Method and apparatus for configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

An approach to multivariable control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

Protostellar hydrodynamics: Constructing and testing a spacially and temporally second-order accurate method. 2: Cartesian coordinates

NASA Technical Reports Server (NTRS)

Myhill, Elizabeth A.; Boss, Alan P.

1993-01-01

In Boss & Myhill (1992) we described the derivation and testing of a spherical coordinate-based scheme for solving the hydrodynamic equations governing the gravitational collapse of nonisothermal, nonmagnetic, inviscid, radiative, three-dimensional protostellar clouds. Here we discuss a Cartesian coordinate-based scheme based on the same set of hydrodynamic equations. As with the spherical coorrdinate-based code, the Cartesian coordinate-based scheme employs explicit Eulerian methods which are both spatially and temporally second-order accurate. We begin by describing the hydrodynamic equations in Cartesian coordinates and the numerical methods used in this particular code. Following Finn & Hawley (1989), we pay special attention to the proper implementations of high-order accuracy, finite difference methods. We evaluate the ability of the Cartesian scheme to handle shock propagation problems, and through convergence testing, we show that the code is indeed second-order accurate. To compare the Cartesian scheme discussed here with the spherical coordinate-based scheme discussed in Boss & Myhill (1992), the two codes are used to calculate the standard isothermal collapse test case described by Bodenheimer & Boss (1981). We find that with the improved codes, the intermediate bar-configuration found previously disappears, and the cloud fragments directly into a binary protostellar system. Finally, we present the results from both codes of a new test for nonisothermal protostellar collapse.

Use of hyperbolic partial differential equations to generate body fitted coordinates

NASA Technical Reports Server (NTRS)

Steger, J. L.; Sorenson, R. L.

1980-01-01

The hyperbolic scheme is used to efficiently generate smoothly varying grids with good step size control near the body. Although only two dimensional applications are presented, the basic concepts are shown to extend to three dimensions.

On the interaction structure of linear multi-input feedback control systems. M.S. Thesis; [problem solving, lattices (mathematics)

NASA Technical Reports Server (NTRS)

Wong, P. K.

1975-01-01

The closely-related problems of designing reliable feedback stabilization strategy and coordinating decentralized feedbacks are considered. Two approaches are taken. A geometric characterization of the structure of control interaction (and its dual) was first attempted and a concept of structural homomorphism developed based on the idea of 'similarity' of interaction pattern. The idea of finding classes of individual feedback maps that do not 'interfere' with the stabilizing action of each other was developed by identifying the structural properties of nondestabilizing and LQ-optimal feedback maps. Some known stability properties of LQ-feedback were generalized and some partial solutions were provided to the reliable stabilization and decentralized feedback coordination problems. A concept of coordination parametrization was introduced, and a scheme for classifying different modes of decentralization (information, control law computation, on-line control implementation) in control systems was developed.

Aging does not affect the intralimb coordination elicited by slip-like perturbation of different intensities.

PubMed

Aprigliano, Federica; Martelli, Dario; Tropea, Peppino; Pasquini, Guido; Micera, Silvestro; Monaco, Vito

2017-09-01

This study was aimed at verifying whether aging modifies intralimb coordination strategy during corrective responses elicited by unexpected slip-like perturbations delivered during steady walking on a treadmill. To this end, 10 young and 10 elderly subjects were asked to manage unexpected slippages of different intensities. We analyzed the planar covariation law of the lower limb segments, using the principal component analysis, to verify whether elevation angles of older subjects covaried along a plan before and after the perturbation. Results showed that segments related to the perturbed limbs of both younger and older people do not covary after all perturbations. Conversely, the planar covariation law of the unperturbed limb was systematically held for younger and older subjects. These results occurred despite differences in spatio-temporal and kinematic parameters being observed among groups and perturbation intensities. Overall, our analysis revealed that aging does not affect intralimb coordination during corrective responses induced by slip-like perturbation, suggesting that both younger and older subjects adopt this control strategy while managing sudden and unexpected postural transitions of increasing intensities. Accordingly, results corroborate the hypothesis that balance control emerges from a governing set of biomechanical invariants, that is, suitable control schemes (e.g., planar covariation law) shared across voluntary and corrective motor behaviors, and across different sensory contexts due to different perturbation intensities, in both younger and older subjects. In this respect, our findings provide further support to investigate the effects of specific task training programs to counteract the risk of fall. NEW & NOTEWORTHY This study was aimed at investigating how aging affects the intralimb coordination of lower limb segments, described by the planar covariation law, during unexpected slip-like perturbations of increasing intensity. Results revealed that neither the aging nor the perturbation intensity affects this coordination strategy. Accordingly, we proposed that the balance control emerges from an invariant set of control schemes shared across different sensory motor contexts and despite age-related neuromuscular adaptations. Copyright © 2017 the American Physiological Society.

Position And Force Control For Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Hayati, Samad A.

1988-01-01

Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.

Computer coordination of limb motion for a three-legged walking robot

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1980-01-01

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Wide-area Power System Damping Control Coordination Based on Particle Swarm Optimization with Time Delay Considered

NASA Astrophysics Data System (ADS)

Zhang, J. Y.; Jiang, Y.

2017-10-01

To ensure satisfactory dynamic performance of controllers in time-delayed power systems, a WAMS-based control strategy is investigated in the presence of output feedback delay. An integrated approach based on Pade approximation and particle swarm optimization (PSO) is employed for parameter configuration of PSS. The coordination configuration scheme of power system controllers is achieved by a series of stability constraints at the aim of maximizing the minimum damping ratio of inter-area mode of power system. The validity of this derived PSS is verified on a prototype power system. The findings demonstrate that the proposed approach for control design could damp the inter-area oscillation and enhance the small-signal stability.

Formation Flying Control of Multiple Spacecraft

NASA Technical Reports Server (NTRS)

Hadaegh, F. Y.; Lau, Kenneth; Wang, P. K. C.

1997-01-01

The problem of coordination and control of multiple spacecraft (MS) moving in formation is considered. Here, each MS is modeled by a rigid body with fixed center of mass. First, various schemes for generating the desired formation patterns are discussed, Then, explicit control laws for formation-keeping and relative attitude alignment based on nearest neighbor-tracking are derived. The necessary data which must be communicated between the MS to achieve effective control are examined. The time-domain behavior of the feedback-controlled MS formation for typical low-Earth orbits is studied both analytically and via computer simulation. The paper concludes with a discussion of the implementation of the derived control laws, and the integration of the MS formation coordination and control system with a proposed inter-spacecraft communication/computing network.

Quantum coordinated multi-point communication based on entanglement swapping

NASA Astrophysics Data System (ADS)

Du, Gang; Shang, Tao; Liu, Jian-wei

2017-05-01

In a quantum network, adjacent nodes can communicate with each other point to point by using pre-shared Einsten-Podolsky-Rosen (EPR) pairs, and furthermore remote nodes can establish entanglement channels by using quantum routing among intermediate nodes. However, with the rapid development of quantum networks, the demand of various message transmission among nodes inevitably emerges. In order to realize this goal and extend quantum networks, we propose a quantum coordinated multi-point communication scheme based on entanglement swapping. The scheme takes full advantage of EPR pairs between adjacent nodes and performs multi-party entanglement swapping to transmit messages. Considering various demands of communication, all nodes work cooperatively to realize different message transmission modes, including one to many, many to one and one to some. Scheme analysis shows that the proposed scheme can flexibly organize a coordinated group and efficiently use EPR resources, while it meets basic security requirement under the condition of coordinated communication.

Transactive control of fast-acting demand response based on thermostatic loads in real-time retail electricity markets

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

Behboodi, Sahand; Chassin, David P.; Djilali, Ned

Coordinated operation of distributed thermostatic loads such as heat pumps and air conditioners can reduce energy costs and prevents grid congestion, while maintaining room temperatures in the comfort range set by consumers. This paper furthers efforts towards enabling thermostatically controlled loads (TCLs) to participate in real-time retail electricity markets under a transactive control paradigm. An agent-based approach is used to develop an effective and low complexity demand response control scheme for TCLs. The proposed scheme adjusts aggregated thermostatic loads according to real-time grid conditions under both heating and cooling modes. Here, a case study is presented showing the method reducesmore » consumer electricity costs by over 10% compared to uncoordinated operation.« less

Transactive control of fast-acting demand response based on thermostatic loads in real-time retail electricity markets

DOE PAGES

Behboodi, Sahand; Chassin, David P.; Djilali, Ned; ...

2017-07-29

Coordinated operation of distributed thermostatic loads such as heat pumps and air conditioners can reduce energy costs and prevents grid congestion, while maintaining room temperatures in the comfort range set by consumers. This paper furthers efforts towards enabling thermostatically controlled loads (TCLs) to participate in real-time retail electricity markets under a transactive control paradigm. An agent-based approach is used to develop an effective and low complexity demand response control scheme for TCLs. The proposed scheme adjusts aggregated thermostatic loads according to real-time grid conditions under both heating and cooling modes. Here, a case study is presented showing the method reducesmore » consumer electricity costs by over 10% compared to uncoordinated operation.« less

Market-Based Coordination of Thermostatically Controlled Loads—Part I: A Mechanism Design Formulation

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

Li, Sen; Zhang, Wei; Lian, Jianming

This paper focuses on the coordination of a population of Thermostatically Controlled Loads (TCLs) with unknown parameters to achieve group objectives. The problem involves designing the bidding and market clearing strategy to motivate self-interested users to realize efficient energy allocation subject to a peak power constraint. Using the mechanism design approach, we propose a market-based coordination framework, which can effectively incorporate heterogeneous load dynamics, systematically deal with user preferences, account for the unknown load model parameters, and enable the real-world implementation with limited communication resources. This paper is divided into two parts. Part I presents a mathematical formulation of themore » problem and develops a coordination framework using the mechanism design approach. Part II presents a learning scheme to account for the unknown load model parameters, and evaluates the proposed framework through realistic simulations.« less

Coordinating IMC-PID and adaptive SMC controllers for a PEMFC.

PubMed

Wang, Guo-Liang; Wang, Yong; Shi, Jun-Hai; Shao, Hui-He

2010-01-01

For a Proton Exchange Membrane Fuel Cell (PEMFC) power plant with a methanol reformer, the process parameters and power output are considered simultaneously to avoid violation of the constraints and to keep the fuel cell power plant safe and effective. In this paper, a novel coordinating scheme is proposed by combining an Internal Model Control (IMC) based PID Control and adaptive Sliding Mode Control (SMC). The IMC-PID controller is designed for the reformer of the fuel flow rate according to the expected first-order dynamic properties. The adaptive SMC controller of the fuel cell current has been designed using the constant plus proportional rate reaching law. The parameters of the SMC controller are adaptively tuned according to the response of the fuel flow rate control system. When the power output controller feeds back the current references to these two controllers, the coordinating controllers system works in a system-wide way. The simulation results of the PEMFC power plant demonstrate the effectiveness of the proposed method. 2009 ISA. Published by Elsevier Ltd. All rights reserved.

Real-Time Adaptive Control of Mixing in a Plane Shear Layer

DTIC Science & Technology

1994-02-02

l’icoulement d’un fuide visqueux incompressible autour d’un cylinder fixe ou en rotation. Effet Magnus . J. Mdc. 14, 109-134. TANEDA, S. 1977 Visual study...Mokhtarian & Yokomizo 1990), and in lift enhancement schemes employing the Magnus effect (Swanson 1961). Rotation of all or part of a body may also have...coordinate system. In this work, the body-fitted grid is simply one of cylindrical polar coordinates and is time-independent, except for a = 3.25 where

Coordinated interaction of two hydraulic cylinders when moving large-sized objects

NASA Astrophysics Data System (ADS)

Kreinin, G. V.; Misyurin, S. Yu; Lunev, A. V.

2017-12-01

The problem of the choice of parameters and the control scheme of the dynamics system for the coordinated displacement of a large mass object by two hydraulic piston type engines is considered. As a first stage, the problem is solved with respect to a system in which a heavy load of relatively large geometric dimensions is lifted or lowered in the progressive motion by two unidirectional hydraulic cylinders while maintaining the plane of the lifted object in a strictly horizontal position.

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Application of a lower-upper implicit scheme and an interactive grid generation for turbomachinery flow field simulations

NASA Technical Reports Server (NTRS)

Choo, Yung K.; Soh, Woo-Yung; Yoon, Seokkwan

1989-01-01

A finite-volume lower-upper (LU) implicit scheme is used to simulate an inviscid flow in a tubine cascade. This approximate factorization scheme requires only the inversion of sparse lower and upper triangular matrices, which can be done efficiently without extensive storage. As an implicit scheme it allows a large time step to reach the steady state. An interactive grid generation program (TURBO), which is being developed, is used to generate grids. This program uses the control point form of algebraic grid generation which uses a sparse collection of control points from which the shape and position of coordinate curves can be adjusted. A distinct advantage of TURBO compared with other grid generation programs is that it allows the easy change of local mesh structure without affecting the grid outside the domain of independence. Sample grids are generated by TURBO for a compressor rotor blade and a turbine cascade. The turbine cascade flow is simulated by using the LU implicit scheme on the grid generated by TURBO.

Additional cash incentive within a conditional cash transfer scheme: a 'controlled before and during' design evaluation study from India.

PubMed

Lahariya, Chandrakant; Mishra, Ashok; Nandan, Deoki; Gautam, Praveen; Gupta, Sanjay

2011-01-01

Conditional Cash Transfer (CCT) schemes have shown largely favorable changes in the health seeking behavior. This evaluation study assesses the process and performance of an Additional Cash Incentive (ACI) scheme within an ongoing CCT scheme in India, and document lessons. A controlled before and during design study was conducted in Madhya Pradesh state of India, from August 2007 to March 2008, with increased in institutional deliveries as a primary outcome. In depth interviews, focus group discussions and household surveys were done for data collection. Lack of awareness about ACI scheme amongst general population and beneficiaries, cumbersome cash disbursement procedure, intricate eligibility criteria, extensive paper work, and insufficient focus on community involvement were the major implementation challenges. There were anecdotal reports of political interference and possible scope for corruption. At the end of implementation period, overall rate of institutional deliveries had increased in both target and control populations; however, the differences were not statistically significant. No cause and effect association could be proven by this study. Poor planning and coordination, and lack of public awareness about the scheme resulted in low utilization. Thus, proper IEC and training, detailed implementation plan, orientation training for implementer, sufficient budgetary allocation, and community participation should be an integral part for successful implementation of any such scheme. The lesson learned this evaluation study may be useful in any developing country setting and may be utilized for planning and implementation of any ACI scheme in future.

