modifying their bids. It is shown that these Nash equilibria can be located in this manner. However, it is also demonstrated that equilibria do not always exist, and are not always unique when they do exist. It is also shown that individual welfare is a highly nonconcave function resulting in many local maxima. As a result, a more global optimization technique, using a genetic algorithm (GA), is investigated. The genetic algorithm is successfully demonstrated on several systems. It is also shown that a GA can be developed using special niche methods, which allow a GA to converge to several local optima at once. Finally, the last chapter of this dissertation covers the development of a new computer visualization routine for power system analysis: contouring. The contouring algorithm is demonstrated to be useful in visualizing bus-based and transmission line-based quantities.

Performance comparison of optimal fractional order hybrid fuzzy PID controllers for handling oscillatory fractional order processes with dead time.

PubMed

Das, Saptarshi; Pan, Indranil; Das, Shantanu

2013-07-01

Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional order (FO) rate of error signal and FO integral of control signal have been used in the design of a family of decomposed hybrid FO fuzzy PID controllers. The input and output scaling factors (SF) along with the integro-differential operators are tuned with real coded genetic algorithm (GA) to produce optimum closed loop performance by simultaneous consideration of the control loop error index and the control signal. Three different classes of fractional order oscillatory processes with various levels of relative dominance between time constant and time delay have been used to test the comparative merits of the proposed family of hybrid fractional order fuzzy PID controllers. Performance comparison of the different FO fuzzy PID controller structures has been done in terms of optimal set-point tracking, load disturbance rejection and minimal variation of manipulated variable or smaller actuator requirement etc. In addition, multi-objective Non-dominated Sorting Genetic Algorithm (NSGA-II) has been used to study the Pareto optimal trade-offs between the set point tracking and control signal, and the set point tracking and load disturbance performance for each of the controller structure to handle the three different types of processes. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Distributed Multiple Access Control for the Wireless Mesh Personal Area Networks

NASA Astrophysics Data System (ADS)

Park, Moo Sung; Lee, Byungjoo; Rhee, Seung Hyong

Mesh networking technologies for both high-rate and low-rate wireless personal area networks (WPANs) are under development by several standardization bodies. They are considering to adopt distributed TDMA MAC protocols to provide seamless user mobility as well as a good peer-to-peer QoS in WPAN mesh. It has been, however, pointed out that the absence of a central controller in the wireless TDMA MAC may cause a severe performance degradation: e. g., fair allocation, service differentiation, and admission control may be hard to achieve or can not be provided. In this paper, we suggest a new framework of resource allocation for the distributed MAC protocols in WPANs. Simulation results show that our algorithm achieves both a fair resource allocation and flexible service differentiations in a fully distributed way for mesh WPANs where the devices have high mobility and various requirements. We also provide an analytical modeling to discuss about its unique equilibrium and to compute the lengths of reserved time slots at the stable point.

New fast DCT algorithms based on Loeffler's factorization

NASA Astrophysics Data System (ADS)

Hong, Yoon Mi; Kim, Il-Koo; Lee, Tammy; Cheon, Min-Su; Alshina, Elena; Han, Woo-Jin; Park, Jeong-Hoon

2012-10-01

This paper proposes a new 32-point fast discrete cosine transform (DCT) algorithm based on the Loeffler's 16-point transform. Fast integer realizations of 16-point and 32-point transforms are also provided based on the proposed transform. For the recent development of High Efficiency Video Coding (HEVC), simplified quanti-zation and de-quantization process are proposed. Three different forms of implementation with the essentially same performance, namely matrix multiplication, partial butterfly, and full factorization can be chosen accord-ing to the given platform. In terms of the number of multiplications required for the realization, our proposed full-factorization is 3~4 times faster than a partial butterfly, and about 10 times faster than direct matrix multiplication.

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

I/O efficient algorithms and applications in geographic information systems

NASA Astrophysics Data System (ADS)

Danner, Andrew

Modern remote sensing methods such a laser altimetry (lidar) and Interferometric Synthetic Aperture Radar (IfSAR) produce georeferenced elevation data at unprecedented rates. Many Geographic Information System (GIS) algorithms designed for terrain modelling applications cannot process these massive data sets. The primary problem is that these data sets are too large to fit in the main internal memory of modern computers and must therefore reside on larger, but considerably slower disks. In these applications, the transfer of data between disk and main memory, or I/O, becomes the primary bottleneck. Working in a theoretical model that more accurately represents this two level memory hierarchy, we can develop algorithms that are I/O-efficient and reduce the amount of disk I/O needed to solve a problem. In this thesis we aim to modernize GIS algorithms and develop a number of I/O-efficient algorithms for processing geographic data derived from massive elevation data sets. For each application, we convert a geographic question to an algorithmic question, develop an I/O-efficient algorithm that is theoretically efficient, implement our approach and verify its performance using real-world data. The applications we consider include constructing a gridded digital elevation model (DEM) from an irregularly spaced point cloud, removing topological noise from a DEM, modeling surface water flow over a terrain, extracting river networks and watershed hierarchies from the terrain, and locating polygons containing query points in a planar subdivision. We initially developed solutions to each of these applications individually. However, we also show how to combine individual solutions to form a scalable geo-processing pipeline that seamlessly solves a sequence of sub-problems with little or no manual intervention. We present experimental results that demonstrate orders of magnitude improvement over previously known algorithms.

Topogrid Derived 10 Meter Resolution Digital Elevation Model of the Shenandoah National Park and Surrounding Region, Virginia

USGS Publications Warehouse

Chirico, Peter G.; Tanner, Seth D.

2004-01-01

Explanation The purpose of developing a new 10m resolution DEM of the Shenandoah National Park Region was to more accurately depict geologic structure, surfical geology, and landforms of the Shenandoah National Park Region in preparation for automated landform classification. Previously, only a 30m resolution DEM was available through the National Elevation Dataset (NED). During production of the Shenandoah10m DEM of the Park the Geography Discipline of the USGS completed a revised 10m DEM to be included into the NED. However, different methodologies were used to produce the two similar DEMs. The ANUDEM algorithm was used to develop the Shenadoah DEM data. This algorithm allows for the inclusion of contours, streams, rivers, lake and water body polygons as well as spot height data to control the elevation model. A statistical analysis using over 800 National Geodetic Survey (NGS) first and second order vertical control points reveals that the Shenandoah10m DEM, produced as a part of the Appalachian Blue Ridge Landscape project, has a vertical accuracy of ?4.87 meters. The metadata for the 10m NED data reports a vertical accuracy of ?7m. A table listing the NGS control points, the elevation comparison, and the RMSE for the Shenandoah10m DEM is provided. The process of automated terrain classification involves developing statistical signatures from the DEM for each type of surficial deposit and landform type. The signature will be a measure of several characteristics derived from the elevation data including slope, aspect, planform curvature, and profile curvature. The quality of the DEM is of critical importance when extracting terrain signatures. The highest possible horizontal and vertical accuracy is required. The more accurate Shenandoah 10m DEM can now be analyzed and integrated with the geologic observations to yield statistical correlations between the two in the development of landform and surface geology mapping projects.

Utilizing the Iterative Closest Point (ICP) algorithm for enhanced registration of high resolution surface models - more than a simple black-box application

NASA Astrophysics Data System (ADS)

Stöcker, Claudia; Eltner, Anette

2016-04-01

Advances in computer vision and digital photogrammetry (i.e. structure from motion) allow for fast and flexible high resolution data supply. Within geoscience applications and especially in the field of small surface topography, high resolution digital terrain models and dense 3D point clouds are valuable data sources to capture actual states as well as for multi-temporal studies. However, there are still some limitations regarding robust registration and accuracy demands (e.g. systematic positional errors) which impede the comparison and/or combination of multi-sensor data products. Therefore, post-processing of 3D point clouds can heavily enhance data quality. In this matter the Iterative Closest Point (ICP) algorithm represents an alignment tool which iteratively minimizes distances of corresponding points within two datasets. Even though tool is widely used; it is often applied as a black-box application within 3D data post-processing for surface reconstruction. Aiming for precise and accurate combination of multi-sensor data sets, this study looks closely at different variants of the ICP algorithm including sub-steps of point selection, point matching, weighting, rejection, error metric and minimization. Therefore, an agricultural utilized field was investigated simultaneously by terrestrial laser scanning (TLS) and unmanned aerial vehicle (UAV) sensors two times (once covered with sparse vegetation and once bare soil). Due to different perspectives both data sets show diverse consistency in terms of shadowed areas and thus gaps so that data merging would provide consistent surface reconstruction. Although photogrammetric processing already included sub-cm accurate ground control surveys, UAV point cloud exhibits an offset towards TLS point cloud. In order to achieve the transformation matrix for fine registration of UAV point clouds, different ICP variants were tested. Statistical analyses of the results show that final success of registration and therefore data quality depends particularly on parameterization and choice of error metric, especially for erroneous data sets as in the case of sparse vegetation cover. At this, the point-to-point metric is more sensitive to data "noise" than the point-to-plane metric which results in considerably higher cloud-to-cloud distances. Concluding, in order to comply with accuracy demands of high resolution surface reconstruction and the aspect that ground control surveys can reach their limits both in time exposure and terrain accessibility ICP algorithm represents a great tool to refine rough initial alignment. Here different variants of registration modules allow for individual application according to the quality of the input data.

Piloted simulation of a ground-based time-control concept for air traffic control

NASA Technical Reports Server (NTRS)

Davis, Thomas J.; Green, Steven M.

1989-01-01

A concept for aiding air traffic controllers in efficiently spacing traffic and meeting scheduled arrival times at a metering fix was developed and tested in a real time simulation. The automation aid, referred to as the ground based 4-D descent advisor (DA), is based on accurate models of aircraft performance and weather conditions. The DA generates suggested clearances, including both top-of-descent-point and speed-profile data, for one or more aircraft in order to achieve specific time or distance separation objectives. The DA algorithm is used by the air traffic controller to resolve conflicts and issue advisories to arrival aircraft. A joint simulation was conducted using a piloted simulator and an advanced concept air traffic control simulation to study the acceptability and accuracy of the DA automation aid from both the pilot's and the air traffic controller's perspectives. The results of the piloted simulation are examined. In the piloted simulation, airline crews executed controller issued descent advisories along standard curved path arrival routes, and were able to achieve an arrival time precision of + or - 20 sec at the metering fix. An analysis of errors generated in turns resulted in further enhancements of the algorithm to improve the predictive accuracy. Evaluations by pilots indicate general support for the concept and provide specific recommendations for improvement.

A Lyapunov based approach to energy maximization in renewable energy technologies

NASA Astrophysics Data System (ADS)

Iyasere, Erhun

This dissertation describes the design and implementation of Lyapunov-based control strategies for the maximization of the power captured by renewable energy harnessing technologies such as (i) a variable speed, variable pitch wind turbine, (ii) a variable speed wind turbine coupled to a doubly fed induction generator, and (iii) a solar power generating system charging a constant voltage battery. First, a torque control strategy is presented to maximize wind energy captured in variable speed, variable pitch wind turbines at low to medium wind speeds. The proposed strategy applies control torque to the wind turbine pitch and rotor subsystems to simultaneously control the blade pitch and tip speed ratio, via the rotor angular speed, to an optimum point at which the capture efficiency is maximum. The control method allows for aerodynamic rotor power maximization without exact knowledge of the wind turbine model. A series of numerical results show that the wind turbine can be controlled to achieve maximum energy capture. Next, a control strategy is proposed to maximize the wind energy captured in a variable speed wind turbine, with an internal induction generator, at low to medium wind speeds. The proposed strategy controls the tip speed ratio, via the rotor angular speed, to an optimum point at which the efficiency constant (or power coefficient) is maximal for a particular blade pitch angle and wind speed by using the generator rotor voltage as a control input. This control method allows for aerodynamic rotor power maximization without exact wind turbine model knowledge. Representative numerical results demonstrate that the wind turbine can be controlled to achieve near maximum energy capture. Finally, a power system consisting of a photovoltaic (PV) array panel, dc-to-dc switching converter, charging a battery is considered wherein the environmental conditions are time-varying. A backstepping PWM controller is developed to maximize the power of the solar generating system. The controller tracks a desired array voltage, designed online using an incremental conductance extremum-seeking algorithm, by varying the duty cycle of the switching converter. The stability of the control algorithm is demonstrated by means of Lyapunov analysis. Representative numerical results demonstrate that the grid power system can be controlled to track the maximum power point of the photovoltaic array panel in varying atmospheric conditions. Additionally, the performance of the proposed strategy is compared to the typical maximum power point tracking (MPPT) method of perturb and observe (P&O), where the converter dynamics are ignored, and is shown to yield better results.

[Prenatal risk calculation: comparison between Fast Screen pre I plus software and ViewPoint software. Evaluation of the risk calculation algorithms].

PubMed

Morin, Jean-François; Botton, Eléonore; Jacquemard, François; Richard-Gireme, Anouk

2013-01-01

The Fetal medicine foundation (FMF) has developed a new algorithm called Prenatal Risk Calculation (PRC) to evaluate Down syndrome screening based on free hCGβ, PAPP-A and nuchal translucency. The peculiarity of this algorithm is to use the degree of extremeness (DoE) instead of the multiple of the median (MoM). The biologists measuring maternal seric markers on Kryptor™ machines (Thermo Fisher Scientific) use Fast Screen pre I plus software for the prenatal risk calculation. This software integrates the PRC algorithm. Our study evaluates the data of 2.092 patient files of which 19 show a fœtal abnormality. These files have been first evaluated with the ViewPoint software based on MoM. The link between DoE and MoM has been analyzed and the different calculated risks compared. The study shows that Fast Screen pre I plus software gives the same risk results as ViewPoint software, but yields significantly fewer false positive results.

LMI-Based Generation of Feedback Laws for a Robust Model Predictive Control Algorithm

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Carson, John M., III

2007-01-01

This technical note provides a mathematical proof of Corollary 1 from the paper 'A Nonlinear Model Predictive Control Algorithm with Proven Robustness and Resolvability' that appeared in the 2006 Proceedings of the American Control Conference. The proof was omitted for brevity in the publication. The paper was based on algorithms developed for the FY2005 R&TD (Research and Technology Development) project for Small-body Guidance, Navigation, and Control [2].The framework established by the Corollary is for a robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems that guarantees the resolvability of the associated nite-horizon optimal control problem in a receding-horizon implementation. Additional details of the framework are available in the publication.

Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.

PubMed

Wang, Tao; Xie, Wenfang; Zhang, Youmin

2012-05-01

In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

The multi-disciplinary design study: A life cycle cost algorithm

NASA Technical Reports Server (NTRS)

Harding, R. R.; Pichi, F. J.

1988-01-01

The approach and results of a Life Cycle Cost (LCC) analysis of the Space Station Solar Dynamic Power Subsystem (SDPS) including gimbal pointing and power output performance are documented. The Multi-Discipline Design Tool (MDDT) computer program developed during the 1986 study has been modified to include the design, performance, and cost algorithms for the SDPS as described. As with the Space Station structural and control subsystems, the LCC of the SDPS can be computed within the MDDT program as a function of the engineering design variables. Two simple examples of MDDT's capability to evaluate cost sensitivity and design based on LCC are included. MDDT was designed to accept NASA's IMAT computer program data as input so that IMAT's detailed structural and controls design capability can be assessed with expected system LCC as computed by MDDT. No changes to IMAT were required. Detailed knowledge of IMAT is not required to perform the LCC analyses as the interface with IMAT is noninteractive.

High-Speed Current dq PI Controller for Vector Controlled PMSM Drive

PubMed Central

Reaz, Mamun Bin Ibne; Rahman, Labonnah Farzana; Chang, Tae Gyu

2014-01-01

High-speed current controller for vector controlled permanent magnet synchronous motor (PMSM) is presented. The controller is developed based on modular design for faster calculation and uses fixed-point proportional-integral (PI) method for improved accuracy. Current dq controller is usually implemented in digital signal processor (DSP) based computer. However, DSP based solutions are reaching their physical limits, which are few microseconds. Besides, digital solutions suffer from high implementation cost. In this research, the overall controller is realizing in field programmable gate array (FPGA). FPGA implementation of the overall controlling algorithm will certainly trim down the execution time significantly to guarantee the steadiness of the motor. Agilent 16821A Logic Analyzer is employed to validate the result of the implemented design in FPGA. Experimental results indicate that the proposed current dq PI controller needs only 50 ns of execution time in 40 MHz clock, which is the lowest computational cycle for the era. PMID:24574913

Determining Hypocentral Parameters for Local Earthquakes in 1-D Using a Genetic Algorithm and Two-point ray tracing

NASA Astrophysics Data System (ADS)

Kim, W.; Hahm, I.; Ahn, S. J.; Lim, D. H.

2005-12-01

This paper introduces a powerful method for determining hypocentral parameters for local earthquakes in 1-D using a genetic algorithm (GA) and two-point ray tracing. Using existing algorithms to determine hypocentral parameters is difficult, because these parameters can vary based on initial velocity models. We developed a new method to solve this problem by applying a GA to an existing algorithm, HYPO-71 (Lee and Larh, 1975). The original HYPO-71 algorithm was modified by applying two-point ray tracing and a weighting factor with respect to the takeoff angle at the source to reduce errors from the ray path and hypocenter depth. Artificial data, without error, were generated by computer using two-point ray tracing in a true model, in which velocity structure and hypocentral parameters were known. The accuracy of the calculated results was easily determined by comparing calculated and actual values. We examined the accuracy of this method for several cases by changing the true and modeled layer numbers and thicknesses. The computational results show that this method determines nearly exact hypocentral parameters without depending on initial velocity models. Furthermore, accurate and nearly unique hypocentral parameters were obtained, although the number of modeled layers and thicknesses differed from those in the true model. Therefore, this method can be a useful tool for determining hypocentral parameters in regions where reliable local velocity values are unknown. This method also provides the basic a priori information for 3-D studies. KEY -WORDS: hypocentral parameters, genetic algorithm (GA), two-point ray tracing

Discrete-Time Deterministic $Q$ -Learning: A Novel Convergence Analysis.

PubMed

Wei, Qinglai; Lewis, Frank L; Sun, Qiuye; Yan, Pengfei; Song, Ruizhuo

2017-05-01

In this paper, a novel discrete-time deterministic Q -learning algorithm is developed. In each iteration of the developed Q -learning algorithm, the iterative Q function is updated for all the state and control spaces, instead of updating for a single state and a single control in traditional Q -learning algorithm. A new convergence criterion is established to guarantee that the iterative Q function converges to the optimum, where the convergence criterion of the learning rates for traditional Q -learning algorithms is simplified. During the convergence analysis, the upper and lower bounds of the iterative Q function are analyzed to obtain the convergence criterion, instead of analyzing the iterative Q function itself. For convenience of analysis, the convergence properties for undiscounted case of the deterministic Q -learning algorithm are first developed. Then, considering the discounted factor, the convergence criterion for the discounted case is established. Neural networks are used to approximate the iterative Q function and compute the iterative control law, respectively, for facilitating the implementation of the deterministic Q -learning algorithm. Finally, simulation results and comparisons are given to illustrate the performance of the developed algorithm.

An Automatic Registration Algorithm for 3D Maxillofacial Model

NASA Astrophysics Data System (ADS)

Qiu, Luwen; Zhou, Zhongwei; Guo, Jixiang; Lv, Jiancheng

2016-09-01

3D image registration aims at aligning two 3D data sets in a common coordinate system, which has been widely used in computer vision, pattern recognition and computer assisted surgery. One challenging problem in 3D registration is that point-wise correspondences between two point sets are often unknown apriori. In this work, we develop an automatic algorithm for 3D maxillofacial models registration including facial surface model and skull model. Our proposed registration algorithm can achieve a good alignment result between partial and whole maxillofacial model in spite of ambiguous matching, which has a potential application in the oral and maxillofacial reparative and reconstructive surgery. The proposed algorithm includes three steps: (1) 3D-SIFT features extraction and FPFH descriptors construction; (2) feature matching using SAC-IA; (3) coarse rigid alignment and refinement by ICP. Experiments on facial surfaces and mandible skull models demonstrate the efficiency and robustness of our algorithm.

Robust design of multiple trailing edge flaps for helicopter vibration reduction: A multi-objective bat algorithm approach

NASA Astrophysics Data System (ADS)

Mallick, Rajnish; Ganguli, Ranjan; Seetharama Bhat, M.

2015-09-01

The objective of this study is to determine an optimal trailing edge flap configuration and flap location to achieve minimum hub vibration levels and flap actuation power simultaneously. An aeroelastic analysis of a soft in-plane four-bladed rotor is performed in conjunction with optimal control. A second-order polynomial response surface based on an orthogonal array (OA) with 3-level design describes both the objectives adequately. Two new orthogonal arrays called MGB2P-OA and MGB4P-OA are proposed to generate nonlinear response surfaces with all interaction terms for two and four parameters, respectively. A multi-objective bat algorithm (MOBA) approach is used to obtain the optimal design point for the mutually conflicting objectives. MOBA is a recently developed nature-inspired metaheuristic optimization algorithm that is based on the echolocation behaviour of bats. It is found that MOBA inspired Pareto optimal trailing edge flap design reduces vibration levels by 73% and flap actuation power by 27% in comparison with the baseline design.

Simulation evaluation of a low-altitude helicopter flight guidance system adapted for a helmet-mounted display

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Zelenka, Richard E.; Hardy, Gordon H.; Dearing, Munro G.

1992-01-01

A computer aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generation algorithm based upon dynamic programming and a helmet-mounted display (HMD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor guidance symbology. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission way points that seeks valleys to minimize threat exposure. The pilot evaluation was conducted at NASA ARC moving base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, the Air Force, and the helicopter industry. The pilots manually tracked the trajectory generated by the algorithm utilizing the HMD symbology. The pilots were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Design and implementation of robust controllers for a gait trainer.

PubMed

Wang, F C; Yu, C H; Chou, T Y

2009-08-01

This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with traditional rehabilitation procedures, in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design Hinfinity robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective.

The Development of Point Doppler Velocimeter Data Acquisition and Processing Software

NASA Technical Reports Server (NTRS)

Cavone, Angelo A.

2008-01-01

In order to develop efficient and quiet aircraft and validate Computational Fluid Dynamic predications, aerodynamic researchers require flow parameter measurements to characterize flow fields about wind tunnel models and jet flows. A one-component Point Doppler Velocimeter (pDv), a non-intrusive, laser-based instrument, was constructed using a design/develop/test/validate/deploy approach. A primary component of the instrument is software required for system control/management and data collection/reduction. This software along with evaluation algorithms, advanced pDv from a laboratory curiosity to a production level instrument. Simultaneous pDv and pitot probe velocity measurements obtained at the centerline of a flow exiting a two-inch jet, matched within 0.4%. Flow turbulence spectra obtained with pDv and a hot-wire detected the primary and secondary harmonics with equal dynamic range produced by the fan driving the flow. Novel,hardware and software methods were developed, tested and incorporated into the system to eliminate and/or minimize error sources and improve system reliability.

Value Iteration Adaptive Dynamic Programming for Optimal Control of Discrete-Time Nonlinear Systems.

PubMed

Wei, Qinglai; Liu, Derong; Lin, Hanquan

2016-03-01

In this paper, a value iteration adaptive dynamic programming (ADP) algorithm is developed to solve infinite horizon undiscounted optimal control problems for discrete-time nonlinear systems. The present value iteration ADP algorithm permits an arbitrary positive semi-definite function to initialize the algorithm. A novel convergence analysis is developed to guarantee that the iterative value function converges to the optimal performance index function. Initialized by different initial functions, it is proven that the iterative value function will be monotonically nonincreasing, monotonically nondecreasing, or nonmonotonic and will converge to the optimum. In this paper, for the first time, the admissibility properties of the iterative control laws are developed for value iteration algorithms. It is emphasized that new termination criteria are established to guarantee the effectiveness of the iterative control laws. Neural networks are used to approximate the iterative value function and compute the iterative control law, respectively, for facilitating the implementation of the iterative ADP algorithm. Finally, two simulation examples are given to illustrate the performance of the present method.

Development of rehabilitation training support system for occupational therapy of upper limb motor function

NASA Astrophysics Data System (ADS)

Morita, Yoshifumi; Hirose, Akinori; Uno, Takashi; Uchid, Masaki; Ukai, Hiroyuki; Matsui, Nobuyuki

2007-12-01

In this paper we propose a new rehabilitation training support system for upper limbs. The proposed system enables therapists to quantitatively evaluate the therapeutic effect of upper limb motor function during training, to easily change the load of resistance of training and to easily develop a new training program suitable for the subjects. For this purpose we develop control algorithms of training programs in the 3D force display robot. The 3D force display robot has parallel link mechanism with three motors. The control algorithm simulating sanding training is developed for the 3D force display robot. Moreover the teaching/training function algorithm is developed. It enables the therapists to easily make training trajectory suitable for subject's condition. The effectiveness of the developed control algorithms is verified by experiments.

Three-Dimensional Eye Tracking in a Surgical Scenario.

PubMed

Bogdanova, Rositsa; Boulanger, Pierre; Zheng, Bin

2015-10-01

Eye tracking has been widely used in studying the eye behavior of surgeons in the past decade. Most eye-tracking data are reported in a 2-dimensional (2D) fashion, and data for describing surgeons' behaviors on stereoperception are often missed. With the introduction of stereoscopes in laparoscopic procedures, there is an increasing need for studying the depth perception of surgeons under 3D image-guided surgery. We developed a new algorithm for the computation of convergence points in stereovision by measuring surgeons' interpupillary distance, the distance to the view target, and the difference between gaze locations of the 2 eyes. To test the feasibility of our new algorithm, we recruited 10 individuals to watch stereograms using binocular disparity and asked them to develop stereoperception using a cross-eyed viewing technique. Participants' eye motions were recorded by the Tobii eye tracker while they performed the trials. Convergence points between normal and stereo-viewing conditions were computed using the developed algorithm. All 10 participants were able to develop stereovision after a short period of training. During stereovision, participants' eye convergence points were 14 ± 1 cm in front of their eyes, which was significantly closer than the convergence points under the normal viewing condition (77 ± 20 cm). By applying our method of calculating convergence points using eye tracking, we were able to elicit the eye movement patterns of human operators between the normal and stereovision conditions. Knowledge from this study can be applied to the design of surgical visual systems, with the goal of improving surgical performance and patient safety. © The Author(s) 2015.

Plasma boundary shape control and real-time equilibrium reconstruction on NSTX-U

DOE PAGES

Boyer, M. D.; Battaglia, D. J.; Mueller, D.; ...

2018-01-25

Here, the upgrade to the National Spherical Torus eXperiment (NSTX-U) included two main improvements: a larger center-stack, enabling higher toroidal field and longer pulse duration, and the addition of three new tangentially aimed neutral beam sources, which increase available heating and current drive, and allow for flexibility in shaping power, torque, current, and particle deposition profiles. To best use these new capabilities and meet the high-performance operational goals of NSTX-U, major upgrades to the NSTX-U control system (NCS) hardware and software have been made. Several control algorithms, including those used for real-time equilibrium reconstruction and shape control, have been upgradedmore » to improve and extend plasma control capabilities. As part of the commissioning phase of first plasma operations, the shape control system was tuned to control the boundary in both inner-wall limited and diverted discharges. It has been used to accurately track the requested evolution of the boundary (including the size of the inner gap between the plasma and central solenoid, which is a challenge for the ST configuration), X-point locations, and strike point locations, enabling repeatable discharge evolutions for scenario development and diagnostic commissioning.« less

Plasma boundary shape control and real-time equilibrium reconstruction on NSTX-U

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

Boyer, M. D.; Battaglia, D. J.; Mueller, D.

Here, the upgrade to the National Spherical Torus eXperiment (NSTX-U) included two main improvements: a larger center-stack, enabling higher toroidal field and longer pulse duration, and the addition of three new tangentially aimed neutral beam sources, which increase available heating and current drive, and allow for flexibility in shaping power, torque, current, and particle deposition profiles. To best use these new capabilities and meet the high-performance operational goals of NSTX-U, major upgrades to the NSTX-U control system (NCS) hardware and software have been made. Several control algorithms, including those used for real-time equilibrium reconstruction and shape control, have been upgradedmore » to improve and extend plasma control capabilities. As part of the commissioning phase of first plasma operations, the shape control system was tuned to control the boundary in both inner-wall limited and diverted discharges. It has been used to accurately track the requested evolution of the boundary (including the size of the inner gap between the plasma and central solenoid, which is a challenge for the ST configuration), X-point locations, and strike point locations, enabling repeatable discharge evolutions for scenario development and diagnostic commissioning.« less

Plasma boundary shape control and real-time equilibrium reconstruction on NSTX-U

NASA Astrophysics Data System (ADS)

Boyer, M. D.; Battaglia, D. J.; Mueller, D.; Eidietis, N.; Erickson, K.; Ferron, J.; Gates, D. A.; Gerhardt, S.; Johnson, R.; Kolemen, E.; Menard, J.; Myers, C. E.; Sabbagh, S. A.; Scotti, F.; Vail, P.

2018-03-01

The upgrade to the National Spherical Torus eXperiment (NSTX-U) included two main improvements: a larger center-stack, enabling higher toroidal field and longer pulse duration, and the addition of three new tangentially aimed neutral beam sources, which increase available heating and current drive, and allow for flexibility in shaping power, torque, current, and particle deposition profiles. To best use these new capabilities and meet the high-performance operational goals of NSTX-U, major upgrades to the NSTX-U control system (NCS) hardware and software have been made. Several control algorithms, including those used for real-time equilibrium reconstruction and shape control, have been upgraded to improve and extend plasma control capabilities. As part of the commissioning phase of first plasma operations, the shape control system was tuned to control the boundary in both inner-wall limited and diverted discharges. It has been used to accurately track the requested evolution of the boundary (including the size of the inner gap between the plasma and central solenoid, which is a challenge for the ST configuration), X-point locations, and strike point locations, enabling repeatable discharge evolutions for scenario development and diagnostic commissioning.

Algorithm for astronomical, point source, signal to noise ratio calculations

NASA Technical Reports Server (NTRS)

Jayroe, R. R.; Schroeder, D. J.

1984-01-01

An algorithm was developed to simulate the expected signal to noise ratios as a function of observation time in the charge coupled device detector plane of an optical telescope located outside the Earth's atmosphere for a signal star, and an optional secondary star, embedded in a uniform cosmic background. By choosing the appropriate input values, the expected point source signal to noise ratio can be computed for the Hubble Space Telescope using the Wide Field/Planetary Camera science instrument.

Advanced Wavefront Sensing and Control Testbed (AWCT)

NASA Technical Reports Server (NTRS)

Shi, Fang; Basinger, Scott A.; Diaz, Rosemary T.; Gappinger, Robert O.; Tang, Hong; Lam, Raymond K.; Sidick, Erkin; Hein, Randall C.; Rud, Mayer; Troy, Mitchell

2010-01-01

The Advanced Wavefront Sensing and Control Testbed (AWCT) is built as a versatile facility for developing and demonstrating, in hardware, the future technologies of wave front sensing and control algorithms for active optical systems. The testbed includes a source projector for a broadband point-source and a suite of extended scene targets, a dispersed fringe sensor, a Shack-Hartmann camera, and an imaging camera capable of phase retrieval wavefront sensing. The testbed also provides two easily accessible conjugated pupil planes which can accommodate the active optical devices such as fast steering mirror, deformable mirror, and segmented mirrors. In this paper, we describe the testbed optical design, testbed configurations and capabilities, as well as the initial results from the testbed hardware integrations and tests.

Autoregressive-model-based missing value estimation for DNA microarray time series data.

PubMed

Choong, Miew Keen; Charbit, Maurice; Yan, Hong

2009-01-01

Missing value estimation is important in DNA microarray data analysis. A number of algorithms have been developed to solve this problem, but they have several limitations. Most existing algorithms are not able to deal with the situation where a particular time point (column) of the data is missing entirely. In this paper, we present an autoregressive-model-based missing value estimation method (ARLSimpute) that takes into account the dynamic property of microarray temporal data and the local similarity structures in the data. ARLSimpute is especially effective for the situation where a particular time point contains many missing values or where the entire time point is missing. Experiment results suggest that our proposed algorithm is an accurate missing value estimator in comparison with other imputation methods on simulated as well as real microarray time series datasets.

Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions

NASA Technical Reports Server (NTRS)

Beauchamp, Pat; Cutts, James; Quadrelli, Marco B.; Wood, Lincoln J.; Riedel, Joseph E.; McHenry, Mike; Aung, MiMi; Cangahuala, Laureano A.; Volpe, Rich

2013-01-01

Future planetary explorations envisioned by the National Research Council's (NRC's) report titled Vision and Voyages for Planetary Science in the Decade 2013-2022, developed for NASA Science Mission Directorate (SMD) Planetary Science Division (PSD), seek to reach targets of broad scientific interest across the solar system. This goal requires new capabilities such as innovative interplanetary trajectories, precision landing, operation in close proximity to targets, precision pointing, multiple collaborating spacecraft, multiple target tours, and advanced robotic surface exploration. Advancements in Guidance, Navigation, and Control (GN&C) and Mission Design in the areas of software, algorithm development and sensors will be necessary to accomplish these future missions. This paper summarizes the key GN&C and mission design capabilities and technologies needed for future missions pursuing SMD PSD's scientific goals.

Multidimensional stochastic approximation using locally contractive functions

NASA Technical Reports Server (NTRS)

Lawton, W. M.

1975-01-01

A Robbins-Monro type multidimensional stochastic approximation algorithm which converges in mean square and with probability one to the fixed point of a locally contractive regression function is developed. The algorithm is applied to obtain maximum likelihood estimates of the parameters for a mixture of multivariate normal distributions.

Algorithms used for read-out optical system pointing to multiplexed computer generated 1D-Fourier holograms and decoding the encrypted information

NASA Astrophysics Data System (ADS)

Donchenko, Sergey S.; Odinokov, Sergey B.; Betin, Alexandr U.; Hanevich, Pavel; Semishko, Sergey; Zlokazov, Evgenii Y.

2017-05-01

The holographic disk reading device for recovery of CGFH is described. Principle of its work is shown. Analyzed approaches for developing algorithms, used in this device: guidance and decoding. Listed results of experimental researches.

Power System Decomposition for Practical Implementation of Bulk-Grid Voltage Control Methods

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

Vallem, Mallikarjuna R.; Vyakaranam, Bharat GNVSR; Holzer, Jesse T.

Power system algorithms such as AC optimal power flow and coordinated volt/var control of the bulk power system are computationally intensive and become difficult to solve in operational time frames. The computational time required to run these algorithms increases exponentially as the size of the power system increases. The solution time for multiple subsystems is less than that for solving the entire system simultaneously, and the local nature of the voltage problem lends itself to such decomposition. This paper describes an algorithm that can be used to perform power system decomposition from the point of view of the voltage controlmore » problem. Our approach takes advantage of the dominant localized effect of voltage control and is based on clustering buses according to the electrical distances between them. One of the contributions of the paper is to use multidimensional scaling to compute n-dimensional Euclidean coordinates for each bus based on electrical distance to perform algorithms like K-means clustering. A simple coordinated reactive power control of photovoltaic inverters for voltage regulation is used to demonstrate the effectiveness of the proposed decomposition algorithm and its components. The proposed decomposition method is demonstrated on the IEEE 118-bus system.« less

Full-waveform data for building roof step edge localization

NASA Astrophysics Data System (ADS)

Słota, Małgorzata

2015-08-01

Airborne laser scanning data perfectly represent flat or gently sloped areas; to date, however, accurate breakline detection is the main drawback of this technique. This issue becomes particularly important in the case of modeling buildings, where accuracy higher than the footprint size is often required. This article covers several issues related to full-waveform data registered on building step edges. First, the full-waveform data simulator was developed and presented in this paper. Second, this article provides a full description of the changes in echo amplitude, echo width and returned power caused by the presence of edges within the laser footprint. Additionally, two important properties of step edge echoes, peak shift and echo asymmetry, were noted and described. It was shown that these properties lead to incorrect echo positioning along the laser center line and can significantly reduce the edge points' accuracy. For these reasons and because all points are aligned with the center of the beam, regardless of the actual target position within the beam footprint, we can state that step edge points require geometric corrections. This article presents a novel algorithm for the refinement of step edge points. The main distinguishing advantage of the developed algorithm is the fact that none of the additional data, such as emitted signal parameters, beam divergence, approximate edge geometry or scanning settings, are required. The proposed algorithm works only on georeferenced profiles of reflected laser energy. Another major advantage is the simplicity of the calculation, allowing for very efficient data processing. Additionally, the developed method of point correction allows for the accurate determination of points lying on edges and edge point densification. For this reason, fully automatic localization of building roof step edges based on LiDAR full-waveform data with higher accuracy than the size of the lidar footprint is feasible.

A proximity algorithm accelerated by Gauss-Seidel iterations for L1/TV denoising models

NASA Astrophysics Data System (ADS)

Li, Qia; Micchelli, Charles A.; Shen, Lixin; Xu, Yuesheng

2012-09-01

Our goal in this paper is to improve the computational performance of the proximity algorithms for the L1/TV denoising model. This leads us to a new characterization of all solutions to the L1/TV model via fixed-point equations expressed in terms of the proximity operators. Based upon this observation we develop an algorithm for solving the model and establish its convergence. Furthermore, we demonstrate that the proposed algorithm can be accelerated through the use of the componentwise Gauss-Seidel iteration so that the CPU time consumed is significantly reduced. Numerical experiments using the proposed algorithm for impulsive noise removal are included, with a comparison to three recently developed algorithms. The numerical results show that while the proposed algorithm enjoys a high quality of the restored images, as the other three known algorithms do, it performs significantly better in terms of computational efficiency measured in the CPU time consumed.

An algorithm to locate optimal bond breaking points on a potential energy surface for applications in mechanochemistry and catalysis.

PubMed

Bofill, Josep Maria; Ribas-Ariño, Jordi; García, Sergio Pablo; Quapp, Wolfgang

2017-10-21

The reaction path of a mechanically induced chemical transformation changes under stress. It is well established that the force-induced structural changes of minima and saddle points, i.e., the movement of the stationary points on the original or stress-free potential energy surface, can be described by a Newton Trajectory (NT). Given a reactive molecular system, a well-fitted pulling direction, and a sufficiently large value of the force, the minimum configuration of the reactant and the saddle point configuration of a transition state collapse at a point on the corresponding NT trajectory. This point is called barrier breakdown point or bond breaking point (BBP). The Hessian matrix at the BBP has a zero eigenvector which coincides with the gradient. It indicates which force (both in magnitude and direction) should be applied to the system to induce the reaction in a barrierless process. Within the manifold of BBPs, there exist optimal BBPs which indicate what is the optimal pulling direction and what is the minimal magnitude of the force to be applied for a given mechanochemical transformation. Since these special points are very important in the context of mechanochemistry and catalysis, it is crucial to develop efficient algorithms for their location. Here, we propose a Gauss-Newton algorithm that is based on the minimization of a positively defined function (the so-called σ-function). The behavior and efficiency of the new algorithm are shown for 2D test functions and for a real chemical example.