A discrete control model of PLANT

NASA Technical Reports Server (NTRS)

Mitchell, C. M.

1985-01-01

A model of the PLANT system using the discrete control modeling techniques developed by Miller is described. Discrete control models attempt to represent in a mathematical form how a human operator might decompose a complex system into simpler parts and how the control actions and system configuration are coordinated so that acceptable overall system performance is achieved. Basic questions include knowledge representation, information flow, and decision making in complex systems. The structure of the model is a general hierarchical/heterarchical scheme which structurally accounts for coordination and dynamic focus of attention. Mathematically, the discrete control model is defined in terms of a network of finite state systems. Specifically, the discrete control model accounts for how specific control actions are selected from information about the controlled system, the environment, and the context of the situation. The objective is to provide a plausible and empirically testable accounting and, if possible, explanation of control behavior.

Stability analysis of multiple-robot control systems

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

Hand-Eye Calibration of Robonaut

NASA Technical Reports Server (NTRS)

Nickels, Kevin; Huber, Eric

2004-01-01

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Treatment of the polar coordinate singularity in axisymmetric wave propagation using high-order summation-by-parts operators on a staggered grid

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

Prochnow, Bo; O'Reilly, Ossian; Dunham, Eric M.

In this paper, we develop a high-order finite difference scheme for axisymmetric wave propagation in a cylindrical conduit filled with a viscous fluid. The scheme is provably stable, and overcomes the difficulty of the polar coordinate singularity in the radial component of the diffusion operator. The finite difference approximation satisfies the principle of summation-by-parts (SBP), which is used to establish stability using the energy method. To treat the coordinate singularity without losing the SBP property of the scheme, a staggered grid is introduced and quadrature rules with weights set to zero at the endpoints are considered. Finally, the accuracy ofmore » the scheme is studied both for a model problem with periodic boundary conditions at the ends of the conduit and its practical utility is demonstrated by modeling acoustic-gravity waves in a magmatic conduit.« less

Treatment of the polar coordinate singularity in axisymmetric wave propagation using high-order summation-by-parts operators on a staggered grid

DOE PAGES

Prochnow, Bo; O'Reilly, Ossian; Dunham, Eric M.; ...

2017-03-16

In this paper, we develop a high-order finite difference scheme for axisymmetric wave propagation in a cylindrical conduit filled with a viscous fluid. The scheme is provably stable, and overcomes the difficulty of the polar coordinate singularity in the radial component of the diffusion operator. The finite difference approximation satisfies the principle of summation-by-parts (SBP), which is used to establish stability using the energy method. To treat the coordinate singularity without losing the SBP property of the scheme, a staggered grid is introduced and quadrature rules with weights set to zero at the endpoints are considered. Finally, the accuracy ofmore » the scheme is studied both for a model problem with periodic boundary conditions at the ends of the conduit and its practical utility is demonstrated by modeling acoustic-gravity waves in a magmatic conduit.« less

Alternative Path Communication in Wide-Scale Cluster-Tree Wireless Sensor Networks Using Inactive Periods

PubMed Central

Leão, Erico; Montez, Carlos; Moraes, Ricardo; Portugal, Paulo; Vasques, Francisco

2017-01-01

The IEEE 802.15.4/ZigBee cluster-tree topology is a suitable technology to deploy wide-scale Wireless Sensor Networks (WSNs). These networks are usually designed to support convergecast traffic, where all communication paths go through the PAN (Personal Area Network) coordinator. Nevertheless, peer-to-peer communication relationships may be also required for different types of WSN applications. That is the typical case of sensor and actuator networks, where local control loops must be closed using a reduced number of communication hops. The use of communication schemes optimised just for the support of convergecast traffic may result in higher network congestion and in a potentially higher number of communication hops. Within this context, this paper proposes an Alternative-Route Definition (ARounD) communication scheme for WSNs. The underlying idea of ARounD is to setup alternative communication paths between specific source and destination nodes, avoiding congested cluster-tree paths. These alternative paths consider shorter inter-cluster paths, using a set of intermediate nodes to relay messages during their inactive periods in the cluster-tree network. Simulation results show that the ARounD communication scheme can significantly decrease the end-to-end communication delay, when compared to the use of standard cluster-tree communication schemes. Moreover, the ARounD communication scheme is able to reduce the network congestion around the PAN coordinator, enabling the reduction of the number of message drops due to queue overflows in the cluster-tree network. PMID:28481245

Alternative Path Communication in Wide-Scale Cluster-Tree Wireless Sensor Networks Using Inactive Periods.

PubMed

Leão, Erico; Montez, Carlos; Moraes, Ricardo; Portugal, Paulo; Vasques, Francisco

2017-05-06

The IEEE 802.15.4/ZigBee cluster-tree topology is a suitable technology to deploy wide-scale Wireless Sensor Networks (WSNs). These networks are usually designed to support convergecast traffic, where all communication paths go through the PAN (Personal Area Network) coordinator. Nevertheless, peer-to-peer communication relationships may be also required for different types of WSN applications. That is the typical case of sensor and actuator networks, where local control loops must be closed using a reduced number of communication hops. The use of communication schemes optimised just for the support of convergecast traffic may result in higher network congestion and in a potentially higher number of communication hops. Within this context, this paper proposes an Alternative-Route Definition (ARounD) communication scheme for WSNs. The underlying idea of ARounD is to setup alternative communication paths between specific source and destination nodes, avoiding congested cluster-tree paths. These alternative paths consider shorter inter-cluster paths, using a set of intermediate nodes to relay messages during their inactive periods in the cluster-tree network. Simulation results show that the ARounD communication scheme can significantly decrease the end-to-end communication delay, when compared to the use of standard cluster-tree communication schemes. Moreover, the ARounD communication scheme is able to reduce the network congestion around the PAN coordinator, enabling the reduction of the number of message drops due to queue overflows in the cluster-tree network.

A new approach to global control of redundant manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Attitude coordination of multi-HUG formation based on multibody system theory

NASA Astrophysics Data System (ADS)

Xue, Dong-yang; Wu, Zhi-liang; Qi, Er-mai; Wang, Yan-hui; Wang, Shu-xin

2017-04-01

Application of multiple hybrid underwater gliders (HUGs) is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field (APF) approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.

Target tracking and pointing for arrays of phase-locked lasers

NASA Astrophysics Data System (ADS)

Macasaet, Van P.; Hughes, Gary B.; Lubin, Philip; Madajian, Jonathan; Zhang, Qicheng; Griswold, Janelle; Kulkarni, Neeraj; Cohen, Alexander; Brashears, Travis

2016-09-01

Arrays of phase-locked lasers are envisioned for planetary defense and exploration systems. High-energy beams focused on a threatening asteroid evaporate surface material, creating a reactionary thrust that alters the asteroid's orbit. The same system could be used to probe an asteroid's composition, to search for unknown asteroids, and to propel interplanetary and interstellar spacecraft. Phased-array designs are capable of producing high beam intensity, and allow beam steering and beam profile manipulation. Modular designs allow ongoing addition of emitter elements to a growing array. This paper discusses pointing control for extensible laser arrays. Rough pointing is determined by spacecraft attitude control. Lateral movement of the laser emitter tips behind the optical elements provides intermediate pointing adjustment for individual array elements and beam steering. Precision beam steering and beam formation is accomplished by coordinated phase modulation across the array. Added cells are incorporated into the phase control scheme by precise alignment to local mechanical datums using fast, optical relative position sensors. Infrared target sensors are also positioned within the datum scheme, and provide information about the target vector relative to datum coordinates at each emitter. Multiple target sensors allow refined determination of the target normal plane, providing information to the phase controller for each emitter. As emitters and sensors are added, local position data allows accurate prediction of the relative global position of emitters across the array, providing additional constraints to the phase controllers. Mechanical design and associated phase control that is scalable for target distance and number of emitters is presented.

Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

PubMed

Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

2015-03-01

To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small.

Mashup Scheme Design of Map Tiles Using Lightweight Open Source Webgis Platform

NASA Astrophysics Data System (ADS)

Hu, T.; Fan, J.; He, H.; Qin, L.; Li, G.

2018-04-01

To address the difficulty involved when using existing commercial Geographic Information System platforms to integrate multi-source image data fusion, this research proposes the loading of multi-source local tile data based on CesiumJS and examines the tile data organization mechanisms and spatial reference differences of the CesiumJS platform, as well as various tile data sources, such as Google maps, Map World, and Bing maps. Two types of tile data loading schemes have been designed for the mashup of tiles, the single data source loading scheme and the multi-data source loading scheme. The multi-sources of digital map tiles used in this paper cover two different but mainstream spatial references, the WGS84 coordinate system and the Web Mercator coordinate system. According to the experimental results, the single data source loading scheme and the multi-data source loading scheme with the same spatial coordinate system showed favorable visualization effects; however, the multi-data source loading scheme was prone to lead to tile image deformation when loading multi-source tile data with different spatial references. The resulting method provides a low cost and highly flexible solution for small and medium-scale GIS programs and has a certain potential for practical application values. The problem of deformation during the transition of different spatial references is an important topic for further research.

Optical Network Virtualisation Using Multitechnology Monitoring and SDN-Enabled Optical Transceiver

NASA Astrophysics Data System (ADS)

Ou, Yanni; Davis, Matthew; Aguado, Alejandro; Meng, Fanchao; Nejabati, Reza; Simeonidou, Dimitra

2018-05-01

We introduce the real-time multi-technology transport layer monitoring to facilitate the coordinated virtualisation of optical and Ethernet networks supported by optical virtualise-able transceivers (V-BVT). A monitoring and network resource configuration scheme is proposed to include the hardware monitoring in both Ethernet and Optical layers. The scheme depicts the data and control interactions among multiple network layers under the software defined network (SDN) background, as well as the application that analyses the monitored data obtained from the database. We also present a re-configuration algorithm to adaptively modify the composition of virtual optical networks based on two criteria. The proposed monitoring scheme is experimentally demonstrated with OpenFlow (OF) extensions for a holistic (re-)configuration across both layers in Ethernet switches and V-BVTs.

Decentralized coordinated control of elastic web winding systems without tension sensor.

PubMed

Hou, Hailiang; Nian, Xiaohong; Chen, Jie; Xiao, Dengfeng

2018-06-26

In elastic web winding systems, precise regulation of web tension in each span is critical to ensure final product quality, and to achieve low cost by reducing the occurrence of web break or fold. Generally, web winding systems use load cells or swing rolls as tension sensors, which add cost, reduce system reliability and increase the difficulty of control. In this paper, a decentralized coordinated control scheme with tension observers is designed for a three-motor web-winding system. First, two tension observers are proposed to estimate the unwinding and winding tension. The designed observers consider the essential dynamic, radius, and inertial variation effects and only require the modest computational effort. Then, using the estimated tensions as feedback signals, a robust decentralized coordinated controller is adopted to reduce the interaction between subsystems. Asymptotic stabilities of the observer error dynamics and the closed-loop winding systems are demonstrated via Lyapunov stability theory. The observer gains and the controller gains can be obtained by solving matrix inequalities. Finally, some simulations and experiments are performed on a paper winding setup to test the performance of the designed observers and the observer-base DCC method, respectively. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion.

PubMed

Yasui, Kotaro; Sakai, Kazuhiko; Kano, Takeshi; Owaki, Dai; Ishiguro, Akio

2017-01-01

Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme that can coordinate their numerous legs in real time, and an autonomous decentralized control could be the key to solve this problem. Therefore, we focus on real centipedes and aim to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions. In the behavioral experiments, we observed the response to the removal of a part of the terrain and to amputation of several legs. Further, we determined that the ground reaction force is significant for generating rhythmic leg movements; the motion of each leg is likely affected by a sensory input from its neighboring legs. Thus, we constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg. We performed simulations by using this model and demonstrated that the myriapod robot could move adaptively to changes in the environment and body properties. Our findings will shed new light on designing adaptive and resilient myriapod robots that can function under various circumstances.

Coordinated Control of Cross-Flow Turbines

NASA Astrophysics Data System (ADS)

Strom, Benjamin; Brunton, Steven; Polagye, Brian

2016-11-01

Cross-flow turbines, also known as vertical-axis turbines, have several advantages over axial-flow turbines for a number of applications including urban wind power, high-density arrays, and marine or fluvial currents. By controlling the angular velocity applied to the turbine as a function of angular blade position, we have demonstrated a 79 percent increase in cross-flow turbine efficiency over constant-velocity control. This strategy uses the downhill simplex method to optimize control parameter profiles during operation of a model turbine in a recirculating water flume. This optimization method is extended to a set of two turbines, where the blade motions and position of the downstream turbine are optimized to beneficially interact with the coherent structures in the wake of the upstream turbine. This control scheme has the potential to enable high-density arrays of cross-flow turbines to operate at cost-effective efficiency. Turbine wake and force measurements are analyzed for insight into the effect of a coordinated control strategy.

An Energy-Efficient Game-Theory-Based Spectrum Decision Scheme for Cognitive Radio Sensor Networks

PubMed Central

Salim, Shelly; Moh, Sangman

2016-01-01

A cognitive radio sensor network (CRSN) is a wireless sensor network in which sensor nodes are equipped with cognitive radio. In this paper, we propose an energy-efficient game-theory-based spectrum decision (EGSD) scheme for CRSNs to prolong the network lifetime. Note that energy efficiency is the most important design consideration in CRSNs because it determines the network lifetime. The central part of the EGSD scheme consists of two spectrum selection algorithms: random selection and game-theory-based selection. The EGSD scheme also includes a clustering algorithm, spectrum characterization with a Markov chain, and cluster member coordination. Our performance study shows that EGSD outperforms the existing popular framework in terms of network lifetime and coordination overhead. PMID:27376290

An Energy-Efficient Game-Theory-Based Spectrum Decision Scheme for Cognitive Radio Sensor Networks.

PubMed

Salim, Shelly; Moh, Sangman

2016-06-30

A cognitive radio sensor network (CRSN) is a wireless sensor network in which sensor nodes are equipped with cognitive radio. In this paper, we propose an energy-efficient game-theory-based spectrum decision (EGSD) scheme for CRSNs to prolong the network lifetime. Note that energy efficiency is the most important design consideration in CRSNs because it determines the network lifetime. The central part of the EGSD scheme consists of two spectrum selection algorithms: random selection and game-theory-based selection. The EGSD scheme also includes a clustering algorithm, spectrum characterization with a Markov chain, and cluster member coordination. Our performance study shows that EGSD outperforms the existing popular framework in terms of network lifetime and coordination overhead.

Accompanying coordinate expansion and recurrence relation method using a transfer relation scheme for electron repulsion integrals with high angular momenta and long contractions

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

Hayami, Masao; Seino, Junji; Nakai, Hiromi, E-mail: nakai@waseda.jp

An efficient algorithm for the rapid evaluation of electron repulsion integrals is proposed. The present method, denoted by accompanying coordinate expansion and transferred recurrence relation (ACE-TRR), is constructed using a transfer relation scheme based on the accompanying coordinate expansion and recurrence relation method. Furthermore, the ACE-TRR algorithm is extended for the general-contraction basis sets. Numerical assessments clarify the efficiency of the ACE-TRR method for the systems including heavy elements, whose orbitals have long contractions and high angular momenta, such as f- and g-orbitals.

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

PubMed Central

Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

2016-01-01

This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks. PMID:27472338

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System.

PubMed

Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

2016-07-27

This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks.

Numerical Methods for Nonlinear Fokker-Planck Collision Operator in TEMPEST

NASA Astrophysics Data System (ADS)

Kerbel, G.; Xiong, Z.

2006-10-01

Early implementations of Fokker-Planck collision operator and moment computations in TEMPEST used low order polynomial interpolation schemes to reuse conservative operators developed for speed/pitch-angle (v, θ) coordinates. When this approach proved to be too inaccurate we developed an alternative higher order interpolation scheme for the Rosenbluth potentials and a high order finite volume method in TEMPEST (,) coordinates. The collision operator is thus generated by using the expansion technique in (v, θ) coordinates for the diffusion coefficients only, and then the fluxes for the conservative differencing are computed directly in the TEMPEST (,) coordinates. Combined with a cut-cell treatment at the turning-point boundary, this new approach is shown to have much better accuracy and conservation properties.

A Game-Theoretic Response Strategy for Coordinator Attack in Wireless Sensor Networks

PubMed Central

Liu, Jianhua; Yue, Guangxue; Shang, Huiliang; Li, Hongjie

2014-01-01

The coordinator is a specific node that controls the whole network and has a significant impact on the performance in cooperative multihop ZigBee wireless sensor networks (ZWSNs). However, the malicious node attacks coordinator nodes in an effort to waste the resources and disrupt the operation of the network. Attacking leads to a failure of one round of communication between the source nodes and destination nodes. Coordinator selection is a technique that can considerably defend against attack and reduce the data delivery delay, and increase network performance of cooperative communications. In this paper, we propose an adaptive coordinator selection algorithm using game and fuzzy logic aiming at both minimizing the average number of hops and maximizing network lifetime. The proposed game model consists of two interrelated formulations: a stochastic game for dynamic defense and a best response policy using evolutionary game formulation for coordinator selection. The stable equilibrium best policy to response defense is obtained from this game model. It is shown that the proposed scheme can improve reliability and save energy during the network lifetime with respect to security. PMID:25105171

A game-theoretic response strategy for coordinator attack in wireless sensor networks.

PubMed

Liu, Jianhua; Yue, Guangxue; Shen, Shigen; Shang, Huiliang; Li, Hongjie

2014-01-01

The coordinator is a specific node that controls the whole network and has a significant impact on the performance in cooperative multihop ZigBee wireless sensor networks (ZWSNs). However, the malicious node attacks coordinator nodes in an effort to waste the resources and disrupt the operation of the network. Attacking leads to a failure of one round of communication between the source nodes and destination nodes. Coordinator selection is a technique that can considerably defend against attack and reduce the data delivery delay, and increase network performance of cooperative communications. In this paper, we propose an adaptive coordinator selection algorithm using game and fuzzy logic aiming at both minimizing the average number of hops and maximizing network lifetime. The proposed game model consists of two interrelated formulations: a stochastic game for dynamic defense and a best response policy using evolutionary game formulation for coordinator selection. The stable equilibrium best policy to response defense is obtained from this game model. It is shown that the proposed scheme can improve reliability and save energy during the network lifetime with respect to security.

Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults.

PubMed

Chen, Gang; Song, Yongduan; Lewis, Frank L

2016-05-03

This paper investigates the distributed fault-tolerant control problem of networked Euler-Lagrange systems with actuator and communication link faults. An adaptive fault-tolerant cooperative control scheme is proposed to achieve the coordinated tracking control of networked uncertain Lagrange systems on a general directed communication topology, which contains a spanning tree with the root node being the active target system. The proposed algorithm is capable of compensating for the actuator bias fault, the partial loss of effectiveness actuation fault, the communication link fault, the model uncertainty, and the external disturbance simultaneously. The control scheme does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online, which largely reduces the online computation and expedites the responsiveness of the controller. To validate the effectiveness of the proposed method, a test-bed of multiple robot-arm cooperative control system is developed for real-time verification. Experiments on the networked robot-arms are conduced and the results confirm the benefits and the effectiveness of the proposed distributed fault-tolerant control algorithms.

Fisheye camera around view monitoring system

NASA Astrophysics Data System (ADS)

Feng, Cong; Ma, Xinjun; Li, Yuanyuan; Wu, Chenchen

2018-04-01

360 degree around view monitoring system is the key technology of the advanced driver assistance system, which is used to assist the driver to clear the blind area, and has high application value. In this paper, we study the transformation relationship between multi coordinate system to generate panoramic image in the unified car coordinate system. Firstly, the panoramic image is divided into four regions. By using the parameters obtained by calibration, four fisheye images pixel corresponding to the four sub regions are mapped to the constructed panoramic image. On the basis of 2D around view monitoring system, 3D version is realized by reconstructing the projection surface. Then, we compare 2D around view scheme and 3D around view scheme in unified coordinate system, 3D around view scheme solves the shortcomings of the traditional 2D scheme, such as small visual field, prominent ground object deformation and so on. Finally, the image collected by a fisheye camera installed around the car body can be spliced into a 360 degree panoramic image. So it has very high application value.

33 CFR 167.3 - Geographic coordinates.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Geographic coordinates. 167.3 Section 167.3 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) PORTS AND WATERWAYS SAFETY OFFSHORE TRAFFIC SEPARATION SCHEMES General § 167.3 Geographic coordinates...

A Comparison of Global Indexing Schemes to Facilitate Earth Science Data Management

NASA Astrophysics Data System (ADS)

Griessbaum, N.; Frew, J.; Rilee, M. L.; Kuo, K. S.

2017-12-01

Recent advances in database technology have led to systems optimized for managing petabyte-scale multidimensional arrays. These array databases are a good fit for subsets of the Earth's surface that can be projected into a rectangular coordinate system with acceptable geometric fidelity. However, for global analyses, array databases must address the same distortions and discontinuities that apply to map projections in general. The array database SciDB supports enormous databases spread across thousands of computing nodes. Additionally, the following SciDB characteristics are particularly germane to the coordinate system problem: SciDB efficiently stores and manipulates sparse (i.e. mostly empty) arrays. SciDB arrays have 64-bit indexes. SciDB supports user-defined data types, functions, and operators. We have implemented two geospatial indexing schemes in SciDB. The simplest uses two array dimensions to represent longitude and latitude. For representation as 64-bit integers, the coordinates are multiplied by a scale factor large enough to yield an appropriate Earth surface resolution (e.g., a scale factor of 100,000 yields a resolution of approximately 1m at the equator). Aside from the longitudinal discontinuity, the principal disadvantage of this scheme is its fixed scale factor. The second scheme uses a single array dimension to represent the bit-codes for locations in a hierarchical triangular mesh (HTM) coordinate system. A HTM maps the Earth's surface onto an octahedron, and then recursively subdivides each triangular face to the desired resolution. Earth surface locations are represented as the concatenation of an octahedron face code and a quadtree code within the face. Unlike our integerized lat-lon scheme, the HTM allow for objects of different size (e.g., pixels with differing resolutions) to be represented in the same indexing scheme. We present an evaluation of the relative utility of these two schemes for managing and analyzing MODIS swath data.

Effects of Distributed Generation on Overcurrent Relay Coordination and an Adaptive Protection Scheme

NASA Astrophysics Data System (ADS)

Ilik, Semih C.; Arsoy, Aysen B.

2017-07-01

Integration of distributed generation (DG) such as renewable energy sources to electrical network becomes more prevalent in recent years. Grid connection of DG has effects on load flow directions, voltage profile, short circuit power and especially protection selectivity. Applying traditional overcurrent protection scheme is inconvenient when system reliability and sustainability are considered. If a fault happens in DG connected network, short circuit contribution of DG, creates additional branch element feeding the fault current; compels to consider directional overcurrent (OC) protection scheme. Protection coordination might get lost for changing working conditions when DG sources are connected. Directional overcurrent relay parameters are determined for downstream and upstream relays when different combinations of DG connected singular or plural, on radial test system. With the help of proposed flow chart, relay parameters are updated and coordination between relays kept sustained for different working conditions in DigSILENT PowerFactory program.

77 FR 27832 - Shipping Coordinating Committee; Notice of Committee Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-11

... Scheme --Integration of women in the maritime sector --Global maritime training institutions --Impact... financial sustainability of the Organization --Voluntary IMO Member State Audit Scheme --Consideration of...

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

PubMed

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation.

PubMed

Sun, Zhijian; Zhang, Guoqing; Lu, Yu; Zhang, Weidong

2018-01-01

This paper studies the leader-follower formation control of underactuated surface vehicles with model uncertainties and environmental disturbances. A parameter estimation and upper bound estimation based sliding mode control scheme is proposed to solve the problem of the unknown plant parameters and environmental disturbances. For each of these leader-follower formation systems, the dynamic equations of position and attitude are analyzed using coordinate transformation with the aid of the backstepping technique. All the variables are guaranteed to be uniformly ultimately bounded stable in the closed-loop system, which is proven by the distribution design Lyapunov function synthesis. The main advantages of this approach are that: first, parameter estimation based sliding mode control can enhance the robustness of the closed-loop system in presence of model uncertainties and environmental disturbances; second, a continuous function is developed to replace the signum function in the design of sliding mode scheme, which devotes to reduce the chattering of the control system. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

78 FR 32698 - Shipping Coordinating Committee; Notice of Committee Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2013-05-31

... --Partnerships for progress --Voluntary IMO Member State Audit Scheme --Integration of women in the maritime... Member State Audit Scheme --Consideration of the report of the Maritime Safety Committee --Consideration...

Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates

NASA Astrophysics Data System (ADS)

Shi, Xiao-Ning; Zhou, Zhi-Gang; Zhou, Di

2018-06-01

This paper addresses the global finite-time attitude stabilisation problem on the special orthogonal group (SO(3)) for a rigid spacecraft via homogeneous feedback approach. Considering the topological and geometric properties of SO(3), the logarithm map is utilised to transform the stabilisation problem on SO(3) into the one on its associated Lie algebra (?). A model-independent discontinuous state feedback plus dynamics compensation scheme is constructed to achieve the global finite-time attitude stabilisation in a coordinate-invariant way. In addition, to address the absence of angular velocity measurements, a sliding mode observer is proposed to reconstruct the unknown angular velocity information within finite time. Then, an observer-based finite-time output feedback control strategy is obtained. Numerical simulations are finally performed to demonstrate the effectiveness of the proposed finite-time controllers.

Formation Control for Water-Jet USV Based on Bio-Inspired Method

NASA Astrophysics Data System (ADS)

Fu, Ming-yu; Wang, Duan-song; Wang, Cheng-long

2018-03-01

The formation control problem for underactuated unmanned surface vehicles (USVs) is addressed by a distributed strategy based on virtual leader strategy. The control system takes account of disturbance induced by external environment. With the coordinate transformation, the advantage of the proposed scheme is that the control point can be any point of the ship instead of the center of gravity. By introducing bio-inspired model, the formation control problem is addressed with backstepping method. This avoids complicated computation, simplifies the control law, and smoothes the input signals. The system uniform ultimate boundness is proven by Lyapunov stability theory with Young inequality. Simulation results are presented to verify the effectiveness and robust of the proposed controller.

76 FR 35181 - Wireless Backhaul; Further Inquiry Into Fixed Service Sharing of the 6875-7125 and 12700-13200...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-16

... continuation of electronic newsgathering operations, and the appropriate channelization scheme, coordination... also sought comment on alternative channelization schemes. Several commenters, including FWCC and...

EXODUS: Integrating intelligent systems for launch operations support

NASA Technical Reports Server (NTRS)

Adler, Richard M.; Cottman, Bruce H.

1991-01-01

Kennedy Space Center (KSC) is developing knowledge-based systems to automate critical operations functions for the space shuttle fleet. Intelligent systems will monitor vehicle and ground support subsystems for anomalies, assist in isolating and managing faults, and plan and schedule shuttle operations activities. These applications are being developed independently of one another, using different representation schemes, reasoning and control models, and hardware platforms. KSC has recently initiated the EXODUS project to integrate these stand alone applications into a unified, coordinated intelligent operations support system. EXODUS will be constructed using SOCIAL, a tool for developing distributed intelligent systems. EXODUS, SOCIAL, and initial prototyping efforts using SOCIAL to integrate and coordinate selected EXODUS applications are described.

Interactive grid generation for turbomachinery flow field simulations

NASA Technical Reports Server (NTRS)

Choo, Yung K.; Eiseman, Peter R.; Reno, Charles

1988-01-01

The control point form of algebraic grid generation presented provides the means that are needed to generate well structured grids for turbomachinery flow simulations. It uses a sparse collection of control points distributed over the flow domain. The shape and position of coordinate curves can be adjusted from these control points while the grid conforms precisely to all boundaries. An interactive program called TURBO, which uses the control point form, is being developed. Basic features of the code are discussed and sample grids are presented. A finite volume LU implicit scheme is used to simulate flow in a turbine cascade on the grid generated by the program.