Applications of multiscale change point detections to monthly stream flow and rainfall in Xijiang River in southern China, part I: correlation and variance

NASA Astrophysics Data System (ADS)

Zhu, Yuxiang; Jiang, Jianmin; Huang, Changxing; Chen, Yongqin David; Zhang, Qiang

2018-04-01

This article, as part I, introduces three algorithms and applies them to both series of the monthly stream flow and rainfall in Xijiang River, southern China. The three algorithms include (1) normalization of probability distribution, (2) scanning U test for change points in correlation between two time series, and (3) scanning F-test for change points in variances. The normalization algorithm adopts the quantile method to normalize data from a non-normal into the normal probability distribution. The scanning U test and F-test have three common features: grafting the classical statistics onto the wavelet algorithm, adding corrections for independence into each statistic criteria at given confidence respectively, and being almost objective and automatic detection on multiscale time scales. In addition, the coherency analyses between two series are also carried out for changes in variance. The application results show that the changes of the monthly discharge are still controlled by natural precipitation variations in Xijiang's fluvial system. Human activities disturbed the ecological balance perhaps in certain content and in shorter spells but did not violate the natural relationships of correlation and variance changes so far.

Circuit Design Optimization Using Genetic Algorithm with Parameterized Uniform Crossover

NASA Astrophysics Data System (ADS)

Bao, Zhiguo; Watanabe, Takahiro

Evolvable hardware (EHW) is a new research field about the use of Evolutionary Algorithms (EAs) to construct electronic systems. EHW refers in a narrow sense to use evolutionary mechanisms as the algorithmic drivers for system design, while in a general sense to the capability of the hardware system to develop and to improve itself. Genetic Algorithm (GA) is one of typical EAs. We propose optimal circuit design by using GA with parameterized uniform crossover (GApuc) and with fitness function composed of circuit complexity, power, and signal delay. Parameterized uniform crossover is much more likely to distribute its disruptive trials in an unbiased manner over larger portions of the space, then it has more exploratory power than one and two-point crossover, so we have more chances of finding better solutions. Its effectiveness is shown by experiments. From the results, we can see that the best elite fitness, the average value of fitness of the correct circuits and the number of the correct circuits of GApuc are better than that of GA with one-point crossover or two-point crossover. The best case of optimal circuits generated by GApuc is 10.18% and 6.08% better in evaluating value than that by GA with one-point crossover and two-point crossover, respectively.

Control algorithm implementation for a redundant degree of freedom manipulator

NASA Technical Reports Server (NTRS)

Cohan, Steve

1991-01-01

This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior. The control algorithms are subjected to a dynamic simulation before implementation.

Relay Protection and Automation Systems Based on Programmable Logic Integrated Circuits

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

Lashin, A. V., E-mail: LashinAV@lhp.ru; Kozyrev, A. V.

One of the most promising forms of developing the apparatus part of relay protection and automation devices is considered. The advantages of choosing programmable logic integrated circuits to obtain adaptive technological algorithms in power system protection and control systems are pointed out. The technical difficulties in the problems which today stand in the way of using relay protection and automation systems are indicated and a new technology for solving these problems is presented. Particular attention is devoted to the possibility of reconfiguring the logic of these devices, using programmable logic integrated circuits.

Programmable architecture for pixel level processing tasks in lightweight strapdown IR seekers

NASA Astrophysics Data System (ADS)

Coates, James L.

1993-06-01

Typical processing tasks associated with missile IR seeker applications are described, and a straw man suite of algorithms is presented. A fully programmable multiprocessor architecture is realized on a multimedia video processor (MVP) developed by Texas Instruments. The MVP combines the elements of RISC, floating point, advanced DSPs, graphics processors, display and acquisition control, RAM, and external memory. Front end pixel level tasks typical of missile interceptor applications, operating on 256 x 256 sensor imagery, can be processed at frame rates exceeding 100 Hz in a single MVP chip.

Strategic Control Algorithm Development : Volume 4A. Computer Program Report.

DOT National Transportation Integrated Search

1974-08-01

A description of the strategic algorithm evaluation model is presented, both at the user and programmer levels. The model representation of an airport configuration, environmental considerations, the strategic control algorithm logic, and the airplan...

Strategic Control Algorithm Development : Volume 4B. Computer Program Report (Concluded)

DOT National Transportation Integrated Search

1974-08-01

A description of the strategic algorithm evaluation model is presented, both at the user and programmer levels. The model representation of an airport configuration, environmental considerations, the strategic control algorithm logic, and the airplan...

Automatic control algorithm effects on energy production

NASA Technical Reports Server (NTRS)

Mcnerney, G. M.

1981-01-01

A computer model was developed using actual wind time series and turbine performance data to simulate the power produced by the Sandia 17-m VAWT operating in automatic control. The model was used to investigate the influence of starting algorithms on annual energy production. The results indicate that, depending on turbine and local wind characteristics, a bad choice of a control algorithm can significantly reduce overall energy production. The model can be used to select control algorithms and threshold parameters that maximize long term energy production. The results from local site and turbine characteristics were generalized to obtain general guidelines for control algorithm design.

Equilibrium point control of a monkey arm simulator by a fast learning tree structured artificial neural network.

PubMed

Dornay, M; Sanger, T D

1993-01-01

A planar 17 muscle model of the monkey's arm based on realistic biomechanical measurements was simulated on a Symbolics Lisp Machine. The simulator implements the equilibrium point hypothesis for the control of arm movements. Given initial and final desired positions, it generates a minimum-jerk desired trajectory of the hand and uses the backdriving algorithm to determine an appropriate sequence of motor commands to the muscles (Flash 1987; Mussa-Ivaldi et al. 1991; Dornay 1991b). These motor commands specify a temporal sequence of stable (attractive) equilibrium positions which lead to the desired hand movement. A strong disadvantage of the simulator is that it has no memory of previous computations. Determining the desired trajectory using the minimum-jerk model is instantaneous, but the laborious backdriving algorithm is slow, and can take up to one hour for some trajectories. The complexity of the required computations makes it a poor model for biological motor control. We propose a computationally simpler and more biologically plausible method for control which achieves the benefits of the backdriving algorithm. A fast learning, tree-structured network (Sanger 1991c) was trained to remember the knowledge obtained by the backdriving algorithm. The neural network learned the nonlinear mapping from a 2-dimensional cartesian planar hand position (x,y) to a 17-dimensional motor command space (u1, . . ., u17). Learning 20 training trajectories, each composed of 26 sample points [[x,y], [u1, . . ., u17] took only 20 min on a Sun-4 Sparc workstation. After the learning stage, new, untrained test trajectories as well as the original trajectories of the hand were given to the neural network as input. The network calculated the required motor commands for these movements. The resulting movements were close to the desired ones for both the training and test cases.

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.

Development of the L-1011 four-dimensional flight management system

NASA Technical Reports Server (NTRS)

Lee, H. P.; Leffler, M. F.

1984-01-01

The development of 4-D guidance and control algorithms for the L-1011 Flight Management System is described. Four-D Flight Management is a concept by which an aircraft's flight is optimized along the 3-D path within the constraints of today's ATC environment, while its arrival time is controlled to fit into the air traffic flow without incurring or causing delays. The methods developed herein were designed to be compatible with the time-based en route metering techniques that were recently developed by the Dallas/Fort Worth and Denver Air Route Traffic Control Centers. The ensuing development of the 4-D guidance algorithms, the necessary control laws and the operational procedures are discussed. Results of computer simulation evaluation of the guidance algorithms and control laws are presented, along with a description of the software development procedures utilized.

Research on the control of large space structures

NASA Technical Reports Server (NTRS)

Denman, E. D.

1983-01-01

The research effort on the control of large space structures at the University of Houston has concentrated on the mathematical theory of finite-element models; identification of the mass, damping, and stiffness matrix; assignment of damping to structures; and decoupling of structure dynamics. The objective of the work has been and will continue to be the development of efficient numerical algorithms for analysis, control, and identification of large space structures. The major consideration in the development of the algorithms has been the large number of equations that must be handled by the algorithm as well as sensitivity of the algorithms to numerical errors.

Variable threshold algorithm for division of labor analyzed as a dynamical system.

PubMed

Castillo-Cagigal, Manuel; Matallanas, Eduardo; Navarro, Iñaki; Caamaño-Martín, Estefanía; Monasterio-Huelin, Félix; Gutiérrez, Álvaro

2014-12-01

Division of labor is a widely studied aspect of colony behavior of social insects. Division of labor models indicate how individuals distribute themselves in order to perform different tasks simultaneously. However, models that study division of labor from a dynamical system point of view cannot be found in the literature. In this paper, we define a division of labor model as a discrete-time dynamical system, in order to study the equilibrium points and their properties related to convergence and stability. By making use of this analytical model, an adaptive algorithm based on division of labor can be designed to satisfy dynamic criteria. In this way, we have designed and tested an algorithm that varies the response thresholds in order to modify the dynamic behavior of the system. This behavior modification allows the system to adapt to specific environmental and collective situations, making the algorithm a good candidate for distributed control applications. The variable threshold algorithm is based on specialization mechanisms. It is able to achieve an asymptotically stable behavior of the system in different environments and independently of the number of individuals. The algorithm has been successfully tested under several initial conditions and number of individuals.

Decentralized learning in Markov games.

PubMed

Vrancx, Peter; Verbeeck, Katja; Nowé, Ann

2008-08-01

Learning automata (LA) were recently shown to be valuable tools for designing multiagent reinforcement learning algorithms. One of the principal contributions of the LA theory is that a set of decentralized independent LA is able to control a finite Markov chain with unknown transition probabilities and rewards. In this paper, we propose to extend this algorithm to Markov games--a straightforward extension of single-agent Markov decision problems to distributed multiagent decision problems. We show that under the same ergodic assumptions of the original theorem, the extended algorithm will converge to a pure equilibrium point between agent policies.

Extreme-Scale Algorithms & Software Resilience (EASIR) Architecture-Aware Algorithms for Scalable Performance and Resilience on Heterogeneous Architectures

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

Demmel, James W.

This project addresses both communication-avoiding algorithms, and reproducible floating-point computation. Communication, i.e. moving data, either between levels of memory or processors over a network, is much more expensive per operation than arithmetic (measured in time or energy), so we seek algorithms that greatly reduce communication. We developed many new algorithms for both dense and sparse, and both direct and iterative linear algebra, attaining new communication lower bounds, and getting large speedups in many cases. We also extended this work in several ways: (1) We minimize writes separately from reads, since writes may be much more expensive than reads on emergingmore » memory technologies, like Flash, sometimes doing asymptotically fewer writes than reads. (2) We extend the lower bounds and optimal algorithms to arbitrary algorithms that may be expressed as perfectly nested loops accessing arrays, where the array subscripts may be arbitrary affine functions of the loop indices (eg A(i), B(i,j+k, k+3*m-7, …) etc.). (3) We extend our communication-avoiding approach to some machine learning algorithms, such as support vector machines. This work has won a number of awards. We also address reproducible floating-point computation. We define reproducibility to mean getting bitwise identical results from multiple runs of the same program, perhaps with different hardware resources or other changes that should ideally not change the answer. Many users depend on reproducibility for debugging or correctness. However, dynamic scheduling of parallel computing resources, combined with nonassociativity of floating point addition, makes attaining reproducibility a challenge even for simple operations like summing a vector of numbers, or more complicated operations like the Basic Linear Algebra Subprograms (BLAS). We describe an algorithm that computes a reproducible sum of floating point numbers, independent of the order of summation. The algorithm depends only on a subset of the IEEE Floating Point Standard 754-2008, uses just 6 words to represent a “reproducible accumulator,” and requires just one read-only pass over the data, or one reduction in parallel. New instructions based on this work are being considered for inclusion in the future IEEE 754-2018 floating-point standard, and new reproducible BLAS are being considered for the next version of the BLAS standard.« less

Genetic algorithms applied to the scheduling of the Hubble Space Telescope

NASA Technical Reports Server (NTRS)

Sponsler, Jeffrey L.

1989-01-01

A prototype system employing a genetic algorithm (GA) has been developed to support the scheduling of the Hubble Space Telescope. A non-standard knowledge structure is used and appropriate genetic operators have been created. Several different crossover styles (random point selection, evolving points, and smart point selection) are tested and the best GA is compared with a neural network (NN) based optimizer. The smart crossover operator produces the best results and the GA system is able to evolve complete schedules using it. The GA is not as time-efficient as the NN system and the NN solutions tend to be better.

A novel approach for automatic snow depth estimation using UAV-taken images without ground control points

NASA Astrophysics Data System (ADS)

Mizinski, Bartlomiej; Niedzielski, Tomasz

2017-04-01

Recent developments in snow depth reconstruction based on remote sensing techniques include the use of photographs of snow-covered terrain taken by unmanned aerial vehicles (UAVs). There are several approaches that utilize visible-light photos (RGB) or near infrared images (NIR). The majority of the methods in question are based on reconstructing the digital surface model (DSM) of the snow-covered area with the use of the Structure-from-Motion (SfM) algorithm and the stereo-vision software. Having reconstructed the above-mentioned DSM it is straightforward to calculate the snow depth map which may be produced as a difference between the DSM of snow-covered terrain and the snow-free DSM, known as the reference surface. In order to use the aforementioned procedure, the high spatial accuracy of the two DSMs must be ensured. Traditionally, this is done using the ground control points (GCPs), either artificial or natural terrain features that are visible on aerial images, the coordinates of which are measured in the field using the Global Navigation Satellite System (GNSS) receiver by qualified personnel. The field measurements may be time-taking (GCPs must be well distributed in the study area, therefore the field experts should travel over long distances) and dangerous (the field experts may be exposed to avalanche risk or cold). Thus, there is a need to elaborate methods that enable the above-mentioned automatic snow depth map production without the use of GCPs. One of such attempts is shown in this paper which aims to present the novel method which is based on real-time processing of snow-covered and snow-free dense point clouds produced by SfM. The two stage georeferencing is proposed. The initial (low accuracy) one assigns true geographic, and subsequently projected, coordinates to the two dense point clouds, while the said initially-registered dense point clouds are matched using the iterative closest point (ICP) algorithm in the final (high accuracy) stage. The stable reference is offered by specially-selected trees which are located in the vicinity of the terrain of interest. The method has already been implemented and along with the presentation of its concept, a few case studies from the Izerskie Mountains (southwestern Poland) are discussed. Although the method reveals several constraints, it may serve the purpose of generating the snow depth maps with reasonable accuracy, in particular in the absence of GCPs. The snow depth estimation algorithm has been elaborated in frame of the research grant no. LIDER/012/223/L-5/13/NCBR/2014 financed by the National Centre for Research and Development of Poland.

A reliable control system for measurement on film thickness in copper chemical mechanical planarization system

NASA Astrophysics Data System (ADS)

Li, Hongkai; Qu, Zilian; Zhao, Qian; Tian, Fangxin; Zhao, Dewen; Meng, Yonggang; Lu, Xinchun

2013-12-01

In recent years, a variety of film thickness measurement techniques for copper chemical mechanical planarization (CMP) are subsequently proposed. In this paper, the eddy-current technique is used. In the control system of the CMP tool developed in the State Key Laboratory of Tribology, there are in situ module and off-line module for measurement subsystem. The in situ module can get the thickness of copper film on wafer surface in real time, and accurately judge when the CMP process should stop. This is called end-point detection. The off-line module is used for multi-points measurement after CMP process, in order to know the thickness of remained copper film. The whole control system is structured with two levels, and the physical connection between the upper and the lower is achieved by the industrial Ethernet. The process flow includes calibration and measurement, and there are different algorithms for two modules. In the process of software development, C++ is chosen as the programming language, in combination with Qt OpenSource to design two modules' GUI and OPC technology to implement the communication between the two levels. In addition, the drawing function is developed relying on Matlab, enriching the software functions of the off-line module. The result shows that the control system is running stably after repeated tests and practical operations for a long time.

A reliable control system for measurement on film thickness in copper chemical mechanical planarization system.

PubMed

Li, Hongkai; Qu, Zilian; Zhao, Qian; Tian, Fangxin; Zhao, Dewen; Meng, Yonggang; Lu, Xinchun

2013-12-01

In recent years, a variety of film thickness measurement techniques for copper chemical mechanical planarization (CMP) are subsequently proposed. In this paper, the eddy-current technique is used. In the control system of the CMP tool developed in the State Key Laboratory of Tribology, there are in situ module and off-line module for measurement subsystem. The in situ module can get the thickness of copper film on wafer surface in real time, and accurately judge when the CMP process should stop. This is called end-point detection. The off-line module is used for multi-points measurement after CMP process, in order to know the thickness of remained copper film. The whole control system is structured with two levels, and the physical connection between the upper and the lower is achieved by the industrial Ethernet. The process flow includes calibration and measurement, and there are different algorithms for two modules. In the process of software development, C++ is chosen as the programming language, in combination with Qt OpenSource to design two modules' GUI and OPC technology to implement the communication between the two levels. In addition, the drawing function is developed relying on Matlab, enriching the software functions of the off-line module. The result shows that the control system is running stably after repeated tests and practical operations for a long time.

A reliable control system for measurement on film thickness in copper chemical mechanical planarization system

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

Li, Hongkai; Qu, Zilian; Zhao, Qian

In recent years, a variety of film thickness measurement techniques for copper chemical mechanical planarization (CMP) are subsequently proposed. In this paper, the eddy-current technique is used. In the control system of the CMP tool developed in the State Key Laboratory of Tribology, there are in situ module and off-line module for measurement subsystem. The in situ module can get the thickness of copper film on wafer surface in real time, and accurately judge when the CMP process should stop. This is called end-point detection. The off-line module is used for multi-points measurement after CMP process, in order to knowmore » the thickness of remained copper film. The whole control system is structured with two levels, and the physical connection between the upper and the lower is achieved by the industrial Ethernet. The process flow includes calibration and measurement, and there are different algorithms for two modules. In the process of software development, C++ is chosen as the programming language, in combination with Qt OpenSource to design two modules’ GUI and OPC technology to implement the communication between the two levels. In addition, the drawing function is developed relying on Matlab, enriching the software functions of the off-line module. The result shows that the control system is running stably after repeated tests and practical operations for a long time.« less

STRUTEX: A prototype knowledge-based system for initially configuring a structure to support point loads in two dimensions

NASA Technical Reports Server (NTRS)

Robers, James L.; Sobieszczanski-Sobieski, Jaroslaw

1989-01-01

Only recently have engineers begun making use of Artificial Intelligence (AI) tools in the area of conceptual design. To continue filling this void in the design process, a prototype knowledge-based system, called STRUTEX has been developed to initially configure a structure to support point loads in two dimensions. This prototype was developed for testing the application of AI tools to conceptual design as opposed to being a testbed for new methods for improving structural analysis and optimization. This system combines numerical and symbolic processing by the computer with interactive problem solving aided by the vision of the user. How the system is constructed to interact with the user is described. Of special interest is the information flow between the knowledge base and the data base under control of the algorithmic main program. Examples of computed and refined structures are presented during the explanation of the system.

Policy Gradient Adaptive Dynamic Programming for Data-Based Optimal Control.

PubMed

Luo, Biao; Liu, Derong; Wu, Huai-Ning; Wang, Ding; Lewis, Frank L

2017-10-01

The model-free optimal control problem of general discrete-time nonlinear systems is considered in this paper, and a data-based policy gradient adaptive dynamic programming (PGADP) algorithm is developed to design an adaptive optimal controller method. By using offline and online data rather than the mathematical system model, the PGADP algorithm improves control policy with a gradient descent scheme. The convergence of the PGADP algorithm is proved by demonstrating that the constructed Q -function sequence converges to the optimal Q -function. Based on the PGADP algorithm, the adaptive control method is developed with an actor-critic structure and the method of weighted residuals. Its convergence properties are analyzed, where the approximate Q -function converges to its optimum. Computer simulation results demonstrate the effectiveness of the PGADP-based adaptive control method.

New Multi-objective Uncertainty-based Algorithm for Water Resource Models' Calibration

NASA Astrophysics Data System (ADS)

Keshavarz, Kasra; Alizadeh, Hossein

2017-04-01

Water resource models are powerful tools to support water management decision making process and are developed to deal with a broad range of issues including land use and climate change impacts analysis, water allocation, systems design and operation, waste load control and allocation, etc. These models are divided into two categories of simulation and optimization models whose calibration has been addressed in the literature where great relevant efforts in recent decades have led to two main categories of auto-calibration methods of uncertainty-based algorithms such as GLUE, MCMC and PEST and optimization-based algorithms including single-objective optimization such as SCE-UA and multi-objective optimization such as MOCOM-UA and MOSCEM-UA. Although algorithms which benefit from capabilities of both types, such as SUFI-2, were rather developed, this paper proposes a new auto-calibration algorithm which is capable of both finding optimal parameters values regarding multiple objectives like optimization-based algorithms and providing interval estimations of parameters like uncertainty-based algorithms. The algorithm is actually developed to improve quality of SUFI-2 results. Based on a single-objective, e.g. NSE and RMSE, SUFI-2 proposes a routine to find the best point and interval estimation of parameters and corresponding prediction intervals (95 PPU) of time series of interest. To assess the goodness of calibration, final results are presented using two uncertainty measures of p-factor quantifying percentage of observations covered by 95PPU and r-factor quantifying degree of uncertainty, and the analyst has to select the point and interval estimation of parameters which are actually non-dominated regarding both of the uncertainty measures. Based on the described properties of SUFI-2, two important questions are raised, answering of which are our research motivation: Given that in SUFI-2, final selection is based on the two measures or objectives and on the other hand, knowing that there is no multi-objective optimization mechanism in SUFI-2, are the final estimations Pareto-optimal? Can systematic methods be applied to select the final estimations? Dealing with these questions, a new auto-calibration algorithm was proposed where the uncertainty measures were considered as two objectives to find non-dominated interval estimations of parameters by means of coupling Monte Carlo simulation and Multi-Objective Particle Swarm Optimization. Both the proposed algorithm and SUFI-2 were applied to calibrate parameters of water resources planning model of Helleh river basin, Iran. The model is a comprehensive water quantity-quality model developed in the previous researches using WEAP software in order to analyze the impacts of different water resources management strategies including dam construction, increasing cultivation area, utilization of more efficient irrigation technologies, changing crop pattern, etc. Comparing the Pareto frontier resulted from the proposed auto-calibration algorithm with SUFI-2 results, it was revealed that the new algorithm leads to a better and also continuous Pareto frontier, even though it is more computationally expensive. Finally, Nash and Kalai-Smorodinsky bargaining methods were used to choose compromised interval estimation regarding Pareto frontier.

New human-centered linear and nonlinear motion cueing algorithms for control of simulator motion systems

NASA Astrophysics Data System (ADS)

Telban, Robert J.

While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input analysis shows pilot-induced oscillations on a straight-in approach are less prevalent compared to the optimal algorithm. The augmented turbulence cues increased workload on an offset approach that the pilots deemed more realistic compared to the NASA adaptive algorithm. The takeoff with engine failure showed the least roll activity for the nonlinear algorithm, with the least rudder pedal activity for the optimal algorithm.

Petri nets SM-cover-based on heuristic coloring algorithm

NASA Astrophysics Data System (ADS)

Tkacz, Jacek; Doligalski, Michał

2015-09-01

In the paper, coloring heuristic algorithm of interpreted Petri nets is presented. Coloring is used to determine the State Machines (SM) subnets. The present algorithm reduces the Petri net in order to reduce the computational complexity and finds one of its possible State Machines cover. The proposed algorithm uses elements of interpretation of Petri nets. The obtained result may not be the best, but it is sufficient for use in rapid prototyping of logic controllers. Found SM-cover will be also used in the development of algorithms for decomposition, and modular synthesis and implementation of parallel logic controllers. Correctness developed heuristic algorithm was verified using Gentzen formal reasoning system.

Internal combustion engine control for series hybrid electric vehicles by parallel and distributed genetic programming/multiobjective genetic algorithms

NASA Astrophysics Data System (ADS)

Gladwin, D.; Stewart, P.; Stewart, J.

2011-02-01

This article addresses the problem of maintaining a stable rectified DC output from the three-phase AC generator in a series-hybrid vehicle powertrain. The series-hybrid prime power source generally comprises an internal combustion (IC) engine driving a three-phase permanent magnet generator whose output is rectified to DC. A recent development has been to control the engine/generator combination by an electronically actuated throttle. This system can be represented as a nonlinear system with significant time delay. Previously, voltage control of the generator output has been achieved by model predictive methods such as the Smith Predictor. These methods rely on the incorporation of an accurate system model and time delay into the control algorithm, with a consequent increase in computational complexity in the real-time controller, and as a necessity relies to some extent on the accuracy of the models. Two complementary performance objectives exist for the control system. Firstly, to maintain the IC engine at its optimal operating point, and secondly, to supply a stable DC supply to the traction drive inverters. Achievement of these goals minimises the transient energy storage requirements at the DC link, with a consequent reduction in both weight and cost. These objectives imply constant velocity operation of the IC engine under external load disturbances and changes in both operating conditions and vehicle speed set-points. In order to achieve these objectives, and reduce the complexity of implementation, in this article a controller is designed by the use of Genetic Programming methods in the Simulink modelling environment, with the aim of obtaining a relatively simple controller for the time-delay system which does not rely on the implementation of real time system models or time delay approximations in the controller. A methodology is presented to utilise the miriad of existing control blocks in the Simulink libraries to automatically evolve optimal control structures.

DFT algorithms for bit-serial GaAs array processor architectures

NASA Technical Reports Server (NTRS)

Mcmillan, Gary B.

1988-01-01

Systems and Processes Engineering Corporation (SPEC) has developed an innovative array processor architecture for computing Fourier transforms and other commonly used signal processing algorithms. This architecture is designed to extract the highest possible array performance from state-of-the-art GaAs technology. SPEC's architectural design includes a high performance RISC processor implemented in GaAs, along with a Floating Point Coprocessor and a unique Array Communications Coprocessor, also implemented in GaAs technology. Together, these data processors represent the latest in technology, both from an architectural and implementation viewpoint. SPEC has examined numerous algorithms and parallel processing architectures to determine the optimum array processor architecture. SPEC has developed an array processor architecture with integral communications ability to provide maximum node connectivity. The Array Communications Coprocessor embeds communications operations directly in the core of the processor architecture. A Floating Point Coprocessor architecture has been defined that utilizes Bit-Serial arithmetic units, operating at very high frequency, to perform floating point operations. These Bit-Serial devices reduce the device integration level and complexity to a level compatible with state-of-the-art GaAs device technology.

Surface matching for correlation of virtual models: Theory and application

NASA Technical Reports Server (NTRS)

Caracciolo, Roberto; Fanton, Francesco; Gasparetto, Alessandro

1994-01-01

Virtual reality can enable a robot user to off line generate and test in a virtual environment a sequence of operations to be executed by the robot in an assembly cell. Virtual models of objects are to be correlated to the real entities they represent by means of a suitable transformation. A solution to the correlation problem, which is basically a problem of 3-dimensional adjusting, has been found exploiting the surface matching theory. An iterative algorithm has been developed, which matches the geometric surface representing the shape of the virtual model of an object, with a set of points measured on the surface in the real world. A peculiar feature of the algorithm is to work also if there is no one-to-one correspondence between the measured points and those representing the surface model. Furthermore the problem of avoiding convergence to local minima is solved, by defining a starting point of states ensuring convergence to the global minimum. The developed algorithm has been tested by simulation. Finally, this paper proposes a specific application, i.e., correlating a robot cell, equipped for biomedical use with its virtual representation.

Applicability Analysis of Cloth Simulation Filtering Algorithm for Mobile LIDAR Point Cloud

NASA Astrophysics Data System (ADS)

Cai, S.; Zhang, W.; Qi, J.; Wan, P.; Shao, J.; Shen, A.

2018-04-01

Classifying the original point clouds into ground and non-ground points is a key step in LiDAR (light detection and ranging) data post-processing. Cloth simulation filtering (CSF) algorithm, which based on a physical process, has been validated to be an accurate, automatic and easy-to-use algorithm for airborne LiDAR point cloud. As a new technique of three-dimensional data collection, the mobile laser scanning (MLS) has been gradually applied in various fields, such as reconstruction of digital terrain models (DTM), 3D building modeling and forest inventory and management. Compared with airborne LiDAR point cloud, there are some different features (such as point density feature, distribution feature and complexity feature) for mobile LiDAR point cloud. Some filtering algorithms for airborne LiDAR data were directly used in mobile LiDAR point cloud, but it did not give satisfactory results. In this paper, we explore the ability of the CSF algorithm for mobile LiDAR point cloud. Three samples with different shape of the terrain are selected to test the performance of this algorithm, which respectively yields total errors of 0.44 %, 0.77 % and1.20 %. Additionally, large area dataset is also tested to further validate the effectiveness of this algorithm, and results show that it can quickly and accurately separate point clouds into ground and non-ground points. In summary, this algorithm is efficient and reliable for mobile LiDAR point cloud.

Hardware Simulations of Spacecraft Attitude Synchronization Using Lyapunov-Based Controllers

NASA Astrophysics Data System (ADS)

Jung, Juno; Park, Sang-Young; Eun, Youngho; Kim, Sung-Woo; Park, Chandeok

2018-04-01

In the near future, space missions with multiple spacecraft are expected to replace traditional missions with a single large spacecraft. These spacecraft formation flying missions generally require precise knowledge of relative position and attitude between neighboring agents. In this study, among the several challenging issues, we focus on the technique to control spacecraft attitude synchronization in formation. We develop a number of nonlinear control schemes based on the Lyapunov stability theorem and considering special situations: full-state feedback control, full-state feedback control with unknown inertia parameters, and output feedback control without angular velocity measurements. All the proposed controllers offer absolute and relative control using reaction wheel assembly for both regulator and tracking problems. In addition to the numerical simulations, an air-bearing-based hardware-in-the-loop (HIL) system is used to verify the proposed control laws in real-time hardware environments. The pointing errors converge to 0.5{°} with numerical simulations and to 2{°} using the HIL system. Consequently, both numerical and hardware simulations confirm the performance of the spacecraft attitude synchronization algorithms developed in this study.

Integrated identification, modeling and control with applications

NASA Astrophysics Data System (ADS)

Shi, Guojun

This thesis deals with the integration of system design, identification, modeling and control. In particular, six interdisciplinary engineering problems are addressed and investigated. Theoretical results are established and applied to structural vibration reduction and engine control problems. First, the data-based LQG control problem is formulated and solved. It is shown that a state space model is not necessary to solve this problem; rather a finite sequence from the impulse response is the only model data required to synthesize an optimal controller. The new theory avoids unnecessary reliance on a model, required in the conventional design procedure. The infinite horizon model predictive control problem is addressed for multivariable systems. The basic properties of the receding horizon implementation strategy is investigated and the complete framework for solving the problem is established. The new theory allows the accommodation of hard input constraints and time delays. The developed control algorithms guarantee the closed loop stability. A closed loop identification and infinite horizon model predictive control design procedure is established for engine speed regulation. The developed algorithms are tested on the Cummins Engine Simulator and desired results are obtained. A finite signal-to-noise ratio model is considered for noise signals. An information quality index is introduced which measures the essential information precision required for stabilization. The problems of minimum variance control and covariance control are formulated and investigated. Convergent algorithms are developed for solving the problems of interest. The problem of the integrated passive and active control design is addressed in order to improve the overall system performance. A design algorithm is developed, which simultaneously finds: (i) the optimal values of the stiffness and damping ratios for the structure, and (ii) an optimal output variance constrained stabilizing controller such that the active control energy is minimized. A weighted q-Markov COVER method is introduced for identification with measurement noise. The result is use to develop an iterative closed loop identification/control design algorithm. The effectiveness of the algorithm is illustrated by experimental results.

Real-time control of focused ultrasound heating based on rapid MR thermometry.

PubMed

Vimeux, F C; De Zwart, J A; Palussiére, J; Fawaz, R; Delalande, C; Canioni, P; Grenier, N; Moonen, C T

1999-03-01

Real-time control of the heating procedure is essential for hyperthermia applications of focused ultrasound (FUS). The objective of this study is to demonstrate the feasibility of MRI-controlled FUS. An automatic control system was developed using a dedicated interface between the MR system control computer and the FUS wave generator. Two algorithms were used to regulate FUS power to maintain the focal point temperature at a desired level. Automatic control of FUS power level was demonstrated ex vivo at three target temperature levels (increase of 5 degrees C, 10 degrees C, and 30 degrees C above room temperature) during 30-minute hyperthermic periods. Preliminary in vivo results on rat leg muscle confirm that necrosis estimate, calculated on-line during FUS sonication, allows prediction of tissue damage. CONCLUSIONS. The feasibility of fully automatic FUS control based on MRI thermometry has been demonstrated.

Multirate sampled-data yaw-damper and modal suppression system design

NASA Technical Reports Server (NTRS)

Berg, Martin C.; Mason, Gregory S.

1990-01-01

A multirate control law synthesized algorithm based on an infinite-time quadratic cost function, was developed along with a method for analyzing the robustness of multirate systems. A generalized multirate sampled-data control law structure (GMCLS) was introduced. A new infinite-time-based parameter optimization multirate sampled-data control law synthesis method and solution algorithm were developed. A singular-value-based method for determining gain and phase margins for multirate systems was also developed. The finite-time-based parameter optimization multirate sampled-data control law synthesis algorithm originally intended to be applied to the aircraft problem was instead demonstrated by application to a simpler problem involving the control of the tip position of a two-link robot arm. The GMCLS, the infinite-time-based parameter optimization multirate control law synthesis method and solution algorithm, and the singular-value based method for determining gain and phase margins were all demonstrated by application to the aircraft control problem originally proposed for this project.

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.

Error bounds of adaptive dynamic programming algorithms for solving undiscounted optimal control problems.

PubMed

Liu, Derong; Li, Hongliang; Wang, Ding

2015-06-01

In this paper, we establish error bounds of adaptive dynamic programming algorithms for solving undiscounted infinite-horizon optimal control problems of discrete-time deterministic nonlinear systems. We consider approximation errors in the update equations of both value function and control policy. We utilize a new assumption instead of the contraction assumption in discounted optimal control problems. We establish the error bounds for approximate value iteration based on a new error condition. Furthermore, we also establish the error bounds for approximate policy iteration and approximate optimistic policy iteration algorithms. It is shown that the iterative approximate value function can converge to a finite neighborhood of the optimal value function under some conditions. To implement the developed algorithms, critic and action neural networks are used to approximate the value function and control policy, respectively. Finally, a simulation example is given to demonstrate the effectiveness of the developed algorithms.

Development of acute tolerance to the EEG effect of propofol in rats.

PubMed

Ihmsen, H; Schywalsky, M; Tzabazis, A; Schwilden, H

2005-09-01

A previous study in rats with propofol suggested the development of acute tolerance to the EEG effect. The aim of this study was to evaluate acute tolerance by means of EEG-controlled closed-loop anaesthesia as this approach allows precise determination of drug requirement to maintain a defined drug effect. Ten male Sprague-Dawley rats [weight 402 (40) g, mean (SD)] were included in the study. The EEG was recorded with occipito-occipital needle electrodes and a modified median frequency (mMEF) of the EEG power spectrum was used as a pharmacodynamic control parameter. The propofol infusion rate was controlled by a model-based adaptive algorithm to maintain a set point of mMEF=3 (0.5) Hz for 90 min. The performance of the closed-loop system was characterized by the prediction error PE=(mMEF-set point)/set point. Plasma propofol concentrations were determined from arterial samples by HPLC. The chosen set point was successfully maintained in all rats. The median (SE) and absolute median values of PE were -5.0 (0.3) and 11.3 (0.2)% respectively. Propofol concentration increased significantly from 2.9 (2.2) microg ml(-1) at the beginning to 5.8 (3.8) microg ml(-1) at 90 min [mean (SD), P<0.05]. The cumulative dose increased linearly, with a mean infusion rate of 0.60 (0.16) mg kg(-1) min(-1). The minimum value of the mean arterial pressure during closed-loop administration of propofol was 130 (24) mm Hg, compared with a baseline value of 141 (12) mm Hg. The increase in propofol concentration at constant EEG effect indicates development of acute tolerance to the hypnotic effect of propofol.

The automated system for technological process of spacecraft's waveguide paths soldering

NASA Astrophysics Data System (ADS)

Tynchenko, V. S.; Murygin, A. V.; Emilova, O. A.; Bocharov, A. N.; Laptenok, V. D.

2016-11-01

The paper solves the problem of automated process control of space vehicles waveguide paths soldering by means of induction heating. The peculiarities of the induction soldering process are analyzed and necessity of information-control system automation is identified. The developed automated system makes the control of the product heating process, by varying the power supplied to the inductor, on the basis of information about the soldering zone temperature, and stabilizing the temperature in a narrow range above the melting point of the solder but below the melting point of the waveguide. This allows the soldering process automating to improve the quality of the waveguides and eliminate burn-troughs. The article shows a block diagram of a software system consisting of five modules, and describes the main algorithm of its work. Also there is a description of the waveguide paths automated soldering system operation, for explaining the basic functions and limitations of the system. The developed software allows setting of the measurement equipment, setting and changing parameters of the soldering process, as well as view graphs of temperatures recorded by the system. There is shown the results of experimental studies that prove high quality of soldering process control and the system applicability to the tasks of automation.

An algorithm for control system design via parameter optimization. M.S. Thesis

NASA Technical Reports Server (NTRS)

Sinha, P. K.

1972-01-01

An algorithm for design via parameter optimization has been developed for linear-time-invariant control systems based on the model reference adaptive control concept. A cost functional is defined to evaluate the system response relative to nominal, which involves in general the error between the system and nominal response, its derivatives and the control signals. A program for the practical implementation of this algorithm has been developed, with the computational scheme for the evaluation of the performance index based on Lyapunov's theorem for stability of linear invariant systems.

An Integrated Ransac and Graph Based Mismatch Elimination Approach for Wide-Baseline Image Matching

NASA Astrophysics Data System (ADS)

Hasheminasab, M.; Ebadi, H.; Sedaghat, A.