Interactive grid generation for turbomachinery flow field simulations

NASA Technical Reports Server (NTRS)

Choo, Yung K.; Reno, Charles; Eiseman, Peter R.

1988-01-01

The control point form of algebraic grid generation presented provides the means that are needed to generate well structured grids of turbomachinery flow simulations. It uses a sparse collection of control points distributed over the flow domain. The shape and position of coordinate curves can be adjusted from these control points while the grid conforms precisely to all boundaries. An interactive program called TURBO, which uses the control point form, is being developed. Basic features of the code are discussed and sample grids are presented. A finite volume LU implicit scheme is used to simulate flow in a turbine cascade on the grid generated by the program.

Coordination of networked systems on digraphs with multiple leaders via pinning control

NASA Astrophysics Data System (ADS)

Chen, Gang; Lewis, Frank L.

2012-02-01

It is well known that achieving consensus among a group of multi-vehicle systems by local distributed control is feasible if and only if all nodes in the communication digraph are reachable from a single (root) node. In this article, we take into account a more general case that the communication digraph of the networked multi-vehicle systems is weakly connected and has two or more zero-in-degree and strongly connected subgraphs, i.e. there are two or more leader groups. Based on the pinning control strategy, the feasibility problem of achieving second-order controlled consensus is studied. At first, a necessary and sufficient condition is given when the topology is fixed. Then the method to design the controller and the rule to choose the pinned vehicles are discussed. The proposed approach allows us to extend several existing results for undirected graphs to directed balanced graphs. A sufficient condition is proposed in the case where the coupling topology is variable. As an illustrative example, a second-order controlled consensus scheme is applied to coordinate the movement of networked multiple mobile robots.

Cancer Care Coordination: a Systematic Review and Meta-Analysis of Over 30 Years of Empirical Studies.

PubMed

Gorin, Sherri Sheinfeld; Haggstrom, David; Han, Paul K J; Fairfield, Kathleen M; Krebs, Paul; Clauser, Steven B

2017-08-01

According to a landmark study by the Institute of Medicine, patients with cancer often receive poorly coordinated care in multiple settings from many providers. Lack of coordination is associated with poor symptom control, medical errors, and higher costs. The aims of this systematic review and meta-analysis were to (1) synthesize the findings of studies addressing cancer care coordination, (2) describe study outcomes across the cancer continuum, and (3) obtain a quantitative estimate of the effect of interventions in cancer care coordination on service system processes and patient health outcomes. Of 1241 abstracts identified through MEDLINE, EMBASE, CINAHL, and the Cochrane Library, 52 studies met the inclusion criteria. Each study had US or Canadian participants, comparison or control groups, measures, times, samples, and/or interventions. Two researchers independently applied a standardized search strategy, coding scheme, and online coding program to each study. Eleven studies met the additional criteria for the meta-analysis; a random effects estimation model was used for data analysis. Cancer care coordination approaches led to improvements in 81 % of outcomes, including screening, measures of patient experience with care, and quality of end-of-life care. Across the continuum of cancer care, patient navigation was the most frequent care coordination intervention, followed by home telehealth; nurse case management was third in frequency. The meta-analysis of a subset of the reviewed studies showed that the odds of appropriate health care utilization in cancer care coordination interventions were almost twice (OR = 1.9, 95 % CI = 1.5-3.5) that of comparison interventions. This review offers promising findings on the impact of cancer care coordination on increasing value and reducing healthcare costs in the USA.

Non-hydrostatic semi-elastic hybrid-coordinate SISL extension of HIRLAM. Part I: numerical scheme

NASA Astrophysics Data System (ADS)

Rõõm, Rein; Männik, Aarne; Luhamaa, Andres

2007-10-01

Two-time-level, semi-implicit, semi-Lagrangian (SISL) scheme is applied to the non-hydrostatic pressure coordinate equations, constituting a modified Miller-Pearce-White model, in hybrid-coordinate framework. Neutral background is subtracted in the initial continuous dynamics, yielding modified equations for geopotential, temperature and logarithmic surface pressure fluctuation. Implicit Lagrangian marching formulae for single time-step are derived. A disclosure scheme is presented, which results in an uncoupled diagnostic system, consisting of 3-D Poisson equation for omega velocity and 2-D Helmholtz equation for logarithmic pressure fluctuation. The model is discretized to create a non-hydrostatic extension to numerical weather prediction model HIRLAM. The discretization schemes, trajectory computation algorithms and interpolation routines, as well as the physical parametrization package are maintained from parent hydrostatic HIRLAM. For stability investigation, the derived SISL model is linearized with respect to the initial, thermally non-equilibrium resting state. Explicit residuals of the linear model prove to be sensitive to the relative departures of temperature and static stability from the reference state. Relayed on the stability study, the semi-implicit term in the vertical momentum equation is replaced to the implicit term, which results in stability increase of the model.

Motor Synergies and the Equilibrium-Point Hypothesis

PubMed Central

Latash, Mark L.

2010-01-01

The article offers a way to unite three recent developments in the field of motor control and coordination: (1) The notion of synergies is introduced based on the principle of motor abundance; (2) The uncontrolled manifold hypothesis is described as offering a computational framework to identify and quantify synergies; and (3) The equilibrium-point hypothesis is described for a single muscle, single joint, and multi-joint systems. Merging these concepts into a single coherent scheme requires focusing on control variables rather than performance variables. The principle of minimal final action is formulated as the guiding principle within the referent configuration hypothesis. Motor actions are associated with setting two types of variables by a controller, those that ultimately define average performance patterns and those that define associated synergies. Predictions of the suggested scheme are reviewed, such as the phenomenon of anticipatory synergy adjustments, quick actions without changes in synergies, atypical synergies, and changes in synergies with practice. A few models are briefly reviewed. PMID:20702893

Motor synergies and the equilibrium-point hypothesis.

PubMed

Latash, Mark L

2010-07-01

The article offers a way to unite three recent developments in the field of motor control and coordination: (1) The notion of synergies is introduced based on the principle of motor abundance; (2) The uncontrolled manifold hypothesis is described as offering a computational framework to identify and quantify synergies; and (3) The equilibrium-point hypothesis is described for a single muscle, single joint, and multijoint systems. Merging these concepts into a single coherent scheme requires focusing on control variables rather than performance variables. The principle of minimal final action is formulated as the guiding principle within the referent configuration hypothesis. Motor actions are associated with setting two types of variables by a controller, those that ultimately define average performance patterns and those that define associated synergies. Predictions of the suggested scheme are reviewed, such as the phenomenon of anticipatory synergy adjustments, quick actions without changes in synergies, atypical synergies, and changes in synergies with practice. A few models are briefly reviewed.

Flexible Residential Smart Grid Simulation Framework

NASA Astrophysics Data System (ADS)

Xiang, Wang

Different scheduling and coordination algorithms controlling household appliances' operations can potentially lead to energy consumption reduction and/or load balancing in conjunction with different electricity pricing methods used in smart grid programs. In order to easily implement different algorithms and evaluate their efficiency against other ideas, a flexible simulation framework is desirable in both research and business fields. However, such a platform is currently lacking or underdeveloped. In this thesis, we provide a simulation framework to focus on demand side residential energy consumption coordination in response to different pricing methods. This simulation framework, equipped with an appliance consumption library using realistic values, aims to closely represent the average usage of different types of appliances. The simulation results of traditional usage yield close matching values compared to surveyed real life consumption records. Several sample coordination algorithms, pricing schemes, and communication scenarios are also implemented to illustrate the use of the simulation framework.

Reaction mechanism and reaction coordinates from the viewpoint of energy flow

PubMed Central

2016-01-01

Reaction coordinates are of central importance for correct understanding of reaction dynamics in complex systems, but their counter-intuitive nature made it a daunting challenge to identify them. Starting from an energetic view of a reaction process as stochastic energy flows biased towards preferred channels, which we deemed the reaction coordinates, we developed a rigorous scheme for decomposing energy changes of a system, both potential and kinetic, into pairwise components. The pairwise energy flows between different coordinates provide a concrete statistical mechanical language for depicting reaction mechanisms. Application of this scheme to the C7eq → C7ax transition of the alanine dipeptide in vacuum revealed novel and intriguing mechanisms that eluded previous investigations of this well studied prototype system for biomolecular conformational dynamics. Using a cost function developed from the energy decomposition components by proper averaging over the transition path ensemble, we were able to identify signatures of the reaction coordinates of this system without requiring any input from human intuition. PMID:27004858

Reaction mechanism and reaction coordinates from the viewpoint of energy flow

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

Li, Wenjin; Ma, Ao, E-mail: aoma@uic.edu

Reaction coordinates are of central importance for correct understanding of reaction dynamics in complex systems, but their counter-intuitive nature made it a daunting challenge to identify them. Starting from an energetic view of a reaction process as stochastic energy flows biased towards preferred channels, which we deemed the reaction coordinates, we developed a rigorous scheme for decomposing energy changes of a system, both potential and kinetic, into pairwise components. The pairwise energy flows between different coordinates provide a concrete statistical mechanical language for depicting reaction mechanisms. Application of this scheme to the C{sub 7eq} → C{sub 7ax} transition of themore » alanine dipeptide in vacuum revealed novel and intriguing mechanisms that eluded previous investigations of this well studied prototype system for biomolecular conformational dynamics. Using a cost function developed from the energy decomposition components by proper averaging over the transition path ensemble, we were able to identify signatures of the reaction coordinates of this system without requiring any input from human intuition.« less

Developing Efficient Coordination Schemes to Control Over-Pumping in the Heihe River Basin, China

NASA Astrophysics Data System (ADS)

Pedrazzini, G.

2015-12-01

Many wicked water resources problems are approached in a social planner perspective. This not always matches the real institutional and policy-making context, where, rather, multiple decision-makers (DMs) can act independently, or weakly cooperate, ultimately producing system-wide inefficient trade-offs. The idea in this work is to adopt a more realistic approach, where the multi-DMs nature of the problem is preserved and the uncoordinated DMs are driven, thorough coordination mechanisms, towards a more system-wide efficient solution. An agent-based modelling framework linked to a surface and groundwater model is used to design these coordination mechanisms as constraints to the independent agents (i.e., DMs) behaviour. In the Heihe Basin the ongoing introduction of smart meter IC-card systems on farmers' pumping wells will soon allow monitoring and control of abstractions with the goal of preventing further depletion of the resource. The major interest of policy makers in the region concerns the development of new and the improvement of existing legislation on pricing schemes and/or groundwater quotas. The model outcome where agents act rationally but selfishly is compared to the optimal solution at system-level assuming perfect coordination and cooperation. The optimal solutions with respect to the given utility functions are computed using nonlinear optimization with a rolling out time horizon. The Pareto-Frontier is synthesized through an exhaustive sampling of the weight coefficient space and related to the current and to the historical management of the last 4 decades. The best parameter values for the proposed coordination mechanisms are determined and the alternatives are compared with respect to their efficiency and acceptability. Preliminary results suggest that a regulatory tax on groundwater of about a factor 10 of the current resource fee is required to increase the elasticity of the groundwater demand curve such that reducing consumption becomes attractive. The payback of the tax in form of subsidies to the farmers reduces the losses due to higher expenses. Findings will be presented to the local decision makers and have the potential to improve water governance in the Heihe River Basin in the coming years.

Organization and management of heterogeneous, dispersed data bases in nuclear engineering

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

Eastman, C.M.

1986-01-01

Large, complex, multiperson engineering projects in many areas, nuclear, aerospace, electronics, and manufacturing, have inherent needs for coordination, control, and management of the related engineering data. Taken in the abstract, the notion of an integrated engineering data base (IED) for such projects is attractive. The potential capabilities of an (IED) are that all data are managed in a coordinated way, are made accessible to all users who need it, allow relations between all parts of the data to be tracked and managed, provide backup, recovery, audit trails, security and access control, and allow overall project status to be monitored andmore » managed. Common data accessing schemes and user interfaces to applications are also part of an IED. This paper describes a new software product that allows incremental realization of many of the capabilities of an IED, without the massive disruption and risk.« less

Numerical simulation of large-scale ocean-atmosphere coupling and the ocean's role in climate

NASA Technical Reports Server (NTRS)

Gates, W. L.

1983-01-01

The problem of reducing model generated sigma coordinate data to pressure levels is considered. A mass consistent scheme for performing budget analyses is proposed, wherein variables interpolated to a given pressure level are weighted according to the mass between a nominal pressure level above and either a nominal pressure level below or the Earth's surface, whichever is closer. The method is applied to the atmospheric energy cycle as simulated by the OSU two level atmospheric general circulation model. The results are more realistic than sigma coordinate analyses with respect to eddy decomposition, and are in agreement with the sigma coordinate evaluation of the numerical energy sink. Comparison with less sophisticated budget schemes indicates superiority locally, but not globally.

Voltage controlled current source

DOEpatents

Casne, Gregory M.

1992-01-01

A seven decade, voltage controlled current source is described for use in testing intermediate range nuclear instruments that covers the entire test current range of from 10 picoamperes to 100 microamperes. High accuracy is obtained throughout the entire seven decades of output current with circuitry that includes a coordinated switching scheme responsive to the input signal from a hybrid computer to control the input voltage to an antilog amplifier, and to selectively connect a resistance to the antilog amplifier output to provide a continuous output current source as a function of a preset range of input voltage. An operator controlled switch provides current adjustment for operation in either a real-time simulation test mode or a time response test mode.

Coordination games, anti-coordination games, and imitative learning.

PubMed

McCain, Roger A; Hamilton, Richard

2014-02-01

Bentley et al.'s scheme generates distributions characteristic of situations of high and low social influence on decisions and of high and low salience ("transparency") of rewards. Another element of decisions that may influence the placement of a decision process in their map is the way in which individual decisions interact to determine the payoffs. This commentary discusses the role of Nash equilibria in game theory, focusing especially on coordination and anti-coordination games.

Multivariable control of vapor compression systems

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

He, X.D.; Liu, S.; Asada, H.H.