2015-12-01

In this paper we propose an integrated approach in order to increase the precision of feature point matching. Many different algorithms have been developed as to optimizing the short-baseline image matching while because of illumination differences and viewpoints changes, wide-baseline image matching is so difficult to handle. Fortunately, the recent developments in the automatic extraction of local invariant features make wide-baseline image matching possible. The matching algorithms which are based on local feature similarity principle, using feature descriptor as to establish correspondence between feature point sets. To date, the most remarkable descriptor is the scale-invariant feature transform (SIFT) descriptor , which is invariant to image rotation and scale, and it remains robust across a substantial range of affine distortion, presence of noise, and changes in illumination. The epipolar constraint based on RANSAC (random sample consensus) method is a conventional model for mismatch elimination, particularly in computer vision. Because only the distance from the epipolar line is considered, there are a few false matches in the selected matching results based on epipolar geometry and RANSAC. Aguilariu et al. proposed Graph Transformation Matching (GTM) algorithm to remove outliers which has some difficulties when the mismatched points surrounded by the same local neighbor structure. In this study to overcome these limitations, which mentioned above, a new three step matching scheme is presented where the SIFT algorithm is used to obtain initial corresponding point sets. In the second step, in order to reduce the outliers, RANSAC algorithm is applied. Finally, to remove the remained mismatches, based on the adjacent K-NN graph, the GTM is implemented. Four different close range image datasets with changes in viewpoint are utilized to evaluate the performance of the proposed method and the experimental results indicate its robustness and capability.

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

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

Qin, SB; Cady, ST; Dominguez-Garcia, AD

This paper presents the theory and implementation of a distributed algorithm for controlling differential power processing converters in photovoltaic (PV) applications. This distributed algorithm achieves true maximum power point tracking of series-connected PV submodules by relying only on local voltage measurements and neighbor-to-neighbor communication between the differential power converters. Compared to previous solutions, the proposed algorithm achieves reduced number of perturbations at each step and potentially faster tracking without adding extra hardware; all these features make this algorithm well-suited for long submodule strings. The formulation of the algorithm, discussion of its properties, as well as three case studies are presented.more » The performance of the distributed tracking algorithm has been verified via experiments, which yielded quantifiable improvements over other techniques that have been implemented in practice. Both simulations and hardware experiments have confirmed the effectiveness of the proposed distributed algorithm.« less

Control algorithms for dynamic windows for residential buildings

DOE PAGES

Firlag, Szymon; Yazdanian, Mehrangiz; Curcija, Charlie; ...

2015-09-30

This study analyzes the influence of control algorithms for dynamic windows on energy consumption, number of hours of retracted shades during daylight and shade operations. Five different control algorithms - heating/cooling, simple rules, perfect citizen, heat flow and predictive weather were developed and compared. The performance of a typical residential building was modeled with EnergyPlus. The program Widow was used to generate a Bi-Directional Distribution Function (BSDF) for two window configurations. The BSDF was exported to EnergyPlus using the IDF file format. The EMS feature in EnergyPlus was used to develop custom control algorithms. The calculations were made for fourmore » locations with diverse climate. The results showed that: (a) use of automated shading with proposed control algorithms can reduce the site energy in the range of 11.6-13.0%; in regard to source (primary) energy in the range of 20.1-21.6%, (b) the differences between algorithms in regard to energy savings are not high, (c) the differences between algorithms in regard to number of hours of retracted shades are visible, (e) the control algorithms have a strong influence on shade operation and oscillation of shade can occur, (d) additional energy consumption caused by motor, sensors and a small microprocessor in the analyzed case is very small.« less

D Data Acquisition Based on Opencv for Close-Range Photogrammetry Applications

NASA Astrophysics Data System (ADS)

Jurjević, L.; Gašparović, M.

2017-05-01

Development of the technology in the area of the cameras, computers and algorithms for 3D the reconstruction of the objects from the images resulted in the increased popularity of the photogrammetry. Algorithms for the 3D model reconstruction are so advanced that almost anyone can make a 3D model of photographed object. The main goal of this paper is to examine the possibility of obtaining 3D data for the purposes of the close-range photogrammetry applications, based on the open source technologies. All steps of obtaining 3D point cloud are covered in this paper. Special attention is given to the camera calibration, for which two-step process of calibration is used. Both, presented algorithm and accuracy of the point cloud are tested by calculating the spatial difference between referent and produced point clouds. During algorithm testing, robustness and swiftness of obtaining 3D data is noted, and certainly usage of this and similar algorithms has a lot of potential in the real-time application. That is the reason why this research can find its application in the architecture, spatial planning, protection of cultural heritage, forensic, mechanical engineering, traffic management, medicine and other sciences.

Adaptive control for solar energy based DC microgrid system development

NASA Astrophysics Data System (ADS)

Zhang, Qinhao

During the upgrading of current electric power grid, it is expected to develop smarter, more robust and more reliable power systems integrated with distributed generations. To realize these objectives, traditional control techniques are no longer effective in either stabilizing systems or delivering optimal and robust performances. Therefore, development of advanced control methods has received increasing attention in power engineering. This work addresses two specific problems in the control of solar panel based microgrid systems. First, a new control scheme is proposed for the microgrid systems to achieve optimal energy conversion ratio in the solar panels. The control system can optimize the efficiency of the maximum power point tracking (MPPT) algorithm by implementing two layers of adaptive control. Such a hierarchical control architecture has greatly improved the system performance, which is validated through both mathematical analysis and computer simulation. Second, in the development of the microgrid transmission system, the issues related to the tele-communication delay and constant power load (CPL)'s negative incremental impedance are investigated. A reference model based method is proposed for pole and zero placements that address the challenges of the time delay and CPL in closed-loop control. The effectiveness of the proposed modeling and control design methods are demonstrated in a simulation testbed. Practical aspects of the proposed methods for general microgrid systems are also discussed.

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.

A compatible control algorithm for greenhouse environment control based on MOCC strategy.

PubMed

Hu, Haigen; Xu, Lihong; Zhu, Bingkun; Wei, Ruihua

2011-01-01

Conventional methods used for solving greenhouse environment multi-objective conflict control problems lay excessive emphasis on control performance and have inadequate consideration for both energy consumption and special requirements for plant growth. The resulting solution will cause higher energy cost. However, during the long period of work and practice, we find that it may be more reasonable to adopt interval or region control objectives instead of point control objectives. In this paper, we propose a modified compatible control algorithm, and employ Multi-Objective Compatible Control (MOCC) strategy and an extant greenhouse model to achieve greenhouse climate control based on feedback control architecture. A series of simulation experiments through various comparative studies are presented to validate the feasibility of the proposed algorithm. The results are encouraging and suggest the energy-saving application to real-world engineering problems in greenhouse production. It may be valuable and helpful to formulate environmental control strategies, and to achieve high control precision and low energy cost for real-world engineering application in greenhouse production. Moreover, the proposed approach has also potential to be useful for other practical control optimization problems with the features like the greenhouse environment control system.

A Compatible Control Algorithm for Greenhouse Environment Control Based on MOCC Strategy

PubMed Central

Hu, Haigen; Xu, Lihong; Zhu, Bingkun; Wei, Ruihua

2011-01-01

Conventional methods used for solving greenhouse environment multi-objective conflict control problems lay excessive emphasis on control performance and have inadequate consideration for both energy consumption and special requirements for plant growth. The resulting solution will cause higher energy cost. However, during the long period of work and practice, we find that it may be more reasonable to adopt interval or region control objectives instead of point control objectives. In this paper, we propose a modified compatible control algorithm, and employ Multi-Objective Compatible Control (MOCC) strategy and an extant greenhouse model to achieve greenhouse climate control based on feedback control architecture. A series of simulation experiments through various comparative studies are presented to validate the feasibility of the proposed algorithm. The results are encouraging and suggest the energy-saving application to real-world engineering problems in greenhouse production. It may be valuable and helpful to formulate environmental control strategies, and to achieve high control precision and low energy cost for real-world engineering application in greenhouse production. Moreover, the proposed approach has also potential to be useful for other practical control optimization problems with the features like the greenhouse environment control system. PMID:22163799

Comparison of Controller and Flight Deck Algorithm Performance During Interval Management with Dynamic Arrival Trees (STARS)

NASA Technical Reports Server (NTRS)

Battiste, Vernol; Lawton, George; Lachter, Joel; Brandt, Summer; Koteskey, Robert; Dao, Arik-Quang; Kraut, Josh; Ligda, Sarah; Johnson, Walter W.

2012-01-01

Managing the interval between arrival aircraft is a major part of the en route and TRACON controller s job. In an effort to reduce controller workload and low altitude vectoring, algorithms have been developed to allow pilots to take responsibility for, achieve and maintain proper spacing. Additionally, algorithms have been developed to create dynamic weather-free arrival routes in the presence of convective weather. In a recent study we examined an algorithm to handle dynamic re-routing in the presence of convective weather and two distinct spacing algorithms. The spacing algorithms originated from different core algorithms; both were enhanced with trajectory intent data for the study. These two algorithms were used simultaneously in a human-in-the-loop (HITL) simulation where pilots performed weather-impacted arrival operations into Louisville International Airport while also performing interval management (IM) on some trials. The controllers retained responsibility for separation and for managing the en route airspace and some trials managing IM. The goal was a stress test of dynamic arrival algorithms with ground and airborne spacing concepts. The flight deck spacing algorithms or controller managed spacing not only had to be robust to the dynamic nature of aircraft re-routing around weather but also had to be compatible with two alternative algorithms for achieving the spacing goal. Flight deck interval management spacing in this simulation provided a clear reduction in controller workload relative to when controllers were responsible for spacing the aircraft. At the same time, spacing was much less variable with the flight deck automated spacing. Even though the approaches taken by the two spacing algorithms to achieve the interval management goals were slightly different they seem to be simpatico in achieving the interval management goal of 130 sec by the TRACON boundary.

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

March-Leuba, J.A.

Nuclear plants of the 21st century will employ higher levels of automation and fault tolerance to increase availability, reduce accident risk, and lower operating costs. Key developments in control algorithms, fault diagnostics, fault tolerance, and communication in a distributed system are needed to implement the fully automated plant. Equally challenging will be integrating developments in separate information and control fields into a cohesive system, which collectively achieves the overall goals of improved performance, safety, reliability, maintainability, and cost-effectiveness. Under the Nuclear Energy Research Initiative (NERI), the U. S. Department of Energy is sponsoring a project to address some of themore » technical issues involved in meeting the long-range goal of 21st century reactor control systems. This project, ''A New Paradigm for Automated Development Of Highly Reliable Control Architectures For Future Nuclear Plants,'' involves researchers from Oak Ridge National Laboratory, University of Tennessee, and North Carolina State University. This paper documents a research effort to develop methods for automated generation of control systems that can be traced directly to the design requirements. Our final goal is to allow the designer to specify only high-level requirements and stress factors that the control system must survive (e.g. a list of transients, or a requirement to withstand a single failure.) To this end, the ''control engine'' automatically selects and validates control algorithms and parameters that are optimized to the current state of the plant, and that have been tested under the prescribed stress factors. The control engine then automatically generates the control software from validated algorithms. Examples of stress factors that the control system must ''survive'' are: transient events (e.g., set-point changes, or expected occurrences such a load rejection,) and postulated component failures. These stress factors are specified by the designer and become a database of prescribed transients and component failures. The candidate control systems are tested, and their parameters optimized, for each of these stresses. Examples of high-level requirements are: response time less than xx seconds, or overshoot less than xx% ... etc. In mathematical terms, these types of requirements are defined as ''constraints,'' and there are standard mathematical methods to minimize an objective function subject to constraints. Since, in principle, any control design that satisfies all the above constraints is acceptable, the designer must also select an objective function that describes the ''goodness'' of the control design. Examples of objective functions are: minimize the number or amount of control motions, minimize an energy balance... etc.« less

The computational core and fixed point organization in Boolean networks

NASA Astrophysics Data System (ADS)

Correale, L.; Leone, M.; Pagnani, A.; Weigt, M.; Zecchina, R.

2006-03-01

In this paper, we analyse large random Boolean networks in terms of a constraint satisfaction problem. We first develop an algorithmic scheme which allows us to prune simple logical cascades and underdetermined variables, returning thereby the computational core of the network. Second, we apply the cavity method to analyse the number and organization of fixed points. We find in particular a phase transition between an easy and a complex regulatory phase, the latter being characterized by the existence of an exponential number of macroscopically separated fixed point clusters. The different techniques developed are reinterpreted as algorithms for the analysis of single Boolean networks, and they are applied in the analysis of and in silico experiments on the gene regulatory networks of baker's yeast (Saccharomyces cerevisiae) and the segment-polarity genes of the fruitfly Drosophila melanogaster.

Designing of routing algorithms in autonomous distributed data transmission system for mobile computing devices with ‘WiFi-Direct’ technology

NASA Astrophysics Data System (ADS)

Nikitin, I. A.; Sherstnev, V. S.; Sherstneva, A. I.; Botygin, I. A.

2017-02-01

The results of the research of existent routing protocols in wireless networks and their main features are discussed in the paper. Basing on the protocol data, the routing protocols in wireless networks, including search routing algorithms and phone directory exchange algorithms, are designed with the ‘WiFi-Direct’ technology. Algorithms without IP-protocol were designed, and that enabled one to increase the efficiency of the algorithms while working only with the MAC-addresses of the devices. The developed algorithms are expected to be used in the mobile software engineering with the Android platform taken as base. Easier algorithms and formats of the well-known route protocols, rejection of the IP-protocols enables to use the developed protocols on more primitive mobile devices. Implementation of the protocols to the engineering industry enables to create data transmission networks among working places and mobile robots without any access points.

3 x 3 free-space optical router based on crossbar network and its control algorithm

NASA Astrophysics Data System (ADS)

Hou, Peipei; Sun, Jianfeng; Yu, Zhou; Lu, Wei; Wang, Lijuan; Liu, Liren

2015-08-01

A 3 × 3 free-space optical router, which comprises optical switches and polarizing beam splitter (PBS) and based on crossbar network, is proposed in this paper. A control algorithm for the 3 × 3 free-space optical router is also developed to achieve rapid control without rearrangement. In order to test the performance of the network based on 3 × 3 free-space optical router and that of the algorithm developed for the optical router, experiments are designed. The experiment results show that the interconnection network based on the 3 × 3 free-space optical router has low cross talk, fast connection speed. Under the control of the algorithm developed, a non-block and real free interconnection network is obtained based on the 3 × 3 free-space optical router we proposed.

Development of a Linear Stirling Model with Varying Heat Inputs

NASA Technical Reports Server (NTRS)

Regan, Timothy F.; Lewandowski, Edward J.

2007-01-01

The linear model of the Stirling system developed by NASA Glenn Research Center (GRC) has been extended to include a user-specified heat input. Previously developed linear models were limited to the Stirling convertor and electrical load. They represented the thermodynamic cycle with pressure factors that remained constant. The numerical values of the pressure factors were generated by linearizing GRC s non-linear System Dynamic Model (SDM) of the convertor at a chosen operating point. The pressure factors were fixed for that operating point, thus, the model lost accuracy if a transition to a different operating point were simulated. Although the previous linear model was used in developing controllers that manipulated current, voltage, and piston position, it could not be used in the development of control algorithms that regulated hot-end temperature. This basic model was extended to include the thermal dynamics associated with a hot-end temperature that varies over time in response to external changes as well as to changes in the Stirling cycle. The linear model described herein includes not only dynamics of the piston, displacer, gas, and electrical circuit, but also the transient effects of the heater head thermal inertia. The linear version algebraically couples two separate linear dynamic models, one model of the Stirling convertor and one model of the thermal system, through the pressure factors. The thermal system model includes heat flow of heat transfer fluid, insulation loss, and temperature drops from the heat source to the Stirling convertor expansion space. The linear model was compared to a nonlinear model, and performance was very similar. The resulting linear model can be implemented in a variety of computing environments, and is suitable for analysis with classical and state space controls analysis techniques.

Development of a Linear Stirling System Model with Varying Heat Inputs

NASA Technical Reports Server (NTRS)

Regan, Timothy F.; Lewandowski, Edward J.

2007-01-01

The linear model of the Stirling system developed by NASA Glenn Research Center (GRC) has been extended to include a user-specified heat input. Previously developed linear models were limited to the Stirling convertor and electrical load. They represented the thermodynamic cycle with pressure factors that remained constant. The numerical values of the pressure factors were generated by linearizing GRC's nonlinear System Dynamic Model (SDM) of the convertor at a chosen operating point. The pressure factors were fixed for that operating point, thus, the model lost accuracy if a transition to a different operating point were simulated. Although the previous linear model was used in developing controllers that manipulated current, voltage, and piston position, it could not be used in the development of control algorithms that regulated hot-end temperature. This basic model was extended to include the thermal dynamics associated with a hot-end temperature that varies over time in response to external changes as well as to changes in the Stirling cycle. The linear model described herein includes not only dynamics of the piston, displacer, gas, and electrical circuit, but also the transient effects of the heater head thermal inertia. The linear version algebraically couples two separate linear dynamic models, one model of the Stirling convertor and one model of the thermal system, through the pressure factors. The thermal system model includes heat flow of heat transfer fluid, insulation loss, and temperature drops from the heat source to the Stirling convertor expansion space. The linear model was compared to a nonlinear model, and performance was very similar. The resulting linear model can be implemented in a variety of computing environments, and is suitable for analysis with classical and state space controls analysis techniques.

Flight Testing of the Space Launch System (SLS) Adaptive Augmenting Control (AAC) Algorithm on an F/A-18

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; VanZwieten, Tannen S.; Hanson, Curtis E.; Wall, John H.; Miller, Chris J.; Gilligan, Eric T.; Orr, Jeb S.

2014-01-01

The Marshall Space Flight Center (MSFC) Flight Mechanics and Analysis Division developed an adaptive augmenting control (AAC) algorithm for launch vehicles that improves robustness and performance on an as-needed basis by adapting a classical control algorithm to unexpected environments or variations in vehicle dynamics. This was baselined as part of the Space Launch System (SLS) flight control system. The NASA Engineering and Safety Center (NESC) was asked to partner with the SLS Program and the Space Technology Mission Directorate (STMD) Game Changing Development Program (GCDP) to flight test the AAC algorithm on a manned aircraft that can achieve a high level of dynamic similarity to a launch vehicle and raise the technology readiness of the algorithm early in the program. This document reports the outcome of the NESC assessment.

PSC algorithm description

NASA Technical Reports Server (NTRS)

Nobbs, Steven G.

1995-01-01

An overview of the performance seeking control (PSC) algorithm and details of the important components of the algorithm are given. The onboard propulsion system models, the linear programming optimization, and engine control interface are described. The PSC algorithm receives input from various computers on the aircraft including the digital flight computer, digital engine control, and electronic inlet control. The PSC algorithm contains compact models of the propulsion system including the inlet, engine, and nozzle. The models compute propulsion system parameters, such as inlet drag and fan stall margin, which are not directly measurable in flight. The compact models also compute sensitivities of the propulsion system parameters to change in control variables. The engine model consists of a linear steady state variable model (SSVM) and a nonlinear model. The SSVM is updated with efficiency factors calculated in the engine model update logic, or Kalman filter. The efficiency factors are used to adjust the SSVM to match the actual engine. The propulsion system models are mathematically integrated to form an overall propulsion system model. The propulsion system model is then optimized using a linear programming optimization scheme. The goal of the optimization is determined from the selected PSC mode of operation. The resulting trims are used to compute a new operating point about which the optimization process is repeated. This process is continued until an overall (global) optimum is reached before applying the trims to the controllers.

Real time test bed development for power system operation, control and cyber security

NASA Astrophysics Data System (ADS)

Reddi, Ram Mohan

The operation and control of the power system in an efficient way is important in order to keep the system secure, reliable and economical. With advancements in smart grid, several new algorithms have been developed for improved operation and control. These algorithms need to be extensively tested and validated in real time before applying to the real electric power grid. This work focuses on the development of a real time test bed for testing and validating power system control algorithms, hardware devices and cyber security vulnerability. The test bed developed utilizes several hardware components including relays, phasor measurement units, phasor data concentrator, programmable logic controllers and several software tools. Current work also integrates historian for power system monitoring and data archiving. Finally, two different power system test cases are simulated to demonstrate the applications of developed test bed. The developed test bed can also be used for power system education.

Human arm stiffness and equilibrium-point trajectory during multi-joint movement.

PubMed

Gomi, H; Kawato, M

1997-03-01

By using a newly designed high-performance manipulandum and a new estimation algorithm, we measured human multi-joint arm stiffness parameters during multi-joint point-to-point movements on a horizontal plane. This manipulandum allows us to apply a sufficient perturbation to subject's arm within a brief period during movement. Arm stiffness parameters were reliably estimated using a new algorithm, in which all unknown structural parameters could be estimated independent of arm posture (i.e., constant values under any arm posture). Arm stiffness during transverse movement was considerably greater than that during corresponding posture, but not during a longitudinal movement. Although the ratios of elbow, shoulder, and double-joint stiffness were varied in time, the orientation of stiffness ellipses during the movement did not change much. Equilibrium-point trajectories that were predicted from measured stiffness parameters and actual trajectories were slightly sinusoidally curved in Cartesian space and their velocity profiles were quite different from the velocity profiles of actual hand trajectories. This result contradicts the hypothesis that the brain does not take the dynamics into account in movement control depending on the neuromuscular servo mechanism; rather, it implies that the brain needs to acquire some internal models of controlled objects.

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

Closed-Loop Optimal Control Implementations for Space Applications

DTIC Science & Technology

2016-12-01

analyses of a series of optimal control problems, several real- time optimal control algorithms are developed that continuously adapt to feedback on the...through the analyses of a series of optimal control problems, several real- time optimal control algorithms are developed that continuously adapt to...information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering

Application of point-to-point matching algorithms for background correction in on-line liquid chromatography-Fourier transform infrared spectrometry (LC-FTIR).

PubMed

Kuligowski, J; Quintás, G; Garrigues, S; de la Guardia, M

2010-03-15

A new background correction method for the on-line coupling of gradient liquid chromatography and Fourier transform infrared spectrometry has been developed. It is based on the use of a point-to-point matching algorithm that compares the absorption spectra of the sample data set with those of a previously recorded reference data set in order to select an appropriate reference spectrum. The spectral range used for the point-to-point comparison is selected with minimal user-interaction, thus facilitating considerably the application of the whole method. The background correction method has been successfully tested on a chromatographic separation of four nitrophenols running acetonitrile (0.08%, v/v TFA):water (0.08%, v/v TFA) gradients with compositions ranging from 35 to 85% (v/v) acetonitrile, giving accurate results for both, baseline resolved and overlapped peaks. Copyright (c) 2009 Elsevier B.V. All rights reserved.

ADS-B and multilateration sensor fusion algorithm for air traffic control

NASA Astrophysics Data System (ADS)

Liang, Mengchen

Air traffic is expected to increase rapidly in the next decade. But, the current Air Traffic Control (ATC) system does not meet the demand of the future safety and efficiency. The Next Generation Air Transportation System (NextGen) is a transformation program for the ATC system in the United States. The latest estimates by Federal Aviation Administration (FAA) show that by 2018 NextGen will reduce total delays in flight by 35 percent and provide 23 billion dollars in cumulative benefits. A satellite-based technology called the Automatic Dependent Surveillance-Broadcast (ADS-B) system is one of the most important elements in NextGen. FAA expects that ADS-B systems will be available in the National Airspace System (NAS) by 2020. However, an alternative surveillance system is needed due to vulnerabilities that exist in ADS-B systems. Multilateration has a high accuracy performance and is believed to be an ideal back-up strategy for ADS-B systems. Thus, in this study, we develop the ADS-B and multilateration sensor fusion algorithm for aircraft tracking applications in ATC. The algorithm contains a fault detection function for ADS-B information monitoring by using Trajectory Change Points reports from ADS-B and numerical vectors from a hybrid estimation algorithm. We consider two types of faults in the ADS-B measurement model to show that the algorithm is able to deal with the bad data from ADS-B systems and automatically select good data from multilateration systems. We apply fuzzy logic concepts and generate time variant parameters during the fusion process. The parameters play a role of weights for combining data from different sensors. The algorithm performance is validated through two aircraft tracking examples.

Application of GA, PSO, and ACO algorithms to path planning of autonomous underwater vehicles

NASA Astrophysics Data System (ADS)

Aghababa, Mohammad Pourmahmood; Amrollahi, Mohammad Hossein; Borjkhani, Mehdi

2012-09-01

In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a numerical solution of a nonlinear optimal control problem (NOCP). An energy performance index as a cost function, which should be minimized, was defined. The resulting problem was a two-point boundary value problem (TPBVP). A genetic algorithm (GA), particle swarm optimization (PSO), and ant colony optimization (ACO) algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.

In-flight photogrammetric camera calibration and validation via complementary lidar

NASA Astrophysics Data System (ADS)

Gneeniss, A. S.; Mills, J. P.; Miller, P. E.

2015-02-01

This research assumes lidar as a reference dataset against which in-flight camera system calibration and validation can be performed. The methodology utilises a robust least squares surface matching algorithm to align a dense network of photogrammetric points to the lidar reference surface, allowing for the automatic extraction of so-called lidar control points (LCPs). Adjustment of the photogrammetric data is then repeated using the extracted LCPs in a self-calibrating bundle adjustment with additional parameters. This methodology was tested using two different photogrammetric datasets, a Microsoft UltraCamX large format camera and an Applanix DSS322 medium format camera. Systematic sensitivity testing explored the influence of the number and weighting of LCPs. For both camera blocks it was found that when the number of control points increase, the accuracy improves regardless of point weighting. The calibration results were compared with those obtained using ground control points, with good agreement found between the two.

The combined control algorithm for large-angle maneuver of HITSAT-1 small satellite

NASA Astrophysics Data System (ADS)

Zhaowei, Sun; Yunhai, Geng; Guodong, Xu; Ping, He

2004-04-01

The HITSAT-1 is the first small satellite developed by Harbin Institute of Technology (HIT) whose mission objective is to test several pivotal techniques. The large angle maneuver control is one of the pivotal techniques of HITSAT-1 and the instantaneous Eulerian axis control algorithm (IEACA) has been applied. Because of using the reaction wheels and magnetorquer as the control actuators, the combined control algorithm has been adopted during the large-angle maneuver course. The computer simulation based on the MATRIX×6.0 software has finished and the results indicated that the combined control algorithm reduced the reaction wheel speeds obviously, and the IEACA algorithm has the advantages of simplicity and efficiency.

A Parametric k-Means Algorithm

PubMed Central

Tarpey, Thaddeus

2007-01-01

Summary The k points that optimally represent a distribution (usually in terms of a squared error loss) are called the k principal points. This paper presents a computationally intensive method that automatically determines the principal points of a parametric distribution. Cluster means from the k-means algorithm are nonparametric estimators of principal points. A parametric k-means approach is introduced for estimating principal points by running the k-means algorithm on a very large simulated data set from a distribution whose parameters are estimated using maximum likelihood. Theoretical and simulation results are presented comparing the parametric k-means algorithm to the usual k-means algorithm and an example on determining sizes of gas masks is used to illustrate the parametric k-means algorithm. PMID:17917692

Evaluating some computer exhancement algorithms that improve the visibility of cometary morphology

NASA Technical Reports Server (NTRS)

Larson, Stephen M.; Slaughter, Charles D.

1992-01-01

Digital enhancement of cometary images is a necessary tool in studying cometary morphology. Many image processing algorithms, some developed specifically for comets, have been used to enhance the subtle, low contrast coma and tail features. We compare some of the most commonly used algorithms on two different images to evaluate their strong and weak points, and conclude that there currently exists no single 'ideal' algorithm, although the radial gradient spatial filter gives the best overall result. This comparison should aid users in selecting the best algorithm to enhance particular features of interest.

Implementing a self-structuring data learning algorithm

NASA Astrophysics Data System (ADS)

Graham, James; Carson, Daniel; Ternovskiy, Igor

2016-05-01

In this paper, we elaborate on what we did to implement our self-structuring data learning algorithm. To recap, we are working to develop a data learning algorithm that will eventually be capable of goal driven pattern learning and extrapolation of more complex patterns from less complex ones. At this point we have developed a conceptual framework for the algorithm, but have yet to discuss our actual implementation and the consideration and shortcuts we needed to take to create said implementation. We will elaborate on our initial setup of the algorithm and the scenarios we used to test our early stage algorithm. While we want this to be a general algorithm, it is necessary to start with a simple scenario or two to provide a viable development and testing environment. To that end, our discussion will be geared toward what we include in our initial implementation and why, as well as what concerns we may have. In the future, we expect to be able to apply our algorithm to a more general approach, but to do so within a reasonable time, we needed to pick a place to start.

Peak reduction for commercial buildings using energy storage

NASA Astrophysics Data System (ADS)

Chua, K. H.; Lim, Y. S.; Morris, S.

2017-11-01

Battery-based energy storage has emerged as a cost-effective solution for peak reduction due to the decrement of battery’s price. In this study, a battery-based energy storage system is developed and implemented to achieve an optimal peak reduction for commercial customers with the limited energy capacity of the energy storage. The energy storage system is formed by three bi-directional power converter rated at 5 kVA and a battery bank with capacity of 64 kWh. Three control algorithms, namely fixed-threshold, adaptive-threshold, and fuzzy-based control algorithms have been developed and implemented into the energy storage system in a campus building. The control algorithms are evaluated and compared under different load conditions. The overall experimental results show that the fuzzy-based controller is the most effective algorithm among the three controllers in peak reduction. The fuzzy-based control algorithm is capable of incorporating a priori qualitative knowledge and expertise about the load characteristic of the buildings as well as the useable energy without over-discharging the batteries.

Robust control algorithms for Mars aerobraking

NASA Technical Reports Server (NTRS)

Shipley, Buford W., Jr.; Ward, Donald T.

1992-01-01

Four atmospheric guidance concepts have been adapted to control an interplanetary vehicle aerobraking in the Martian atmosphere. The first two offer improvements to the Analytic Predictor Corrector (APC) to increase its robustness to density variations. The second two are variations of a new Liapunov tracking exit phase algorithm, developed to guide the vehicle along a reference trajectory. These four new controllers are tested using a six degree of freedom computer simulation to evaluate their robustness. MARSGRAM is used to develop realistic atmospheres for the study. When square wave density pulses perturb the atmosphere all four controllers are successful. The algorithms are tested against atmospheres where the inbound and outbound density functions are different. Square wave density pulses are again used, but only for the outbound leg of the trajectory. Additionally, sine waves are used to perturb the density function. The new algorithms are found to be more robust than any previously tested and a Liapunov controller is selected as the most robust control algorithm overall examined.

PSO Based PI Controller Design for a Solar Charger System

PubMed Central

Yau, Her-Terng; Lin, Chih-Jer; Liang, Qin-Cheng

2013-01-01

Due to global energy crisis and severe environmental pollution, the photovoltaic (PV) system has become one of the most important renewable energy sources. Many previous studies on solar charger integrated system only focus on load charge control or switching Maximum Power Point Tracking (MPPT) and charge control modes. This study used two-stage system, which allows the overall portable solar energy charging system to implement MPPT and optimal charge control of Li-ion battery simultaneously. First, this study designs a DC/DC boost converter of solar power generation, which uses variable step size incremental conductance method (VSINC) to enable the solar cell to track the maximum power point at any time. The voltage was exported from the DC/DC boost converter to the DC/DC buck converter, so that the voltage dropped to proper voltage for charging the battery. The charging system uses constant current/constant voltage (CC/CV) method to charge the lithium battery. In order to obtain the optimum PI charge controller parameters, this study used intelligent algorithm to determine the optimum parameters. According to the simulation and experimental results, the control parameters resulted from PSO have better performance than genetic algorithms (GAs). PMID:23766713

PSO based PI controller design for a solar charger system.

PubMed

Yau, Her-Terng; Lin, Chih-Jer; Liang, Qin-Cheng

2013-01-01

Due to global energy crisis and severe environmental pollution, the photovoltaic (PV) system has become one of the most important renewable energy sources. Many previous studies on solar charger integrated system only focus on load charge control or switching Maximum Power Point Tracking (MPPT) and charge control modes. This study used two-stage system, which allows the overall portable solar energy charging system to implement MPPT and optimal charge control of Li-ion battery simultaneously. First, this study designs a DC/DC boost converter of solar power generation, which uses variable step size incremental conductance method (VSINC) to enable the solar cell to track the maximum power point at any time. The voltage was exported from the DC/DC boost converter to the DC/DC buck converter, so that the voltage dropped to proper voltage for charging the battery. The charging system uses constant current/constant voltage (CC/CV) method to charge the lithium battery. In order to obtain the optimum PI charge controller parameters, this study used intelligent algorithm to determine the optimum parameters. According to the simulation and experimental results, the control parameters resulted from PSO have better performance than genetic algorithms (GAs).

Adaptive control of turbulence intensity is accelerated by frugal flow sampling.

PubMed

Quinn, Daniel B; van Halder, Yous; Lentink, David

2017-11-01

The aerodynamic performance of vehicles and animals, as well as the productivity of turbines and energy harvesters, depends on the turbulence intensity of the incoming flow. Previous studies have pointed at the potential benefits of active closed-loop turbulence control. However, it is unclear what the minimal sensory and algorithmic requirements are for realizing this control. Here we show that very low-bandwidth anemometers record sufficient information for an adaptive control algorithm to converge quickly. Our online Newton-Raphson algorithm tunes the turbulence in a recirculating wind tunnel by taking readings from an anemometer in the test section. After starting at 9% turbulence intensity, the algorithm converges on values ranging from 10% to 45% in less than 12 iterations within 1% accuracy. By down-sampling our measurements, we show that very-low-bandwidth anemometers record sufficient information for convergence. Furthermore, down-sampling accelerates convergence by smoothing gradients in turbulence intensity. Our results explain why low-bandwidth anemometers in engineering and mechanoreceptors in biology may be sufficient for adaptive control of turbulence intensity. Finally, our analysis suggests that, if certain turbulent eddy sizes are more important to control than others, frugal adaptive control schemes can be particularly computationally effective for improving performance. © 2017 The Author(s).

An embedded controller for a 7-degree of freedom prosthetic arm.

PubMed

Tenore, Francesco; Armiger, Robert S; Vogelstein, R Jacob; Wenstrand, Douglas S; Harshbarger, Stuart D; Englehart, Kevin

2008-01-01

We present results from an embedded real-time hardware system capable of decoding surface myoelectric signals (sMES) to control a seven degree of freedom upper limb prosthesis. This is one of the first hardware implementations of sMES decoding algorithms and the most advanced controller to-date. We compare decoding results from the device to simulation results from a real-time PC-based operating system. Performance of both systems is shown to be similar, with decoding accuracy greater than 90% for the floating point software simulation and 80% for fixed point hardware and software implementations.

MONTE CARLO SIMULATIONS OF PERIODIC PULSED REACTOR WITH MOVING GEOMETRY PARTS

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

Cao, Yan; Gohar, Yousry

2015-11-01

In a periodic pulsed reactor, the reactor state varies periodically from slightly subcritical to slightly prompt supercritical for producing periodic power pulses. Such periodic state change is accomplished by a periodic movement of specific reactor parts, such as control rods or reflector sections. The analysis of such reactor is difficult to perform with the current reactor physics computer programs. Based on past experience, the utilization of the point kinetics approximations gives considerable errors in predicting the magnitude and the shape of the power pulse if the reactor has significantly different neutron life times in different zones. To accurately simulate themore » dynamics of this type of reactor, a Monte Carlo procedure using the transfer function TRCL/TR of the MCNP/MCNPX computer programs is utilized to model the movable reactor parts. In this paper, two algorithms simulating the geometry part movements during a neutron history tracking have been developed. Several test cases have been developed to evaluate these procedures. The numerical test cases have shown that the developed algorithms can be utilized to simulate the reactor dynamics with movable geometry parts.« less

High Frequency Adaptive Instability Suppression Controls in a Liquid-Fueled Combustor

NASA Technical Reports Server (NTRS)

Kopasakis, George

2003-01-01

This effort extends into high frequency (>500 Hz), an earlier developed adaptive control algorithm for the suppression of thermo-acoustic instabilities in a liquidfueled combustor. The earlier work covered the development of a controls algorithm for the suppression of a low frequency (280 Hz) combustion instability based on simulations, with no hardware testing involved. The work described here includes changes to the simulation and controller design necessary to control the high frequency instability, augmentations to the control algorithm to improve its performance, and finally hardware testing and results with an experimental combustor rig developed for the high frequency case. The Adaptive Sliding Phasor Averaged Control (ASPAC) algorithm modulates the fuel flow in the combustor with a control phase that continuously slides back and forth within the phase region that reduces the amplitude of the instability. The results demonstrate the power of the method - that it can identify and suppress the instability even when the instability amplitude is buried in the noise of the combustor pressure. The successful testing of the ASPAC approach helped complete an important NASA milestone to demonstrate advanced technologies for low-emission combustors.

Robust Control Systems.

DTIC Science & Technology

1981-12-01

time control system algorithms that will perform adequately (i.e., at least maintain closed-loop system stability) when ucertain parameters in the...system design models vary significantly. Such a control algorithm is said to have stability robustness-or more simply is said to be "robust". This...cas6s above, the performance is analyzed using a covariance analysis. The development of all the controllers and the performance analysis algorithms is

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

NASA Technical Reports Server (NTRS)

Zhou, Zhinqiang

2012-01-01

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

Stall Recovery Guidance Algorithms Based on Constrained Control Approaches

NASA Technical Reports Server (NTRS)

Stepanyan, Vahram; Krishnakumar, Kalmanje; Kaneshige, John; Acosta, Diana

2016-01-01

Aircraft loss-of-control, in particular approach to stall or fully developed stall, is a major factor contributing to aircraft safety risks, which emphasizes the need to develop algorithms that are capable of assisting the pilots to identify the problem and providing guidance to recover the aircraft. In this paper we present several stall recovery guidance algorithms, which are implemented in the background without interfering with flight control system and altering the pilot's actions. They are using input and state constrained control methods to generate guidance signals, which are provided to the pilot in the form of visual cues. It is the pilot's decision to follow these signals. The algorithms are validated in the pilot-in-the loop medium fidelity simulation experiment.

Integration of a Decentralized Linear-Quadratic-Gaussian Control into GSFC's Universal 3-D Autonomous Formation Flying Algorithm

NASA Technical Reports Server (NTRS)

Folta, David C.; Carpenter, J. Russell

1999-01-01

A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and by appropriate choice of coordinates and simplified measurement modeling is formulated as a linear time-invariant system. Results for improvements to the GSFC algorithm and a multiple satellite formation will be addressed. The goal of this investigation is to progressively relax the assumptions that result in linear time-invariance, ultimately to the point of linearization of the non-linear dynamics about the current state estimate as in the extended Kalman filter. An assessment will then be made about the feasibility of the decentralized approach to the realistic formation flying application of the EO-1/Landsat 7 formation flying experiment.

An advancing front Delaunay triangulation algorithm designed for robustness

NASA Technical Reports Server (NTRS)

Mavriplis, D. J.