1999-07-01

This paper presents the results of a study of multi-input multi-output (MIMO) control of vapor compression cycles that have multiple actuators and sensors for regulating multiple outputs, e.g., superheat and evaporating temperature. The conventional single-input single-output (SISO) control was shown to have very limited performance. A low order lumped-parameter model was developed to describe the significant dynamics of vapor compression cycles. Dynamic modes were analyzed based on the low order model to provide physical insight of system dynamic behavior. To synthesize a MIMO control system, the Linear-Quadratic Gaussian (LQG) technique was applied to coordinate compressor speed and expansion valve openingmore » with guaranteed stability robustness in the design. Furthermore, to control a vapor compression cycle over a wide range of operating conditions where system nonlinearities become evident, a gain scheduling scheme was used so that the MIMO controller could adapt to changing operating conditions. Both analytical studies and experimental tests showed that the MIMO control could significantly improve the transient behavior of vapor compression cycles compared to the conventional SISO control scheme. The MIMO control proposed in this paper could be extended to the control of vapor compression cycles in a variety of HVAC and refrigeration applications to improve system performance and energy efficiency.« less

Agent-based power sharing scheme for active hybrid power sources

NASA Astrophysics Data System (ADS)

Jiang, Zhenhua

The active hybridization technique provides an effective approach to combining the best properties of a heterogeneous set of power sources to achieve higher energy density, power density and fuel efficiency. Active hybrid power sources can be used to power hybrid electric vehicles with selected combinations of internal combustion engines, fuel cells, batteries, and/or supercapacitors. They can be deployed in all-electric ships to build a distributed electric power system. They can also be used in a bulk power system to construct an autonomous distributed energy system. An important aspect in designing an active hybrid power source is to find a suitable control strategy that can manage the active power sharing and take advantage of the inherent scalability and robustness benefits of the hybrid system. This paper presents an agent-based power sharing scheme for active hybrid power sources. To demonstrate the effectiveness of the proposed agent-based power sharing scheme, simulation studies are performed for a hybrid power source that can be used in a solar car as the main propulsion power module. Simulation results clearly indicate that the agent-based control framework is effective to coordinate the various energy sources and manage the power/voltage profiles.

Improved genetic algorithm for the protein folding problem by use of a Cartesian combination operator.

PubMed Central

Rabow, A. A.; Scheraga, H. A.

1996-01-01

We have devised a Cartesian combination operator and coding scheme for improving the performance of genetic algorithms applied to the protein folding problem. The genetic coding consists of the C alpha Cartesian coordinates of the protein chain. The recombination of the genes of the parents is accomplished by: (1) a rigid superposition of one parent chain on the other, to make the relation of Cartesian coordinates meaningful, then, (2) the chains of the children are formed through a linear combination of the coordinates of their parents. The children produced with this Cartesian combination operator scheme have similar topology and retain the long-range contacts of their parents. The new scheme is significantly more efficient than the standard genetic algorithm methods for locating low-energy conformations of proteins. The considerable superiority of genetic algorithms over Monte Carlo optimization methods is also demonstrated. We have also devised a new dynamic programming lattice fitting procedure for use with the Cartesian combination operator method. The procedure finds excellent fits of real-space chains to the lattice while satisfying bond-length, bond-angle, and overlap constraints. PMID:8880904

Numerical Methods Using B-Splines

NASA Technical Reports Server (NTRS)

Shariff, Karim; Merriam, Marshal (Technical Monitor)

1997-01-01

The seminar will discuss (1) The current range of applications for which B-spline schemes may be appropriate (2) The property of high-resolution and the relationship between B-spline and compact schemes (3) Comparison between finite-element, Hermite finite element and B-spline schemes (4) Mesh embedding using B-splines (5) A method for the incompressible Navier-Stokes equations in curvilinear coordinates using divergence-free expansions.

Coordination between primary and secondary care: the role of electronic messages and economic incentives.

PubMed

La Rocca, Antonella; Hoholm, Thomas

2017-02-17

In Norway, a government reform has recently been introduced to enhance coordination between primary and secondary care. This paper examines the effects of two newly introduced measures to improve the coordination: an ICT-based communication tool/standard and an economic incentive scheme. This qualitative study is based primarily on 27 open-ended interviews. We interviewed nine employees at a hospital (the focal actor), 17 employees from seven different municipalities, and a representative of a Regional Health Authority. ICT-based communication is perceived to facilitate information exchange between primary and secondary care, thus positively affecting coordination. However, the economic incentive scheme appears to have the opposite effect by creating tensions between the two organizations and accentuating power asymmetry in favor of secondary care. The inter-organizational nature of coordination in health care makes it crucial for policymakers and management of care organizations to conceive incentives and instruments that work jointly across organizations rather than at only one of the health care organizations involved. Such an approach is likely to favor a more symmetrical pattern of collaboration between primary and secondary care.

Local sensory control of a dexterous end effector

NASA Technical Reports Server (NTRS)

Pinto, Victor H.; Everett, Louis J.; Driels, Morris

1990-01-01

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Possible communication scheme for closely-spaced multi-spacecraft missions

NASA Astrophysics Data System (ADS)

Dikareva, J.; Veselov, M.; Lesina, T.; Prokhorenko, V.; Nikolaeva, N.

2003-04-01

The progress in space instrumentation causes the rising number of the instrument modes, adjustments and other features. The work of the different instrument groups (field, wave, particle complexes) needs in more precise coordination. Furthermore, several spacecraft carry out the measurements simultaneously. All of that requires new approaches for the s/c control and data synchronization. The positive experience of the use of on-board program libraries correlated with different magnetospheric domains crossing prediction applied in INTERBALL project is analyzed. For the case of satellite-several subsatellites the original communication scheme is suggested. Taking into account strict weight and energy limitations it is difficult to establish a direct high bitrate subsatellite-graundstation radio-link. However such a radio-link seems possible for subsatellite-satellite due to the much shorter distance and therefore less power needed. The advantage of the use of main satellite as a communication mediator between a graundstation and subsatellites is considered. The scheme can be useful for multi-spacecraft planetary and deep space missions. The work is supported by INTAS 2000-465.

A strong shock tube problem calculated by different numerical schemes

NASA Astrophysics Data System (ADS)

Lee, Wen Ho; Clancy, Sean P.

1996-05-01

Calculated results are presented for the solution of a very strong shock tube problem on a coarse mesh using (1) MESA code, (2) UNICORN code, (3) Schulz hydro, and (4) modified TVD scheme. The first two codes are written in Eulerian coordinates, whereas methods (3) and (4) are in Lagrangian coordinates. MESA and UNICORN codes are both of second order and use different monotonic advection method to avoid the Gibbs phenomena. Code (3) uses typical artificial viscosity for inviscid flow, whereas code (4) uses a modified TVD scheme. The test problem is a strong shock tube problem with a pressure ratio of 109 and density ratio of 103 in an ideal gas. For no mass-matching case, Schulz hydro is better than TVD scheme. In the case of mass-matching, there is no difference between them. MESA and UNICORN results are nearly the same. However, the computed positions such as the contact discontinuity (i.e. the material interface) are not as accurate as the Lagrangian methods.

A new semiclassical decoupling scheme for electronic transitions in molecular collisions - Application to vibrational-to-electronic energy transfer

NASA Technical Reports Server (NTRS)

Lee, H.-W.; Lam, K. S.; Devries, P. L.; George, T. F.

1980-01-01

A new semiclassical decoupling scheme (the trajectory-based decoupling scheme) is introduced in a computational study of vibrational-to-electronic energy transfer for a simple model system that simulates collinear atom-diatom collisions. The probability of energy transfer (P) is calculated quasiclassically using the new scheme as well as quantum mechanically as a function of the atomic electronic-energy separation (lambda), with overall good agreement between the two sets of results. Classical mechanics with the new decoupling scheme is found to be capable of predicting resonance behavior whereas an earlier decoupling scheme (the coordinate-based decoupling scheme) failed. Interference effects are not exhibited in P vs lambda results.

System frequency support of permanent magnet synchronous generator-based wind power plant

NASA Astrophysics Data System (ADS)

Wu, Ziping

With ever-increasing penetration of wind power into modern electric grids all over the world, a trending replacement of conventional synchronous generators by large wind power plants will likely result in the poor overall frequency regulation performance. On the other hand, permanent magnet synchronous generator wind Turbine System (PMSG-WTG) with full power back to back converters tends to become one of the most promising wind turbine technologies thanks to various advantages. It possesses a significant amount of kinetic energy stored in the rotating mass of turbine blades, which can be utilized to enhance the total inertia of power system. Additionally, the deloaded operation and decoupled control of active and reactive power make it possible for PMSG-WTG to provide a fast frequency regulation through full-power converter. First of all, a comprehensive and in-depth survey is conducted to analyze the motivations for incorporating the inertial response and frequency regulation of VSWT into the system frequency regulation. Besides, control classifications, fundamental control concepts and advanced control schemes implemented for auxiliary frequency support of individual WT or wind power plant are elaborated along with a comparison of the potential frequency regulation capabilities of four major types of WTs. Secondly, a Controls Advanced Research Turbine2-Permanent Magnet Synchronous Generator wind turbine (CART2-PMSG) integrated model representing the typical configuration and operation characteristics of PMSG-WT is established in Matlab/Simulink,. Meanwhile, two different rotor-side converter control schemes, including rotor speed-based control and active power-based control, are integrated into this CART2-PMSG integrated model to perform Maximum Power Point Tracking (MPPT) operation over a wide range of wind speeds, respectively. Thirdly, a novel comprehensive frequency regulation (CFR) control scheme is developed and implemented into the CART2-PMSG model based on rotor speed control. The proposed control scheme is achieved through the coordinated control between rotor speed and modified pitch angle in accordance with different specified wind speed modes. Fourth, an improved inertial control method based on the maximum power point tracking operation curve is introduced to boost the overall frequency support capability of PMSG-WTGs based on rotor speed control. Fifth, a novel control method based on the torque limit (TLC) is proposed for the purpose of maximizing the wind turbine (WT)'s inertial response. To avoid the SFD caused by the deloaded operation of WT, a small-scale battery energy storage system (BESS) model is established and implemented to eliminate this impact and meanwhile assist the restoration of wind turbine to MPPT mode by means of coordinated control strategy between BESS and PMSG-WTG. Last but not the least, all three types of control strategies are implemented in the CART2-PMSG integrated model based on rotor speed control or active power control respectively to evaluate their impacts on the wind turbine's structural loads during the frequency regulation process. Simulation results demonstrate that all the proposed methods can enhance the overall frequency regulation performance while imposing very slight negative impact on the major mechanical components of the wind turbine.

Development of the Wake Behind a Circular Cylinder Impulsively Started into Rotatory and Rectilinear Motion: Intermediate Rotation Rates

DTIC Science & Technology

1991-01-01

cylindre fixe ou en rotation. Effet Magnus . J. Mec. 14, 109-134. Taneda, S. 1977 Visual study of unsteady separated flows around bodies. Prog. Aero...enhancement schemes employing the Magnus effect (Swanson 1961). Rotating all or part of a body may also have applications in active or feedback control of...and yt into the governing equations in the generalized coordinate system. In this study, the body-fitted grid is simply one of cylindrical polar

Representation of viruses in the remediated PDB archive

PubMed Central

Lawson, Catherine L.; Dutta, Shuchismita; Westbrook, John D.; Henrick, Kim; Berman, Helen M.

2008-01-01

A new scheme has been devised to represent viruses and other biological assemblies with regular noncrystallographic symmetry in the Protein Data Bank (PDB). The scheme describes existing and anticipated PDB entries of this type using generalized descriptions of deposited and experimental coordinate frames, symmetry and frame transformations. A simplified notation has been adopted to express the symmetry generation of assemblies from deposited coordinates and matrix operations describing the required point, helical or crystallographic symmetry. Complete correct information for building full assemblies, subassemblies and crystal asymmetric units of all virus entries is now available in the remediated PDB archive. PMID:18645236

Hexagonal Pixels and Indexing Scheme for Binary Images

NASA Technical Reports Server (NTRS)

Johnson, Gordon G.

2004-01-01

A scheme for resampling binaryimage data from a rectangular grid to a regular hexagonal grid and an associated tree-structured pixel-indexing scheme keyed to the level of resolution have been devised. This scheme could be utilized in conjunction with appropriate image-data-processing algorithms to enable automated retrieval and/or recognition of images. For some purposes, this scheme is superior to a prior scheme that relies on rectangular pixels: one example of such a purpose is recognition of fingerprints, which can be approximated more closely by use of line segments along hexagonal axes than by line segments along rectangular axes. This scheme could also be combined with algorithms for query-image-based retrieval of images via the Internet. A binary image on a rectangular grid is generated by raster scanning or by sampling on a stationary grid of rectangular pixels. In either case, each pixel (each cell in the rectangular grid) is denoted as either bright or dark, depending on whether the light level in the pixel is above or below a prescribed threshold. The binary data on such an image are stored in a matrix form that lends itself readily to searches of line segments aligned with either or both of the perpendicular coordinate axes. The first step in resampling onto a regular hexagonal grid is to make the resolution of the hexagonal grid fine enough to capture all the binaryimage detail from the rectangular grid. In practice, this amounts to choosing a hexagonal-cell width equal to or less than a third of the rectangular- cell width. Once the data have been resampled onto the hexagonal grid, the image can readily be checked for line segments aligned with the hexagonal coordinate axes, which typically lie at angles of 30deg, 90deg, and 150deg with respect to say, the horizontal rectangular coordinate axis. Optionally, one can then rotate the rectangular image by 90deg, then again sample onto the hexagonal grid and check for line segments at angles of 0deg, 60deg, and 120deg to the original horizontal coordinate axis. The net result is that one has checked for line segments at angular intervals of 30deg. For even finer angular resolution, one could, for example, then rotate the rectangular-grid image +/-45deg before sampling to perform checking for line segments at angular intervals of 15deg.

Neural control of fast nonlinear systems--application to a turbocharged SI engine with VCT.

PubMed

Colin, Guillaume; Chamaillard, Yann; Bloch, Gérard; Corde, Gilles

2007-07-01

Today, (engine) downsizing using turbocharging appears as a major way in reducing fuel consumption and pollutant emissions of spark ignition (SI) engines. In this context, an efficient control of the air actuators [throttle, turbo wastegate, and variable camshaft timing (VCT)] is needed for engine torque control. This paper proposes a nonlinear model-based control scheme which combines separate, but coordinated, control modules. Theses modules are based on different control strategies: internal model control (IMC), model predictive control (MPC), and optimal control. It is shown how neural models can be used at different levels and included in the control modules to replace physical models, which are too complex to be online embedded, or to estimate nonmeasured variables. The results obtained from two different test benches show the real-time applicability and good control performance of the proposed methods.

High Order Finite Difference Methods, Multidimensional Linear Problems and Curvilinear Coordinates

NASA Technical Reports Server (NTRS)

Nordstrom, Jan; Carpenter, Mark H.

1999-01-01

Boundary and interface conditions are derived for high order finite difference methods applied to multidimensional linear problems in curvilinear coordinates. The boundary and interface conditions lead to conservative schemes and strict and strong stability provided that certain metric conditions are met.

Game-Theoretic Models for Usage-based Maintenance Contract

NASA Astrophysics Data System (ADS)

Husniah, H.; Wangsaputra, R.; Cakravastia, A.; Iskandar, B. P.

2018-03-01

A usage-based maintenance contracts with coordination and non coordination between two parties is studied in this paper. The contract is applied to a dump truck operated in a mining industry. The situation under study is that an agent offers service contract to the owner of the truck after warranty ends. This contract has only a time limit but no usage limit. If the total usage per period exceeds the maximum usage allowed in the contract, then the owner will be charged an additional cost. In general, the agent (Original Equipment Manufacturer/OEM) provides a full coverage of maintenance, which includes PM and CM under the lease contract. The decision problem for the owner is to select the best option offered that fits to its requirement, and the decision problem for the agent is to find the optimal maintenance efforts for a given price of the service option offered. We first find the optimal decisions using coordination scheme and then with non coordination scheme for both parties.

Communication enabled – fast acting imbalance reserve (CE-FAIR)

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

Wilches-Bernal, Felipe; Concepcion, Ricky; Neely, Jason C.

This letter presents a new frequency control strategy that takes advantage of communications and fast responding resources like PV generation, energy storage, wind generation, and demand response, termed collectively as converter interfaced generators (CIGs). The proposed approach uses an active monitoring of power imbalances to rapidly redispatch CIGs. This approach differs from previously proposed frequency control schemes in that it employs feed-forward control based on a measured power imbalance rather that relying on a frequency measurement. As a result, time-domain simulations of the full Western Electricity Coordinating Council (WECC) system are conducted to demonstrate the effectiveness of the proposed method,more » showing improved performance.« less

Communication enabled – fast acting imbalance reserve (CE-FAIR)

DOE PAGES

Wilches-Bernal, Felipe; Concepcion, Ricky; Neely, Jason C.; ...

2017-06-08

This letter presents a new frequency control strategy that takes advantage of communications and fast responding resources like PV generation, energy storage, wind generation, and demand response, termed collectively as converter interfaced generators (CIGs). The proposed approach uses an active monitoring of power imbalances to rapidly redispatch CIGs. This approach differs from previously proposed frequency control schemes in that it employs feed-forward control based on a measured power imbalance rather that relying on a frequency measurement. As a result, time-domain simulations of the full Western Electricity Coordinating Council (WECC) system are conducted to demonstrate the effectiveness of the proposed method,more » showing improved performance.« less

HARM: A Numerical Scheme for General Relativistic Magnetohydrodynamics

NASA Astrophysics Data System (ADS)

Gammie, Charles, F.; McKinney, Jonathan C.; Tóth, Gábor

2012-09-01

HARM uses a conservative, shock-capturing scheme for evolving the equations of general relativistic magnetohydrodynamics. The fluxes are calculated using the Harten, Lax, & van Leer scheme. A variant of constrained transport, proposed earlier by Tóth, is used to maintain a divergence-free magnetic field. Only the covariant form of the metric in a coordinate basis is required to specify the geometry. On smooth flows HARM converges at second order.

Resilient Distribution System by Microgrids Formation After Natural Disasters

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

Chen, Chen; Wang, Jianhui; Qiu, Feng

2016-03-01

Microgrids with distributed generation provide a resilient solution in the case of major faults in a distribution system due to natural disasters. This paper proposes a novel distribution system operational approach by forming multiple microgrids energized by distributed generation from the radial distribution system in real-time operations, to restore critical loads from the power outage. Specifically, a mixed-integer linear program (MILP) is formulated to maximize the critical loads to be picked up while satisfying the self-adequacy and operation constraints for the microgrids formation problem, by controlling the ON/OFF status of the remotely controlled switch devices and distributed generation. A distributedmore » multi-agent coordination scheme is designed via local communications for the global information discovery as inputs of the optimization, which is suitable for autonomous communication requirements after the disastrous event. The formed microgrids can be further utilized for power quality control and can be connected to a larger microgrid before the restoration of the main grids is complete. Numerical results based on modified IEEE distribution test systems validate the effectiveness of our proposed scheme.« less

Decentralized Adaptive Neural Output-Feedback DSC for Switched Large-Scale Nonlinear Systems.

PubMed

Lijun Long; Jun Zhao

2017-04-01

In this paper, for a class of switched large-scale uncertain nonlinear systems with unknown control coefficients and unmeasurable states, a switched-dynamic-surface-based decentralized adaptive neural output-feedback control approach is developed. The approach proposed extends the classical dynamic surface control (DSC) technique for nonswitched version to switched version by designing switched first-order filters, which overcomes the problem of multiple "explosion of complexity." Also, a dual common coordinates transformation of all subsystems is exploited to avoid individual coordinate transformations for subsystems that are required when applying the backstepping recursive design scheme. Nussbaum-type functions are utilized to handle the unknown control coefficients, and a switched neural network observer is constructed to estimate the unmeasurable states. Combining with the average dwell time method and backstepping and the DSC technique, decentralized adaptive neural controllers of subsystems are explicitly designed. It is proved that the approach provided can guarantee the semiglobal uniformly ultimately boundedness for all the signals in the closed-loop system under a class of switching signals with average dwell time, and the tracking errors to a small neighborhood of the origin. A two inverted pendulums system is provided to demonstrate the effectiveness of the method proposed.

Optimal Coordinated EV Charging with Reactive Power Support in Constrained Distribution Grids

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

Paudyal, Sumit; Ceylan, Oğuzhan; Bhattarai, Bishnu P.

Electric vehicle (EV) charging/discharging can take place in any P-Q quadrants, which means EVs could support reactive power to the grid while charging the battery. In controlled charging schemes, distribution system operator (DSO) coordinates with the charging of EV fleets to ensure grid’s operating constraints are not violated. In fact, this refers to DSO setting upper bounds on power limits for EV charging. In this work, we demonstrate that if EVs inject reactive power into the grid while charging, DSO could issue higher upper bounds on the active power limits for the EVs for the same set of grid constraints.more » We demonstrate the concept in an 33-node test feeder with 1,500 EVs. Case studies show that in constrained distribution grids in coordinated charging, average costs of EV charging could be reduced if the charging takes place in the fourth P-Q quadrant compared to charging with unity power factor.« less

A Multi-layer Dynamic Model for Coordination Based Group Decision Making in Water Resource Allocation and Scheduling

NASA Astrophysics Data System (ADS)

Huang, Wei; Zhang, Xingnan; Li, Chenming; Wang, Jianying

Management of group decision-making is an important issue in water source management development. In order to overcome the defects in lacking of effective communication and cooperation in the existing decision-making models, this paper proposes a multi-layer dynamic model for coordination in water resource allocation and scheduling based group decision making. By introducing the scheme-recognized cooperative satisfaction index and scheme-adjusted rationality index, the proposed model can solve the problem of poor convergence of multi-round decision-making process in water resource allocation and scheduling. Furthermore, the problem about coordination of limited resources-based group decision-making process can be solved based on the effectiveness of distance-based group of conflict resolution. The simulation results show that the proposed model has better convergence than the existing models.

Factorizable Upwind Schemes: The Triangular Unstructured Grid Formulation

NASA Technical Reports Server (NTRS)

Sidilkover, David; Nielsen, Eric J.

2001-01-01

The upwind factorizable schemes for the equations of fluid were introduced recently. They facilitate achieving the Textbook Multigrid Efficiency (TME) and are expected also to result in the solvers of unparalleled robustness. The approach itself is very general. Therefore, it may well become a general framework for the large-scale, Computational Fluid Dynamics. In this paper we outline the triangular grid formulation of the factorizable schemes. The derivation is based on the fact that the factorizable schemes can be expressed entirely using vector notation. without explicitly mentioning a particular coordinate frame. We, describe the resulting discrete scheme in detail and present some computational results verifying the basic properties of the scheme/solver.

Indexing and Metatag Schemes for Web-Based Information Retrieval.

ERIC Educational Resources Information Center

Torok, Andrew G.

This paper reviews indexing theory and suggests that information retrieval can be significantly improved by applying basic indexing criteria. Indexing practices are described, including the three main types of indexes: pre-coordinate, post-coordinate, and variants of both. Design features of indexes are summarized, including accuracy, consistency,…

A General Pressure Gradient Formulation for Ocean Models, Part 1: Scheme Design and Diagnostic Analysis, Part II: Energy, Momentum, and Bottom Torque Consistency

NASA Technical Reports Server (NTRS)

Song, Y. T.

1998-01-01

A Jacobian formulation of the pressure gradient force for use in models with topography following coordinates is proposed. It can be used in conjunction with any vertical coordinate system and is easily implemented.

A Highly Accurate Technique for the Treatment of Flow Equations at the Polar Axis in Cylindrical Coordinates using Series Expansions. Appendix A

NASA Technical Reports Server (NTRS)

Constantinescu, George S.; Lele, S. K.

2001-01-01

Numerical methods for solving the flow equations in cylindrical or spherical coordinates should be able to capture the behavior of the exact solution near the regions where the particular form of the governing equations is singular. In this work we focus on the treatment of these numerical singularities for finite-differences methods by reinterpreting the regularity conditions developed in the context of pseudo-spectral methods. A generally applicable numerical method for treating the singularities present at the polar axis, when nonaxisymmetric flows are solved in cylindrical, coordinates using highly accurate finite differences schemes (e.g., Pade schemes) on non-staggered grids, is presented. Governing equations for the flow at the polar axis are derived using series expansions near r=0. The only information needed to calculate the coefficients in these equations are the values of the flow variables and their radial derivatives at the previous iteration (or time) level. These derivatives, which are multi-valued at the polar axis, are calculated without dropping the accuracy of the numerical method using a mapping of the flow domain from (0,R)*(0,2pi) to (-R,R)*(0,pi), where R is the radius of the computational domain. This allows the radial derivatives to be evaluated using high-order differencing schemes (e.g., compact schemes) at points located on the polar axis. The proposed technique is illustrated by results from simulations of laminar-forced jets and turbulent compressible jets using large eddy simulation (LES) methods. In term of the general robustness of the numerical method and smoothness of the solution close to the polar axis, the present results compare very favorably to similar calculations in which the equations are solved in Cartesian coordinates at the polar axis, or in which the singularity is removed by employing a staggered mesh in the radial direction without a mesh point at r=0, following the method proposed recently by Mohseni and Colonius (1). Extension of the method described here for incompressible flows or for any other set of equations that are solved on a non-staggered mesh in cylindrical or spherical coordinates with finite-differences schemes of various level of accuracy is immediate.

Learning robotic eye-arm-hand coordination from human demonstration: a coupled dynamical systems approach.

PubMed

Lukic, Luka; Santos-Victor, José; Billard, Aude

2014-04-01

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials. These experiments suggest that reaching with obstacle avoidance is organized in a sequential manner, where the obstacle acts as an intermediary target. Furthermore, we demonstrate that the notion of workspace travelled by the hand is embedded explicitly in a forward planning scheme, which is actively involved in detecting obstacles on the way when performing reaching. We find that the gaze proactively coordinates the pattern of eye-arm motion during obstacle avoidance. This study provides also a quantitative assessment of the coupling between the eye-arm-hand motion. We show that the coupling follows regular phase dependencies and is unaltered during obstacle avoidance. These observations provide a basis for the design of a computational model. Our controller extends the coupled dynamical systems framework and provides fast and synchronous control of the eyes, the arm and the hand within a single and compact framework, mimicking similar control system found in humans. We validate our model for visuomotor control of a humanoid robot.

Coordinate Systems, Numerical Objects and Algorithmic Operations of Computational Experiment in Fluid Mechanics

NASA Astrophysics Data System (ADS)

Degtyarev, Alexander; Khramushin, Vasily

2016-02-01

The paper deals with the computer implementation of direct computational experiments in fluid mechanics, constructed on the basis of the approach developed by the authors. The proposed approach allows the use of explicit numerical scheme, which is an important condition for increasing the effciency of the algorithms developed by numerical procedures with natural parallelism. The paper examines the main objects and operations that let you manage computational experiments and monitor the status of the computation process. Special attention is given to a) realization of tensor representations of numerical schemes for direct simulation; b) realization of representation of large particles of a continuous medium motion in two coordinate systems (global and mobile); c) computing operations in the projections of coordinate systems, direct and inverse transformation in these systems. Particular attention is paid to the use of hardware and software of modern computer systems.

Applications of an exponential finite difference technique

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

Handschuh, R.F.; Keith, T.G. Jr.

1988-07-01

An exponential finite difference scheme first presented by Bhattacharya for one dimensional unsteady heat conduction problems in Cartesian coordinates was extended. The finite difference algorithm developed was used to solve the unsteady diffusion equation in one dimensional cylindrical coordinates and was applied to two and three dimensional conduction problems in Cartesian coordinates. Heat conduction involving variable thermal conductivity was also investigated. The method was used to solve nonlinear partial differential equations in one and two dimensional Cartesian coordinates. Predicted results are compared to exact solutions where available or to results obtained by other numerical methods.