1992-01-01

A new algorithm is described for generating an unstructured mesh about an arbitrary two-dimensional configuration. Mesh points are generated automatically by the algorithm in a manner which ensures a smooth variation of elements, and the resulting triangulation constitutes the Delaunay triangulation of these points. The algorithm combines the mathematical elegance and efficiency of Delaunay triangulation algorithms with the desirable point placement features, boundary integrity, and robustness traditionally associated with advancing-front-type mesh generation strategies. The method offers increased robustness over previous algorithms in that it cannot fail regardless of the initial boundary point distribution and the prescribed cell size distribution throughout the flow-field.

Optimal design of loudspeaker arrays for robust cross-talk cancellation using the Taguchi method and the genetic algorithm.

PubMed

Bai, Mingsian R; Tung, Chih-Wei; Lee, Chih-Chung

2005-05-01

An optimal design technique of loudspeaker arrays for cross-talk cancellation with application in three-dimensional audio is presented. An array focusing scheme is presented on the basis of the inverse propagation that relates the transducers to a set of chosen control points. Tikhonov regularization is employed in designing the inverse cancellation filters. An extensive analysis is conducted to explore the cancellation performance and robustness issues. To best compromise the performance and robustness of the cross-talk cancellation system, optimal configurations are obtained with the aid of the Taguchi method and the genetic algorithm (GA). The proposed systems are further justified by physical as well as subjective experiments. The results reveal that large number of loudspeakers, closely spaced configuration, and optimal control point design all contribute to the robustness of cross-talk cancellation systems (CCS) against head misalignment.

Optimization of Time-Dependent Particle Tracing Using Tetrahedral Decomposition

NASA Technical Reports Server (NTRS)

Kenwright, David; Lane, David

1995-01-01

An efficient algorithm is presented for computing particle paths, streak lines and time lines in time-dependent flows with moving curvilinear grids. The integration, velocity interpolation and step-size control are all performed in physical space which avoids the need to transform the velocity field into computational space. This leads to higher accuracy because there are no Jacobian matrix approximations or expensive matrix inversions. Integration accuracy is maintained using an adaptive step-size control scheme which is regulated by the path line curvature. The problem of cell-searching, point location and interpolation in physical space is simplified by decomposing hexahedral cells into tetrahedral cells. This enables the point location to be done analytically and substantially faster than with a Newton-Raphson iterative method. Results presented show this algorithm is up to six times faster than particle tracers which operate on hexahedral cells yet produces almost identical particle trajectories.

A portable foot-parameter-extracting system

NASA Astrophysics Data System (ADS)

Zhang, MingKai; Liang, Jin; Li, Wenpan; Liu, Shifan

2016-03-01

In order to solve the problem of automatic foot measurement in garment customization, a new automatic footparameter- extracting system based on stereo vision, photogrammetry and heterodyne multiple frequency phase shift technology is proposed and implemented. The key technologies applied in the system are studied, including calibration of projector, alignment of point clouds, and foot measurement. Firstly, a new projector calibration algorithm based on plane model has been put forward to get the initial calibration parameters and a feature point detection scheme of calibration board image is developed. Then, an almost perfect match of two clouds is achieved by performing a first alignment using the Sampled Consensus - Initial Alignment algorithm (SAC-IA) and refining the alignment using the Iterative Closest Point algorithm (ICP). Finally, the approaches used for foot-parameterextracting and the system scheme are presented in detail. Experimental results show that the RMS error of the calibration result is 0.03 pixel and the foot parameter extracting experiment shows the feasibility of the extracting algorithm. Compared with the traditional measurement method, the system can be more portable, accurate and robust.

A star recognition method based on the Adaptive Ant Colony algorithm for star sensors.

PubMed

Quan, Wei; Fang, Jiancheng

2010-01-01

A new star recognition method based on the Adaptive Ant Colony (AAC) algorithm has been developed to increase the star recognition speed and success rate for star sensors. This method draws circles, with the center of each one being a bright star point and the radius being a special angular distance, and uses the parallel processing ability of the AAC algorithm to calculate the angular distance of any pair of star points in the circle. The angular distance of two star points in the circle is solved as the path of the AAC algorithm, and the path optimization feature of the AAC is employed to search for the optimal (shortest) path in the circle. This optimal path is used to recognize the stellar map and enhance the recognition success rate and speed. The experimental results show that when the position error is about 50″, the identification success rate of this method is 98% while the Delaunay identification method is only 94%. The identification time of this method is up to 50 ms.

Development of Algorithms for Control of Humidity in Plant Growth Chambers

NASA Technical Reports Server (NTRS)

Costello, Thomas A.

2003-01-01

Algorithms were developed to control humidity in plant growth chambers used for research on bioregenerative life support at Kennedy Space Center. The algorithms used the computed water vapor pressure (based on measured air temperature and relative humidity) as the process variable, with time-proportioned outputs to operate the humidifier and de-humidifier. Algorithms were based upon proportional-integral-differential (PID) and Fuzzy Logic schemes and were implemented using I/O Control software (OPTO-22) to define and download the control logic to an autonomous programmable logic controller (PLC, ultimate ethernet brain and assorted input-output modules, OPTO-22), which performed the monitoring and control logic processing, as well the physical control of the devices that effected the targeted environment in the chamber. During limited testing, the PLC's successfully implemented the intended control schemes and attained a control resolution for humidity of less than 1%. The algorithms have potential to be used not only with autonomous PLC's but could also be implemented within network-based supervisory control programs. This report documents unique control features that were implemented within the OPTO-22 framework and makes recommendations regarding future uses of the hardware and software for biological research by NASA.

Validation of elastic registration algorithms based on adaptive irregular grids for medical applications

NASA Astrophysics Data System (ADS)

Franz, Astrid; Carlsen, Ingwer C.; Renisch, Steffen; Wischmann, Hans-Aloys

2006-03-01

Elastic registration of medical images is an active field of current research. Registration algorithms have to be validated in order to show that they fulfill the requirements of a particular clinical application. Furthermore, validation strategies compare the performance of different registration algorithms and can hence judge which algorithm is best suited for a target application. In the literature, validation strategies for rigid registration algorithms have been analyzed. For a known ground truth they assess the displacement error at a few landmarks, which is not sufficient for elastic transformations described by a huge number of parameters. Hence we consider the displacement error averaged over all pixels in the whole image or in a region-of-interest of clinical relevance. Using artificially, but realistically deformed images of the application domain, we use this quality measure to analyze an elastic registration based on transformations defined on adaptive irregular grids for the following clinical applications: Magnetic Resonance (MR) images of freely moving joints for orthopedic investigations, thoracic Computed Tomography (CT) images for the detection of pulmonary embolisms, and transmission images as used for the attenuation correction and registration of independently acquired Positron Emission Tomography (PET) and CT images. The definition of a region-of-interest allows to restrict the analysis of the registration accuracy to clinically relevant image areas. The behaviour of the displacement error as a function of the number of transformation control points and their placement can be used for identifying the best strategy for the initial placement of the control points.

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

NASA Astrophysics Data System (ADS)

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

2017-03-01

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

Inertial Pointing and Positioning System

NASA Technical Reports Server (NTRS)

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

1998-01-01

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

Robust design of a 2-DOF GMV controller: a direct self-tuning and fuzzy scheduling approach.

PubMed

Silveira, Antonio S; Rodríguez, Jaime E N; Coelho, Antonio A R

2012-01-01

This paper presents a study on self-tuning control strategies with generalized minimum variance control in a fixed two degree of freedom structure-or simply GMV2DOF-within two adaptive perspectives. One, from the process model point of view, using a recursive least squares estimator algorithm for direct self-tuning design, and another, using a Mamdani fuzzy GMV2DOF parameters scheduling technique based on analytical and physical interpretations from robustness analysis of the system. Both strategies are assessed by simulation and real plants experimentation environments composed of a damped pendulum and an under development wind tunnel from the Department of Automation and Systems of the Federal University of Santa Catarina. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Semi-blind sparse image reconstruction with application to MRFM.

PubMed

Park, Se Un; Dobigeon, Nicolas; Hero, Alfred O

2012-09-01

We propose a solution to the image deconvolution problem where the convolution kernel or point spread function (PSF) is assumed to be only partially known. Small perturbations generated from the model are exploited to produce a few principal components explaining the PSF uncertainty in a high-dimensional space. Unlike recent developments on blind deconvolution of natural images, we assume the image is sparse in the pixel basis, a natural sparsity arising in magnetic resonance force microscopy (MRFM). Our approach adopts a Bayesian Metropolis-within-Gibbs sampling framework. The performance of our Bayesian semi-blind algorithm for sparse images is superior to previously proposed semi-blind algorithms such as the alternating minimization algorithm and blind algorithms developed for natural images. We illustrate our myopic algorithm on real MRFM tobacco virus data.

A FPGA-based Cluster Finder for CMOS Monolithic Active Pixel Sensors of the MIMOSA-26 Family

NASA Astrophysics Data System (ADS)

Li, Qiyan; Amar-Youcef, S.; Doering, D.; Deveaux, M.; Fröhlich, I.; Koziel, M.; Krebs, E.; Linnik, B.; Michel, J.; Milanovic, B.; Müntz, C.; Stroth, J.; Tischler, T.

2014-06-01

CMOS Monolithic Active Pixel Sensors (MAPS) demonstrated excellent performances in the field of charged particle tracking. Among their strong points are an single point resolution few μm, a light material budget of 0.05% X0 in combination with a good radiation tolerance and high rate capability. Those features make the sensors a valuable technology for vertex detectors of various experiments in heavy ion and particle physics. To reduce the load on the event builders and future mass storage systems, we have developed algorithms suited for preprocessing and reducing the data streams generated by the MAPS. This real-time processing employs remaining free resources of the FPGAs of the readout controllers of the detector and complements the on-chip data reduction circuits of the MAPS.

Data acquisition and path selection decision making for an autonomous roving vehicle. [laser pointing control system for vehicle guidance

NASA Technical Reports Server (NTRS)

Shen, C. N.; YERAZUNIS

1979-01-01

The feasibility of using range/pointing angle data such as might be obtained by a laser rangefinder for the purpose of terrain evaluation in the 10-40 meter range on which to base the guidance of an autonomous rover was investigated. The decision procedure of the rapid estimation scheme for the detection of discrete obstacles has been modified to reinforce the detection ability. With the introduction of the logarithmic scanning scheme and obstacle identification scheme, previously developed algorithms are combined to demonstrate the overall performance of the intergrated route designation system using laser rangefinder. In an attempt to cover a greater range, 30 m to 100 mm, the problem estimating gradients in the presence of positioning angle noise at middle range is investigated.

CAD system of design and engineering provision of die forming of compressor blades for aircraft engines

NASA Astrophysics Data System (ADS)

Khaimovich, I. N.

2017-10-01

The articles provides the calculation algorithms for blank design and die forming fitting to produce the compressor blades for aircraft engines. The design system proposed in the article allows generating drafts of trimming and reducing dies automatically, leading to significant reduction of work preparation time. The detailed analysis of the blade structural elements features was carried out, the taken limitations and technological solutions allowed forming generalized algorithms of forming parting stamp face over the entire circuit of the engraving for different configurations of die forgings. The author worked out the algorithms and programs to calculate three dimensional point locations describing the configuration of die cavity. As a result the author obtained the generic mathematical model of final die block in the form of three-dimensional array of base points. This model is the base for creation of engineering documentation of technological equipment and means of its control.

Quantification of HIV-1 DNA using real-time recombinase polymerase amplification.

PubMed

Crannell, Zachary Austin; Rohrman, Brittany; Richards-Kortum, Rebecca

2014-06-17

Although recombinase polymerase amplification (RPA) has many advantages for the detection of pathogenic nucleic acids in point-of-care applications, RPA has not yet been implemented to quantify sample concentration using a standard curve. Here, we describe a real-time RPA assay with an internal positive control and an algorithm that analyzes real-time fluorescence data to quantify HIV-1 DNA. We show that DNA concentration and the onset of detectable amplification are correlated by an exponential standard curve. In a set of experiments in which the standard curve and algorithm were used to analyze and quantify additional DNA samples, the algorithm predicted an average concentration within 1 order of magnitude of the correct concentration for all HIV-1 DNA concentrations tested. These results suggest that quantitative RPA (qRPA) may serve as a powerful tool for quantifying nucleic acids and may be adapted for use in single-sample point-of-care diagnostic systems.

Development of Deposition and Characterization Systems for Thin Film Solar Cells

NASA Astrophysics Data System (ADS)

Cimaroli, Alexander J.

Photovoltaic (PV) devices are becoming more important due to a number of economic and environmental factors. PV research relies on the ability to quickly fabricate and characterize these devices. While there are a number of deposition methods that are available in a laboratory setting, they are not necessarily able to be scaled to provide high throughput in a commercial setting. A close-space sublimation (CSS) system was developed to provide a means of depositing thin films in a very controlled and scalable manner. Its viability was explored by using it to deposit the absorber layer in Zn3P2 and CdTe solar cell devices. Excellent control over morphology and growth conditions and a high level of repeatability was demonstrated in the study of textured Zn3P2 thin films. However, some limitations imposed by the structure of Zn3P 2-based PV devices showed that CSS may not be the best approach for depositing Zn3P2 thin films. Despite the inability to make Zn3P2 solar cell devices, high efficiency CdTe solar cells were fabricated using CSS. With the introduction of Perovskite-based solar cell devices, the viability of data collected from conventional J-V measurements was questioned due to the J-V hysteresis that Perovskite devices exhibited. New methods of solar cell characterization were developed in order to accurately and quickly assess the performance of hysteretic PV devices. Both J-V measurements and steady-state efficiency measurements are prone to errors due to hysteresis and maximum power point drift. To resolve both of these issues, a maximum power point tracking (MPPT) system was developed with two algorithms: a simple algorithm and a predictive algorithm. The predictive algorithm showed increased resistance to the effects of hysteresis because of its ability to predict the steady-state current after a bias step with a double exponential decay model fit. Some publications have attempted to quantify the degree of J-V hysteresis present in fabricated Perovskite-based devices, but the analysis relied on J-V measurements. The sweep rate, starting bias, illumination time, etc. would affect the value of the calculated degree of hysteresis. A method of using transient photocurrent measurements is presented to accurately quantify the degree of hysteresis for all solar cells: not just Perovskite-based devices. According to this method, almost all solar cell devices exhibit several forms of J-V hysteresis. This method may open new ways of analyzing the defects in fabricated PV devices.

A curvature-based weighted fuzzy c-means algorithm for point clouds de-noising

NASA Astrophysics Data System (ADS)

Cui, Xin; Li, Shipeng; Yan, Xiutian; He, Xinhua

2018-04-01

In order to remove the noise of three-dimensional scattered point cloud and smooth the data without damnify the sharp geometric feature simultaneity, a novel algorithm is proposed in this paper. The feature-preserving weight is added to fuzzy c-means algorithm which invented a curvature weighted fuzzy c-means clustering algorithm. Firstly, the large-scale outliers are removed by the statistics of r radius neighboring points. Then, the algorithm estimates the curvature of the point cloud data by using conicoid parabolic fitting method and calculates the curvature feature value. Finally, the proposed clustering algorithm is adapted to calculate the weighted cluster centers. The cluster centers are regarded as the new points. The experimental results show that this approach is efficient to different scale and intensities of noise in point cloud with a high precision, and perform a feature-preserving nature at the same time. Also it is robust enough to different noise model.

Fast and stable algorithms for computing the principal square root of a complex matrix

NASA Technical Reports Server (NTRS)

Shieh, Leang S.; Lian, Sui R.; Mcinnis, Bayliss C.

1987-01-01

This note presents recursive algorithms that are rapidly convergent and more stable for finding the principal square root of a complex matrix. Also, the developed algorithms are utilized to derive the fast and stable matrix sign algorithms which are useful in developing applications to control system problems.

Design of sewage treatment system by applying fuzzy adaptive PID controller

NASA Astrophysics Data System (ADS)

Jin, Liang-Ping; Li, Hong-Chan

2013-03-01

In the sewage treatment system, the dissolved oxygen concentration control, due to its nonlinear, time-varying, large time delay and uncertainty, is difficult to establish the exact mathematical model. While the conventional PID controller only works with good linear not far from its operating point, it is difficult to realize the system control when the operating point far off. In order to solve the above problems, the paper proposed a method which combine fuzzy control with PID methods and designed a fuzzy adaptive PID controller based on S7-300 PLC .It employs fuzzy inference method to achieve the online tuning for PID parameters. The control algorithm by simulation and practical application show that the system has stronger robustness and better adaptability.

Telerobotic control of a mobile coordinated robotic server, executive summary

NASA Technical Reports Server (NTRS)

Lee, Gordon

1993-01-01

This interim report continues with the research effort on advanced adaptive controls for space robotics systems. In particular, previous results developed by the principle investigator and his research team centered around fuzzy logic control (FLC) in which the lack of knowledge of the robotic system as well as the uncertainties of the environment are compensated for by a rule base structure which interacts with varying degrees of belief of control action using system measurements. An on-line adaptive algorithm was developed using a single parameter tuning scheme. In the effort presented, the methodology is further developed to include on-line scaling factor tuning and self-learning control as well as extended to the multi-input, multi-output (MIMO) case. Classical fuzzy logic control requires tuning input scale factors off-line through trial and error techniques. This is time-consuming and cannot adapt to new changes in the process. The new adaptive FLC includes a self-tuning scheme for choosing the scaling factors on-line. Further the rule base in classical FLC is usually produced by soliciting knowledge from human operators as to what is good control action for given circumstances. This usually requires full knowledge and experience of the process and operating conditions, which limits applicability. A self-learning scheme is developed which adaptively forms the rule base with very limited knowledge of the process. Finally, a MIMO method is presented employing optimization techniques. This is required for application to space robotics in which several degrees-of-freedom links are commonly used. Simulation examples are presented for terminal control - typical of robotic problems in which a desired terminal point is to be reached for each link. Future activities will be to implement the MIMO adaptive FLC on an INTEL microcontroller-based circuit and to test the algorithm on a robotic system at the Mars Mission Research Center at North Carolina State University.

Focusing light through random photonic layers by four-element division algorithm

NASA Astrophysics Data System (ADS)

Fang, Longjie; Zhang, Xicheng; Zuo, Haoyi; Pang, Lin

2018-02-01

The propagation of waves in turbid media is a fundamental problem of optics with vast applications. Optical phase optimization approaches for focusing light through turbid media using phase control algorithm have been widely studied in recent years due to the rapid development of spatial light modulator. The existing approaches include element-based algorithms - stepwise sequential algorithm, continuous sequential algorithm and whole element optimization approaches - partitioning algorithm, transmission matrix approach and genetic algorithm. The advantage of element-based approaches is that the phase contribution of each element is very clear; however, because the intensity contribution of each element to the focal point is small especially for the case of large number of elements, the determination of the optimal phase for a single element would be difficult. In other words, the signal to noise ratio of the measurement is weak, leading to possibly local maximal during the optimization. As for whole element optimization approaches, all elements are employed for the optimization. Of course, signal to noise ratio during the optimization is improved. However, because more random processings are introduced into the processing, optimizations take more time to converge than the single element based approaches. Based on the advantages of both single element based approaches and whole element optimization approaches, we propose FEDA approach. Comparisons with the existing approaches show that FEDA only takes one third of measurement time to reach the optimization, which means that FEDA is promising in practical application such as for deep tissue imaging.

A homotopy algorithm for digital optimal projection control GASD-HADOC

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Richter, Stephen; Davis, Lawrence D.

1993-01-01

The linear-quadratic-gaussian (LQG) compensator was developed to facilitate the design of control laws for multi-input, multi-output (MIMO) systems. The compensator is computed by solving two algebraic equations for which standard closed-loop solutions exist. Unfortunately, the minimal dimension of an LQG compensator is almost always equal to the dimension of the plant and can thus often violate practical implementation constraints on controller order. This deficiency is especially highlighted when considering control-design for high-order systems such as flexible space structures. This deficiency motivated the development of techniques that enable the design of optimal controllers whose dimension is less than that of the design plant. A homotopy approach based on the optimal projection equations that characterize the necessary conditions for optimal reduced-order control. Homotopy algorithms have global convergence properties and hence do not require that the initializing reduced-order controller be close to the optimal reduced-order controller to guarantee convergence. However, the homotopy algorithm previously developed for solving the optimal projection equations has sublinear convergence properties and the convergence slows at higher authority levels and may fail. A new homotopy algorithm for synthesizing optimal reduced-order controllers for discrete-time systems is described. Unlike the previous homotopy approach, the new algorithm is a gradient-based, parameter optimization formulation and was implemented in MATLAB. The results reported may offer the foundation for a reliable approach to optimal, reduced-order controller design.

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.

REQUEST: A Recursive QUEST Algorithm for Sequential Attitude Determination

NASA Technical Reports Server (NTRS)

Bar-Itzhack, Itzhack Y.

1996-01-01

In order to find the attitude of a spacecraft with respect to a reference coordinate system, vector measurements are taken. The vectors are pairs of measurements of the same generalized vector, taken in the spacecraft body coordinates, as well as in the reference coordinate system. We are interested in finding the best estimate of the transformation between these coordinate system.s The algorithm called QUEST yields that estimate where attitude is expressed by a quarternion. Quest is an efficient algorithm which provides a least squares fit of the quaternion of rotation to the vector measurements. Quest however, is a single time point (single frame) batch algorithm, thus measurements that were taken at previous time points are discarded. The algorithm presented in this work provides a recursive routine which considers all past measurements. The algorithm is based on on the fact that the, so called, K matrix, one of whose eigenvectors is the sought quaternion, is linerly related to the measured pairs, and on the ability to propagate K. The extraction of the appropriate eigenvector is done according to the classical QUEST algorithm. This stage, however, can be eliminated, and the computation simplified, if a standard eigenvalue-eigenvector solver algorithm is used. The development of the recursive algorithm is presented and illustrated via a numerical example.

Application of IFT and SPSA to servo system control.

PubMed

Rădac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M; Preitl, Stefan

2011-12-01

This paper treats the application of two data-based model-free gradient-based stochastic optimization techniques, i.e., iterative feedback tuning (IFT) and simultaneous perturbation stochastic approximation (SPSA), to servo system control. The representative case of controlled processes modeled by second-order systems with an integral component is discussed. New IFT and SPSA algorithms are suggested to tune the parameters of the state feedback controllers with an integrator in the linear-quadratic-Gaussian (LQG) problem formulation. An implementation case study concerning the LQG-based design of an angular position controller for a direct current servo system laboratory equipment is included to highlight the pros and cons of IFT and SPSA from an application's point of view. The comparison of IFT and SPSA algorithms is focused on an insight into their implementation.

Obtaining Approximate Values of Exterior Orientation Elements of Multi-Intersection Images Using Particle Swarm Optimization

NASA Astrophysics Data System (ADS)

Li, X.; Li, S. W.

2012-07-01

In this paper, an efficient global optimization algorithm in the field of artificial intelligence, named Particle Swarm Optimization (PSO), is introduced into close range photogrammetric data processing. PSO can be applied to obtain the approximate values of exterior orientation elements under the condition that multi-intersection photography and a small portable plane control frame are used. PSO, put forward by an American social psychologist J. Kennedy and an electrical engineer R.C. Eberhart, is a stochastic global optimization method based on swarm intelligence, which was inspired by social behavior of bird flocking or fish schooling. The strategy of obtaining the approximate values of exterior orientation elements using PSO is as follows: in terms of image coordinate observed values and space coordinates of few control points, the equations of calculating the image coordinate residual errors can be given. The sum of absolute value of each image coordinate is minimized to be the objective function. The difference between image coordinate observed value and the image coordinate computed through collinear condition equation is defined as the image coordinate residual error. Firstly a gross area of exterior orientation elements is given, and then the adjustment of other parameters is made to get the particles fly in the gross area. After iterative computation for certain times, the satisfied approximate values of exterior orientation elements are obtained. By doing so, the procedures like positioning and measuring space control points in close range photogrammetry can be avoided. Obviously, this method can improve the surveying efficiency greatly and at the same time can decrease the surveying cost. And during such a process, only one small portable control frame with a couple of control points is employed, and there are no strict requirements for the space distribution of control points. In order to verify the effectiveness of this algorithm, two experiments are carried out. In the first experiment, images of a standard grid board are taken according to multi-intersection photography using digital camera. Three points or six points which are located on the left-down corner of the standard grid are regarded as control points respectively, and the exterior orientation elements of each image are computed through PSO, and compared with these elements computed through bundle adjustment. In the second experiment, the exterior orientation elements obtained from the first experiment are used as approximate values in bundle adjustment and then the space coordinates of other grid points on the board can be computed. The coordinate difference of grid points between these computed space coordinates and their known coordinates can be used to compute the accuracy. The point accuracy computed in above experiments are ±0.76mm and ±0.43mm respectively. The above experiments prove the effectiveness of PSO used in close range photogrammetry to compute approximate values of exterior orientation elements, and the algorithm can meet the requirement of higher accuracy. In short, PSO can get better results in a faster, cheaper way compared with other surveying methods in close range photogrammetry.

Turbopump Performance Improved by Evolutionary Algorithms

NASA Technical Reports Server (NTRS)

Oyama, Akira; Liou, Meng-Sing

2002-01-01

The development of design optimization technology for turbomachinery has been initiated using the multiobjective evolutionary algorithm under NASA's Intelligent Synthesis Environment and Revolutionary Aeropropulsion Concepts programs. As an alternative to the traditional gradient-based methods, evolutionary algorithms (EA's) are emergent design-optimization algorithms modeled after the mechanisms found in natural evolution. EA's search from multiple points, instead of moving from a single point. In addition, they require no derivatives or gradients of the objective function, leading to robustness and simplicity in coupling any evaluation codes. Parallel efficiency also becomes very high by using a simple master-slave concept for function evaluations, since such evaluations often consume the most CPU time, such as computational fluid dynamics. Application of EA's to multiobjective design problems is also straightforward because EA's maintain a population of design candidates in parallel. Because of these advantages, EA's are a unique and attractive approach to real-world design optimization problems.

Implementation of an Adaptive Controller System from Concept to Flight Test

NASA Technical Reports Server (NTRS)

Larson, Richard R.; Burken, John J.; Butler, Bradley S.; Yokum, Steve

2009-01-01

The National Aeronautics and Space Administration Dryden Flight Research Center (Edwards, California) is conducting ongoing flight research using adaptive controller algorithms. A highly modified McDonnell-Douglas NF-15B airplane called the F-15 Intelligent Flight Control System (IFCS) is used to test and develop these algorithms. Modifications to this airplane include adding canards and changing the flight control systems to interface a single-string research controller processor for neural network algorithms. Research goals include demonstration of revolutionary control approaches that can efficiently optimize aircraft performance in both normal and failure conditions and advancement of neural-network-based flight control technology for new aerospace system designs. This report presents an overview of the processes utilized to develop adaptive controller algorithms during a flight-test program, including a description of initial adaptive controller concepts and a discussion of modeling formulation and performance testing. Design finalization led to integration with the system interfaces, verification of the software, validation of the hardware to the requirements, design of failure detection, development of safety limiters to minimize the effect of erroneous neural network commands, and creation of flight test control room displays to maximize human situational awareness; these are also discussed.

A noniterative greedy algorithm for multiframe point correspondence.

PubMed

Shafique, Khurram; Shah, Mubarak

2005-01-01

This paper presents a framework for finding point correspondences in monocular image sequences over multiple frames. The general problem of multiframe point correspondence is NP-hard for three or more frames. A polynomial time algorithm for a restriction of this problem is presented and is used as the basis of the proposed greedy algorithm for the general problem. The greedy nature of the proposed algorithm allows it to be used in real-time systems for tracking and surveillance, etc. In addition, the proposed algorithm deals with the problems of occlusion, missed detections, and false positives by using a single noniterative greedy optimization scheme and, hence, reduces the complexity of the overall algorithm as compared to most existing approaches where multiple heuristics are used for the same purpose. While most greedy algorithms for point tracking do not allow for entry and exit of the points from the scene, this is not a limitation for the proposed algorithm. Experiments with real and synthetic data over a wide range of scenarios and system parameters are presented to validate the claims about the performance of the proposed algorithm.

A decision tree-based on-line preventive control strategy for power system transient instability prevention

NASA Astrophysics Data System (ADS)

Xu, Yan; Dong, Zhao Yang; Zhang, Rui; Wong, Kit Po

2014-02-01

Maintaining transient stability is a basic requirement for secure power system operations. Preventive control deals with modifying the system operating point to withstand probable contingencies. In this article, a decision tree (DT)-based on-line preventive control strategy is proposed for transient instability prevention of power systems. Given a stability database, a distance-based feature estimation algorithm is first applied to identify the critical generators, which are then used as features to develop a DT. By interpreting the splitting rules of DT, preventive control is realised by formulating the rules in a standard optimal power flow model and solving it. The proposed method is transparent in control mechanism, on-line computation compatible and convenient to deal with multi-contingency. The effectiveness and efficiency of the method has been verified on New England 10-machine 39-bus test system.

Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

DTIC Science & Technology

2007-12-01

programs may be the XSS-11. The AFRL Space Vehicle Directorate at Kirtland Air Force Base in New Mexico developed the XSS-11 in order to exhibit the...the LQR/APF algorithm appears to be a promising new development for the field of multiple spacecraft close proximity maneuver control. Monte...dissertation reports the development of an autonomous distributed control algorithm for multiple spacecraft during close proximity operations

[System design of small intellectualized ultrasound hyperthermia instrument in the LabVIEW environment].

PubMed

Jiang, Feng; Bai, Jingfeng; Chen, Yazhu

2005-08-01

Small-scale intellectualized medical instrument has attracted great attention in the field of biomedical engineering, and LabVIEW (Laboratory Virtual Instrument Engineering Workbench) provides a convenient environment for this application due to its inherent advantages. The principle and system structure of the hyperthermia instrument are presented. Type T thermocouples are employed as thermotransducers, whose amplifier consists of two stages, providing built-in ice point compensation and thus improving work stability over temperature. Control signals produced by specially designed circuit drive the programmable counter/timer 8254 chip to generate PWM (Pulse width modulation) wave, which is used as ultrasound radiation energy control signal. Subroutine design topics such as inner-tissue real time feedback temperature control algorithm, water temperature control in the ultrasound applicator are also described. In the cancer tissue temperature control subroutine, the authors exert new improvments to PID (Proportional Integral Differential) algorithm according to the specific demands of the system and achieve strict temperature control to the target tissue region. The system design and PID algorithm improvement have experimentally proved to be reliable and excellent, meeting the requirements of the hyperthermia system.

Air traffic surveillance and control using hybrid estimation and protocol-based conflict resolution

NASA Astrophysics Data System (ADS)

Hwang, Inseok

The continued growth of air travel and recent advances in new technologies for navigation, surveillance, and communication have led to proposals by the Federal Aviation Administration (FAA) to provide reliable and efficient tools to aid Air Traffic Control (ATC) in performing their tasks. In this dissertation, we address four problems frequently encountered in air traffic surveillance and control; multiple target tracking and identity management, conflict detection, conflict resolution, and safety verification. We develop a set of algorithms and tools to aid ATC; These algorithms have the provable properties of safety, computational efficiency, and convergence. Firstly, we develop a multiple-maneuvering-target tracking and identity management algorithm which can keep track of maneuvering aircraft in noisy environments and of their identities. Secondly, we propose a hybrid probabilistic conflict detection algorithm between multiple aircraft which uses flight mode estimates as well as aircraft current state estimates. Our algorithm is based on hybrid models of aircraft, which incorporate both continuous dynamics and discrete mode switching. Thirdly, we develop an algorithm for multiple (greater than two) aircraft conflict avoidance that is based on a closed-form analytic solution and thus provides guarantees of safety. Finally, we consider the problem of safety verification of control laws for safety critical systems, with application to air traffic control systems. We approach safety verification through reachability analysis, which is a computationally expensive problem. We develop an over-approximate method for reachable set computation using polytopic approximation methods and dynamic optimization. These algorithms may be used either in a fully autonomous way, or as supporting tools to increase controllers' situational awareness and to reduce their work load.

Material point method of modelling and simulation of reacting flow of oxygen

NASA Astrophysics Data System (ADS)

Mason, Matthew; Chen, Kuan; Hu, Patrick G.

2014-07-01

Aerospace vehicles are continually being designed to sustain flight at higher speeds and higher altitudes than previously attainable. At hypersonic speeds, gases within a flow begin to chemically react and the fluid's physical properties are modified. It is desirable to model these effects within the Material Point Method (MPM). The MPM is a combined Eulerian-Lagrangian particle-based solver that calculates the physical properties of individual particles and uses a background grid for information storage and exchange. This study introduces chemically reacting flow modelling within the MPM numerical algorithm and illustrates a simple application using the AeroElastic Material Point Method (AEMPM) code. The governing equations of reacting flows are introduced and their direct application within an MPM code is discussed. A flow of 100% oxygen is illustrated and the results are compared with independently developed computational non-equilibrium algorithms. Observed trends agree well with results from an independently developed source.

A Fast Method to Calculate the Spatial Impulse Response for 1-D Linear Ultrasonic Phased Array Transducers

PubMed Central

Zou, Cheng; Sun, Zhenguo; Cai, Dong; Muhammad, Salman; Zhang, Wenzeng; Chen, Qiang

2016-01-01

A method is developed to accurately determine the spatial impulse response at the specifically discretized observation points in the radiated field of 1-D linear ultrasonic phased array transducers with great efficiency. In contrast, the previously adopted solutions only optimize the calculation procedure for a single rectangular transducer and required approximation considerations or nonlinear calculation. In this research, an algorithm that follows an alternative approach to expedite the calculation of the spatial impulse response of a rectangular linear array is presented. The key assumption for this algorithm is that the transducer apertures are identical and linearly distributed on an infinite rigid plane baffled with the same pitch. Two points in the observation field, which have the same position relative to two transducer apertures, share the same spatial impulse response that contributed from corresponding transducer, respectively. The observation field is discretized specifically to meet the relationship of equality. The analytical expressions of the proposed algorithm, based on the specific selection of the observation points, are derived to remove redundant calculations. In order to measure the proposed methodology, the simulation results obtained from the proposed method and the classical summation method are compared. The outcomes demonstrate that the proposed strategy can speed up the calculation procedure since it accelerates the speed-up ratio which relies upon the number of discrete points and the number of the array transducers. This development will be valuable in the development of advanced and faster linear ultrasonic phased array systems. PMID:27834799

Graph embedding and extensions: a general framework for dimensionality reduction.

PubMed

Yan, Shuicheng; Xu, Dong; Zhang, Benyu; Zhang, Hong-Jiang; Yang, Qiang; Lin, Stephen

2007-01-01

Over the past few decades, a large family of algorithms - supervised or unsupervised; stemming from statistics or geometry theory - has been designed to provide different solutions to the problem of dimensionality reduction. Despite the different motivations of these algorithms, we present in this paper a general formulation known as graph embedding to unify them within a common framework. In graph embedding, each algorithm can be considered as the direct graph embedding or its linear/kernel/tensor extension of a specific intrinsic graph that describes certain desired statistical or geometric properties of a data set, with constraints from scale normalization or a penalty graph that characterizes a statistical or geometric property that should be avoided. Furthermore, the graph embedding framework can be used as a general platform for developing new dimensionality reduction algorithms. By utilizing this framework as a tool, we propose a new supervised dimensionality reduction algorithm called Marginal Fisher Analysis in which the intrinsic graph characterizes the intraclass compactness and connects each data point with its neighboring points of the same class, while the penalty graph connects the marginal points and characterizes the interclass separability. We show that MFA effectively overcomes the limitations of the traditional Linear Discriminant Analysis algorithm due to data distribution assumptions and available projection directions. Real face recognition experiments show the superiority of our proposed MFA in comparison to LDA, also for corresponding kernel and tensor extensions.

Pre-Hardware Optimization and Implementation Of Fast Optics Closed Control Loop Algorithms

NASA Technical Reports Server (NTRS)

Kizhner, Semion; Lyon, Richard G.; Herman, Jay R.; Abuhassan, Nader

2004-01-01

One of the main heritage tools used in scientific and engineering data spectrum analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). The FFT is particularly useful in two-dimensional (2-D) image processing (FFT2) within optical systems control. However, timing constraints of a fast optics closed control loop would require a supercomputer to run the software implementation of the FFT2 and its inverse, as well as other image processing representative algorithm, such as numerical image folding and fringe feature extraction. A laboratory supercomputer is not always available even for ground operations and is not feasible for a night project. However, the computationally intensive algorithms still warrant alternative implementation using reconfigurable computing technologies (RC) such as Digital Signal Processors (DSP) and Field Programmable Gate Arrays (FPGA), which provide low cost compact super-computing capabilities. We present a new RC hardware implementation and utilization architecture that significantly reduces the computational complexity of a few basic image-processing algorithm, such as FFT2, image folding and phase diversity for the NASA Solar Viewing Interferometer Prototype (SVIP) using a cluster of DSPs and FPGAs. The DSP cluster utilization architecture also assures avoidance of a single point of failure, while using commercially available hardware. This, combined with the control algorithms pre-hardware optimization, or the first time allows construction of image-based 800 Hertz (Hz) optics closed control loops on-board a spacecraft, based on the SVIP ground instrument. That spacecraft is the proposed Earth Atmosphere Solar Occultation Imager (EASI) to study greenhouse gases CO2, C2H, H2O, O3, O2, N2O from Lagrange-2 point in space. This paper provides an advanced insight into a new type of science capabilities for future space exploration missions based on on-board image processing for control and for robotics missions using vision sensors. It presents a top-level description of technologies required for the design and construction of SVIP and EASI and to advance the spatial-spectral imaging and large-scale space interferometry science and engineering.

A Robust Linear Feature-Based Procedure for Automated Registration of Point Clouds

PubMed Central

Poreba, Martyna; Goulette, François

2015-01-01

With the variety of measurement techniques available on the market today, fusing multi-source complementary information into one dataset is a matter of great interest. Target-based, point-based and feature-based methods are some of the approaches used to place data in a common reference frame by estimating its corresponding transformation parameters. This paper proposes a new linear feature-based method to perform accurate registration of point clouds, either in 2D or 3D. A two-step fast algorithm called Robust Line Matching and Registration (RLMR), which combines coarse and fine registration, was developed. The initial estimate is found from a triplet of conjugate line pairs, selected by a RANSAC algorithm. Then, this transformation is refined using an iterative optimization algorithm. Conjugates of linear features are identified with respect to a similarity metric representing a line-to-line distance. The efficiency and robustness to noise of the proposed method are evaluated and discussed. The algorithm is valid and ensures valuable results when pre-aligned point clouds with the same scale are used. The studies show that the matching accuracy is at least 99.5%. The transformation parameters are also estimated correctly. The error in rotation is better than 2.8% full scale, while the translation error is less than 12.7%. PMID:25594589