The development of an advanced vertical discretisation scheme for a regional ocean model

NASA Astrophysics Data System (ADS)

Bruciaferri, Diego; Shapiro, Georgy; Wobus, Fred

2017-04-01

When designing an ocean model, the choice of the vertical coordinate system must be pursued very carefully (Griffies et al., 2000); especially in those regional areas where local multi-scale processes interact with large-scale oceanographic features. Three main vertical coordinates are usually used in ocean modelling, namely the geopotential, terrain-following and isopycnic, but each one presents its own limitations and strengths. In the last decades, much research has been spent to investigate and develop hybrid approaches able to combine the advantages of each vertical coordinate system but minimising their disadvantages. Here we propose the hybrid s-s-z vertical discretisation scheme, an advanced version of the approach used by Shapiro et al. (2013). In our new scheme, the vertical domain is divided into three zones: in the upper and middle zones use s-coordinates while the deeper zone uses z-levels. The s-s-z vertical grid is introduced into the NEMO (Nucleus for European Modelling of the Ocean) model code and we compare the model skill of our new vertical discretisation scheme with the NEMO vertical grid using z-levels with partial steps through a set of idealized numerical experiments for which analytical solutions or theoretical models exist. Modelling results demonstrate that the magnitude of spurious currents arising from the horizontal pressure gradient errors are of the same order (10 ^ -3 m/s ) both with z-partial steps or with s-s-z vertical grids for the conditions favourable for the geopotential grids ( horizontal initial density levels). For a number of more realistic conditions representing a general cyclonic circulation in the sea, the new discretisation scheme produces smaller spurious currents and hence is more accurate than the z-level approach. Moreover, the enhanced capability of the s-s-z scheme to reproduce dense water cascades as compared to the z-partial steps grid is shown. Finally, we show how the new s-s-z grid can be useful to improve lateral sub-grid-physics parametrisation in ocean model with s-levels. References: Griffies, S. M., Boning, C., Bryan, F. O., Chassignet, E. P., Gerdes, R., Hasumi, H., Hirst, A., Treguier, A.-M., and Webb, D., 2000. Developments in Ocean Climate Modelling, Ocean Modelling, 2, 123-192. Shapiro, G., Luneva, M., Pickering, J., and Storkey, D.: The effect of various vertical discretisation schemes and horizontal diffusion parameterisation on the performance of a 3-D ocean model: the Black Sea case study, Ocean Sci., 9, 377-390, doi:10.5194/os-9-377-2013, 2013.

An online-coupled NWP/ACT model with conserved Lagrangian levels

NASA Astrophysics Data System (ADS)

Sørensen, B.; Kaas, E.; Lauritzen, P. H.

2012-04-01

Numerical weather and climate modelling is under constant development. Semi-implicit semi-Lagrangian (SISL) models have proven to be numerically efficient in both short-range weather forecasts and climate models, due to the ability to use long time steps. Chemical/aerosol feedback mechanism are becoming more and more relevant in NWP as well as climate models, since the biogenic and anthropogenic emissions can have a direct effect on the dynamics and radiative properties of the atmosphere. To include chemical feedback mechanisms in the NWP models, on-line coupling is crucial. In 3D semi-Lagrangian schemes with quasi-Lagrangian vertical coordinates the Lagrangian levels are remapped to Eulerian model levels each time step. This remapping introduces an undesirable tendency to smooth sharp gradients and creates unphysical numerical diffusion in the vertical distribution. A semi-Lagrangian advection method is introduced, it combines an inherently mass conserving 2D semi-Lagrangian scheme, with a SISL scheme employing both hybrid vertical coordinates and a fully Lagrangian vertical coordinate. This minimizes the vertical diffusion and thus potentially improves the simulation of the vertical profiles of moisture, clouds, and chemical constituents. Since the Lagrangian levels suffer from traditional Lagrangian limitations caused by the convergence and divergence of the flow, remappings to the Eulerian model levels are generally still required - but this need only be applied after a number of time steps - unless dynamic remapping methods are used. For this several different remapping methods has been implemented. The combined scheme is mass conserving, consistent, and multi-tracer efficient.

Offline motion planning and simulation of two-robot welding coordination

NASA Astrophysics Data System (ADS)

Zhang, Tie; Ouyang, Fan

2012-03-01

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots' relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-Sim Mechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

A family of compact high order coupled time-space unconditionally stable vertical advection schemes

NASA Astrophysics Data System (ADS)

Lemarié, Florian; Debreu, Laurent

2016-04-01

Recent papers by Shchepetkin (2015) and Lemarié et al. (2015) have emphasized that the time-step of an oceanic model with an Eulerian vertical coordinate and an explicit time-stepping scheme is very often restricted by vertical advection in a few hot spots (i.e. most of the grid points are integrated with small Courant numbers, compared to the Courant-Friedrichs-Lewy (CFL) condition, except just few spots where numerical instability of the explicit scheme occurs first). The consequence is that the numerics for vertical advection must have good stability properties while being robust to changes in Courant number in terms of accuracy. An other constraint for oceanic models is the strict control of numerical mixing imposed by the highly adiabatic nature of the oceanic interior (i.e. mixing must be very small in the vertical direction below the boundary layer). We examine in this talk the possibility of mitigating vertical Courant-Friedrichs-Lewy (CFL) restriction, while avoiding numerical inaccuracies associated with standard implicit advection schemes (i.e. large sensitivity of the solution on Courant number, large phase delay, and possibly excess of numerical damping with unphysical orientation). Most regional oceanic models have been successfully using fourth order compact schemes for vertical advection. In this talk we present a new general framework to derive generic expressions for (one-step) coupled time and space high order compact schemes (see Daru & Tenaud (2004) for a thorough description of coupled time and space schemes). Among other properties, we show that those schemes are unconditionally stable and have very good accuracy properties even for large Courant numbers while having a very reasonable computational cost.

Vibrational quasi-degenerate perturbation theory with optimized coordinates: applications to ethylene and trans-1,3-butadiene.

PubMed

Yagi, Kiyoshi; Otaki, Hiroki

2014-02-28

A perturbative extension to optimized coordinate vibrational self-consistent field (oc-VSCF) is proposed based on the quasi-degenerate perturbation theory (QDPT). A scheme to construct the degenerate space (P space) is developed, which incorporates degenerate configurations and alleviates the divergence of perturbative expansion due to localized coordinates in oc-VSCF (e.g., local O-H stretching modes of water). An efficient configuration selection scheme is also implemented, which screens out the Hamiltonian matrix element between the P space configuration (p) and the complementary Q space configuration (q) based on a difference in their quantum numbers (λpq = ∑s|ps - qs|). It is demonstrated that the second-order vibrational QDPT based on optimized coordinates (oc-VQDPT2) smoothly converges with respect to the order of the mode coupling, and outperforms the conventional one based on normal coordinates. Furthermore, an improved, fast algorithm is developed for optimizing the coordinates. First, the minimization of the VSCF energy is conducted in a restricted parameter space, in which only a portion of pairs of coordinates is selectively transformed. A rational index is devised for this purpose, which identifies the important coordinate pairs to mix from others that may remain unchanged based on the magnitude of harmonic coupling induced by the transformation. Second, a cubic force field (CFF) is employed in place of a quartic force field, which bypasses intensive procedures that arise due to the presence of the fourth-order force constants. It is found that oc-VSCF based on CFF together with the pair selection scheme yields the coordinates similar in character to the conventional ones such that the final vibrational energy is affected very little while gaining an order of magnitude acceleration. The proposed method is applied to ethylene and trans-1,3-butadiene. An accurate, multi-resolution potential, which combines the MP2 and coupled-cluster with singles, doubles, and perturbative triples level of electronic structure theory, is generated and employed in the oc-VQDPT2 calculation to obtain the fundamental tones as well as selected overtones/combination tones coupled to the fundamentals through the Fermi resonance. The calculated frequencies of ethylene and trans-1,3-butadiene are found to be in excellent agreement with the experimental values with a mean absolute error of 8 and 9 cm(-1), respectively.

Importance of intersectoral co-ordination in the control of communicable diseases, with special reference to plague in Tanzania.

PubMed

Kilonzo, B S

1994-07-01

Human health, agriculture, including livestock, energy, education, wildlife, construction, forestry and trade sectors are inter-related and their co-ordination is an important pre-requisite for successful control of most communicable diseases including plague. Similar linkage between research, policy, training and extension activities in each sector are essential for any successful control strategy. Inadequate agricultural produce, inaccessibility of people to the available food and ignorance on proper preparation and usage of available food materials are responsible for malnutrition, and malnourished people are very vulnerable to disease. Irrigation schemes facilitate breeding of various disease vectors and transmission of some communicable diseases. Forests are ecologically favourable for some disease vectors and reservoirs for tsetse flies and rodents, while deforestation leads to soil erosion, lack of rainfall and consequently reduced productivity in agriculture which may result in poor nutrition of the population. Wildlife and livestock serve as reservoirs and/or carriers of various zoonoses including plague, trypanosomiasis and rabies. Lack of proper co-ordination of these sectors in communicable disease control programmes can result in serious and undesirable consequences. Indiscriminate killing of rodents in order to minimize food damage by these vermin forces their flea ectoparasites to seek alternative hosts, including man, a development which may result in transmission of plague from rodents to man. Similarly, avoidance of proper quarantine during plague epidemics, an undertaking which is usually aimed at maintaining economic and social links with places outside the affected focus, can result in the disease becoming widespread and consequently make any control strategies more difficult and expensive.(ABSTRACT TRUNCATED AT 250 WORDS)

Robust recognition of handwritten numerals based on dual cooperative network

NASA Technical Reports Server (NTRS)

Lee, Sukhan; Choi, Yeongwoo

1992-01-01

An approach to robust recognition of handwritten numerals using two operating parallel networks is presented. The first network uses inputs in Cartesian coordinates, and the second network uses the same inputs transformed into polar coordinates. How the proposed approach realizes the robustness to local and global variations of input numerals by handling inputs both in Cartesian coordinates and in its transformed Polar coordinates is described. The required network structures and its learning scheme are discussed. Experimental results show that by tracking only a small number of distinctive features for each teaching numeral in each coordinate, the proposed system can provide robust recognition of handwritten numerals.

Lazy checkpoint coordination for bounding rollback propagation

NASA Technical Reports Server (NTRS)

Wang, Yi-Min; Fuchs, W. Kent

1992-01-01

Independent checkpointing allows maximum process autonomy but suffers from potential domino effects. Coordinated checkpointing eliminates the domino effect by sacrificing a certain degree of process autonomy. In this paper, we propose the technique of lazy checkpoint coordination which preserves process autonomy while employing communication-induced checkpoint coordination for bounding rollback propagation. The introduction of the notion of laziness allows a flexible trade-off between the cost for checkpoint coordination and the average rollback distance. Worst-case overhead analysis provides a means for estimating the extra checkpoint overhead. Communication trace-driven simulation for several parallel programs is used to evaluate the benefits of the proposed scheme for real applications.

The Solution of Large Time-Dependent Problems Using Reduced Coordinates.

DTIC Science & Technology

1987-06-01

numerical intergration schemes for dynamic problems, the algorithm known as Newmark’s Method. The behavior of the Newmark scheme, as well as the basic...T’he horizontal displacements at the mid-height and the bottom of the buildin- are shown in f igure 4. 13. The solution history illustrated is for a

Storage Free Smart Energy Management for Frequency Control in a Diesel-PV-Fuel Cell-Based Hybrid AC Microgrid.

PubMed

Sekhar, P C; Mishra, S

2016-08-01

This paper proposes a novel, smart energy management scheme for a microgrid, consisting of a diesel generator and power electronic converter interfaced renewable energy-based generators, such as photovoltaic (PV) and fuel cell, for frequency regulation without any storage. In the proposed strategy, output of the PV is controlled in coordination with other generators using neurofuzzy controller, either only for transient frequency regulation or for both transient and steady-state frequency regulation, depending on the load demand, thereby eliminating the huge storage requirements. The option of demand response control is also explored along with the generation control. For accurate and quick tracking of maximum power point and its associated reserve power from the PV generator, this paper also proposes a novel adaptive-predictor-corrector-based tracking mechanism.

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A Continuing Search for a Near-Perfect Numerical Flux Scheme. Part 1; [AUSM+

NASA Technical Reports Server (NTRS)

Liou, Meng-Sing

1994-01-01

While enjoying demonstrated improvement in accuracy, efficiency, and robustness over existing schemes, the Advection Upstream Splitting Scheme (AUSM) was found to have some deficiencies in extreme cases. This recent progress towards improving the AUSM while retaining its advantageous features is described. The new scheme, termed AUSM+, features: unification of velocity and Mach number splitting; exact capture of a single stationary shock; and improvement in accuracy. A general construction of the AUSM+ scheme is layed out and then focus is on the analysis of the a scheme and its mathematical properties, heretofore unreported. Monotonicity and positivity are proved, and a CFL-like condition is given for first and second order schemes and for generalized curvilinear co-ordinates. Finally, results of numerical tests on many problems are given to confirm the capability and improvements on a variety of problems including those failed by prominent schemes.

Global output feedback control for a class of high-order feedforward nonlinear systems with input delay.

PubMed

Zha, Wenting; Zhai, Junyong; Fei, Shumin

2013-07-01

This paper investigates the problem of output feedback stabilization for a class of high-order feedforward nonlinear systems with time-varying input delay. First, a scaling gain is introduced into the system under a set of coordinate transformations. Then, the authors construct an observer and controller to make the nominal system globally asymptotically stable. Based on homogeneous domination approach and Lyapunov-Krasovskii functional, it is shown that the closed-loop system can be rendered globally asymptotically stable by the scaling gain. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed scheme. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Wire rope tension control of hoisting systems using a robust nonlinear adaptive backstepping control scheme.

PubMed

Zhu, Zhen-Cai; Li, Xiang; Shen, Gang; Zhu, Wei-Dong

2018-01-01

This paper concerns wire rope tension control of a double-rope winding hoisting system (DRWHS), which consists of a hoisting system employed to realize a transportation function and an electro-hydraulic servo system utilized to adjust wire rope tensions. A dynamic model of the DRWHS is developed in which parameter uncertainties and external disturbances are considered. A comparison between simulation results using the dynamic model and experimental results using a double-rope winding hoisting experimental system is given in order to demonstrate accuracy of the dynamic model. In order to improve the wire rope tension coordination control performance of the DRWHS, a robust nonlinear adaptive backstepping controller (RNABC) combined with a nonlinear disturbance observer (NDO) is proposed. Main features of the proposed combined controller are: (1) using the RNABC to adjust wire rope tensions with consideration of parameter uncertainties, whose parameters are designed online by adaptive laws derived from Lyapunov stability theory to guarantee the control performance and stability of the closed-loop system; and (2) introducing the NDO to deal with uncertain external disturbances. In order to demonstrate feasibility and effectiveness of the proposed controller, experimental studies have been conducted on the DRWHS controlled by an xPC rapid prototyping system. Experimental results verify that the proposed controller exhibits excellent performance on wire rope tension coordination control compared with a conventional proportional-integral (PI) controller and adaptive backstepping controller. Copyright © 2017 ISA. All rights reserved.

Truthful Channel Sharing for Self Coexistence of Overlapping Medical Body Area Networks

PubMed Central

Dutkiewicz, Eryk; Zheng, Guanglou

2016-01-01

As defined by IEEE 802.15.6 standard, channel sharing is a potential method to coordinate inter-network interference among Medical Body Area Networks (MBANs) that are close to one another. However, channel sharing opens up new vulnerabilities as selfish MBANs may manipulate their online channel requests to gain unfair advantage over others. In this paper, we address this issue by proposing a truthful online channel sharing algorithm and a companion protocol that allocates channel efficiently and truthfully by punishing MBANs for misreporting their channel request parameters such as time, duration and bid for the channel. We first present an online channel sharing scheme for unit-length channel requests and prove that it is truthful. We then generalize our model to settings with variable-length channel requests, where we propose a critical value based channel pricing and preemption scheme. A bid adjustment procedure prevents unbeneficial preemption by artificially raising the ongoing winner’s bid controlled by a penalty factor λ. Our scheme can efficiently detect selfish behaviors by monitoring a trust parameter α of each MBAN and punish MBANs from cheating by suspending their requests. Our extensive simulation results show our scheme can achieve a total profit that is more than 85% of the offline optimum method in the typical MBAN settings. PMID:26844888

A comparison of temporal and location-based sampling strategies for global positioning system-triggered electronic diaries.

PubMed

Törnros, Tobias; Dorn, Helen; Reichert, Markus; Ebner-Priemer, Ulrich; Salize, Hans-Joachim; Tost, Heike; Meyer-Lindenberg, Andreas; Zipf, Alexander

2016-11-21

Self-reporting is a well-established approach within the medical and psychological sciences. In order to avoid recall bias, i.e. past events being remembered inaccurately, the reports can be filled out on a smartphone in real-time and in the natural environment. This is often referred to as ambulatory assessment and the reports are usually triggered at regular time intervals. With this sampling scheme, however, rare events (e.g. a visit to a park or recreation area) are likely to be missed. When addressing the correlation between mood and the environment, it may therefore be beneficial to include participant locations within the ambulatory assessment sampling scheme. Based on the geographical coordinates, the database query system then decides if a self-report should be triggered or not. We simulated four different ambulatory assessment sampling schemes based on movement data (coordinates by minute) from 143 voluntary participants tracked for seven consecutive days. Two location-based sampling schemes incorporating the environmental characteristics (land use and population density) at each participant's location were introduced and compared to a time-based sampling scheme triggering a report on the hour as well as to a sampling scheme incorporating physical activity. We show that location-based sampling schemes trigger a report less often, but we obtain more unique trigger positions and a greater spatial spread in comparison to sampling strategies based on time and distance. Additionally, the location-based methods trigger significantly more often at rarely visited types of land use and less often outside the study region where no underlying environmental data are available.

A New Family of Compact High Order Coupled Time-Space Unconditionally Stable Vertical Advection Schemes

NASA Astrophysics Data System (ADS)

Lemarié, F.; Debreu, L.

2016-02-01

Recent papers by Shchepetkin (2015) and Lemarié et al. (2015) have emphasized that the time-step of an oceanic model with an Eulerian vertical coordinate and an explicit time-stepping scheme is very often restricted by vertical advection in a few hot spots (i.e. most of the grid points are integrated with small Courant numbers, compared to the Courant-Friedrichs-Lewy (CFL) condition, except just few spots where numerical instability of the explicit scheme occurs first). The consequence is that the numerics for vertical advection must have good stability properties while being robust to changes in Courant number in terms of accuracy. An other constraint for oceanic models is the strict control of numerical mixing imposed by the highly adiabatic nature of the oceanic interior (i.e. mixing must be very small in the vertical direction below the boundary layer). We examine in this talk the possibility of mitigating vertical Courant-Friedrichs-Lewy (CFL) restriction, while avoiding numerical inaccuracies associated with standard implicit advection schemes (i.e. large sensitivity of the solution on Courant number, large phase delay, and possibly excess of numerical damping with unphysical orientation). Most regional oceanic models have been successfully using fourth order compact schemes for vertical advection. In this talk we present a new general framework to derive generic expressions for (one-step) coupled time and space high order compact schemes (see Daru & Tenaud (2004) for a thorough description of coupled time and space schemes). Among other properties, we show that those schemes are unconditionally stable and have very good accuracy properties even for large Courant numbers while having a very reasonable computational cost. To our knowledge no unconditionally stable scheme with such high order accuracy in time and space have been presented so far in the literature. Furthermore, we show how those schemes can be made monotonic without compromising their stability properties.

Coordinated neuronal activity enhances corticocortical communication

PubMed Central

Zandvakili, Amin; Kohn, Adam

2015-01-01

Summary Relaying neural signals between cortical areas is central to cognition and sensory processing. The temporal coordination of activity in a source population has been suggested to determine corticocortical signaling efficacy, but others have argued that coordination is functionally irrelevant. We reasoned that if coordination significantly influenced signaling, spiking in downstream networks should be preceded by transiently elevated coordination in a source population. We developed a metric to quantify network coordination in brief epochs, and applied it to simultaneous recordings of neuronal populations in cortical areas V1 and V2 of the macaque monkey. Spiking in the input layers of V2 was preceded by brief epochs of elevated V1 coordination, but this was not the case in other layers of V2. Our results indicate that V1 coordination influences its signaling to direct downstream targets, but that coordinated V1 epochs do not propagate through multiple downstream networks as in some corticocortical signaling schemes. PMID:26291164

A color-communication scheme for digital imagery

USGS Publications Warehouse

Acosta, Alex

1987-01-01

Color pictures generated from digital images are frequently used by geologists, foresters, range managers, and others. These color products are preferred over black and white pictures because the human eye is more sensitive to color differences than to various shades of gray. Color discrimination is a function of perception, and therefore colors in these color composites are generally described subjectively, which can lead to ambiguous color communication. Numerous color-coordinate systems are available that quantitively relate digital triplets representing amounts of red, free, and blue to the parameters of hue, saturation, and intensity perceived by the eye. Most of these systems implement a complex transformation of the primary colors to a color space that is hard to visualize, thus making it difficult to relate digital triplets to perception parameters. This paper presents a color-communcation scheme that relates colors on a color triangle to corresponding values of "hue" (H), "saturation" (S), and chromaticity coordinates (x,y,z). The scheme simplifies the relation between red, green, and blue (RGB) digital triplets and the color generated by these triplets. Some examples of the use of the color-communication scheme in digital image processing are presented.

Microgrids and distributed generation systems: Control, operation, coordination and planning

NASA Astrophysics Data System (ADS)

Che, Liang

Distributed Energy Resources (DERs) which include distributed generations (DGs), distributed energy storage systems, and adjustable loads are key components in microgrid operations. A microgrid is a small electric power system integrated with on-site DERs to serve all or some portion of the local load and connected to the utility grid through the point of common coupling (PCC). Microgrids can operate in both grid-connected mode and island mode. The structure and components of hierarchical control for a microgrid at Illinois Institute of Technology (IIT) are discussed and analyzed. Case studies would address the reliable and economic operation of IIT microgrid. The simulation results of IIT microgrid operation demonstrate that the hierarchical control and the coordination strategy of distributed energy resources (DERs) is an effective way of optimizing the economic operation and the reliability of microgrids. The benefits and challenges of DC microgrids are addressed with a DC model for the IIT microgrid. We presented the hierarchical control strategy including the primary, secondary, and tertiary controls for economic operation and the resilience of a DC microgrid. The simulation results verify that the proposed coordinated strategy is an effective way of ensuring the resilient response of DC microgrids to emergencies and optimizing their economic operation at steady state. The concept and prototype of a community microgrid that interconnecting multiple microgrids in a community are proposed. Two works are conducted. For the coordination, novel three-level hierarchical coordination strategy to coordinate the optimal power exchanges among neighboring microgrids is proposed. For the planning, a multi-microgrid interconnection planning framework using probabilistic minimal cut-set (MCS) based iterative methodology is proposed for enhancing the economic, resilience, and reliability signals in multi-microgrid operations. The implementation of high-reliability microgrids requires proper protection schemes that effectively function in both grid-connected and island modes. This chapter presents a communication-assisted four-level hierarchical protection strategy for high-reliability microgrids, and tests the proposed protection strategy based on a loop structured microgrid. The simulation results demonstrate the proposed strategy to be an effective and efficient option for microgrid protection. Additionally, microgrid topology ought to be optimally planned. To address the microgrid topology planning, a graph-partitioning and integer-programming integrated methodology is proposed. This work is not included in the dissertation. Interested readers can refer to our related publication.

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

Lee, W.H.; Clancy, S.P.

Calculated results are presented for the solution of a very strong shock tube problem on a coarse mesh using (1) MESA code, (2) UNICORN code, (3) Schulz hydro, and (4) modified TVD scheme. The first two codes are written in Eulerian coordinates, whereas methods (3) and (4) are in Lagrangian coordinates. MESA and UNICORN codes are both of second order and use different monotonic advection method to avoid the Gibbs phenomena. Code (3) uses typical artificial viscosity for inviscid flow, whereas code (4) uses a modified TVD scheme. The test problem is a strong shock tube problem with a pressuremore » ratio of 10{sup 9} and density ratio of 10{sup 3} in an ideal gas. For no mass-matching case, Schulz hydro is better than TVD scheme. In the case of mass-matching, there is no difference between them. MESA and UNICORN results are nearly the same. However, the computed positions such as the contact discontinuity (i.e. the material interface) are not as accurate as the Lagrangian methods. {copyright} {ital 1996 American Institute of Physics.}« less

Integrating funds for health and social care: an evidence review.

PubMed

Mason, Anne; Goddard, Maria; Weatherly, Helen; Chalkley, Martin

2015-07-01

Integrated funds for health and social care are one possible way of improving care for people with complex care requirements. If integrated funds facilitate coordinated care, this could support improvements in patient experience, and health and social care outcomes, reduce avoidable hospital admissions and delayed discharges, and so reduce costs. In this article, we examine whether this potential has been realized in practice. We propose a framework based on agency theory for understanding the role that integrated funding can play in promoting coordinated care, and review the evidence to see whether the expected effects are realized in practice. We searched eight electronic databases and relevant websites, and checked reference lists of reviews and empirical studies. We extracted data on the types of funding integration used by schemes, their benefits and costs (including unintended effects), and the barriers to implementation. We interpreted our findings with reference to our framework. The review included 38 schemes from eight countries. Most of the randomized evidence came from Australia, with nonrandomized comparative evidence available from Australia, Canada, England, Sweden and the US. None of the comparative evidence isolated the effect of integrated funding; instead, studies assessed the effects of 'integrated financing plus integrated care' (i.e. 'integration') relative to usual care. Most schemes (24/38) assessed health outcomes, of which over half found no significant impact on health. The impact of integration on secondary care costs or use was assessed in 34 schemes. In 11 schemes, integration had no significant effect on secondary care costs or utilisation. Only three schemes reported significantly lower secondary care use compared with usual care. In the remaining 19 schemes, the evidence was mixed or unclear. Some schemes achieved short-term reductions in delayed discharges, but there was anecdotal evidence of unintended consequences such as premature hospital discharge and heightened risk of readmission. No scheme achieved a sustained reduction in hospital use. The primary barrier was the difficulty of implementing financial integration, despite the existence of statutory and regulatory support. Even where funds were successfully pooled, budget holders' control over access to services remained limited. Barriers in the form of differences in performance frameworks, priorities and governance were prominent amongst the UK schemes, whereas difficulties in linking different information systems were more widespread. Despite these barriers, many schemes - including those that failed to improve health or reduce costs - reported that access to care had improved. Some of these schemes revealed substantial levels of unmet need and so total costs increased. It is often assumed in policy that integrating funding will promote integrated care, and lead to better health outcomes and lower costs. Both our agency theory-based framework and the evidence indicate that the link is likely to be weak. Integrated care may uncover unmet need. Resolving this can benefit both individuals and society, but total care costs are likely to rise. Provided that integration delivers improvements in quality of life, even with additional costs, it may, nonetheless, offer value for money. © The Author(s) 2015.

Integrating funds for health and social care: an evidence review

PubMed Central

Goddard, Maria; Weatherly, Helen; Chalkley, Martin

2015-01-01

Objectives Integrated funds for health and social care are one possible way of improving care for people with complex care requirements. If integrated funds facilitate coordinated care, this could support improvements in patient experience, and health and social care outcomes, reduce avoidable hospital admissions and delayed discharges, and so reduce costs. In this article, we examine whether this potential has been realized in practice. Methods We propose a framework based on agency theory for understanding the role that integrated funding can play in promoting coordinated care, and review the evidence to see whether the expected effects are realized in practice. We searched eight electronic databases and relevant websites, and checked reference lists of reviews and empirical studies. We extracted data on the types of funding integration used by schemes, their benefits and costs (including unintended effects), and the barriers to implementation. We interpreted our findings with reference to our framework. Results The review included 38 schemes from eight countries. Most of the randomized evidence came from Australia, with nonrandomized comparative evidence available from Australia, Canada, England, Sweden and the US. None of the comparative evidence isolated the effect of integrated funding; instead, studies assessed the effects of ‘integrated financing plus integrated care’ (i.e. ‘integration’) relative to usual care. Most schemes (24/38) assessed health outcomes, of which over half found no significant impact on health. The impact of integration on secondary care costs or use was assessed in 34 schemes. In 11 schemes, integration had no significant effect on secondary care costs or utilisation. Only three schemes reported significantly lower secondary care use compared with usual care. In the remaining 19 schemes, the evidence was mixed or unclear. Some schemes achieved short-term reductions in delayed discharges, but there was anecdotal evidence of unintended consequences such as premature hospital discharge and heightened risk of readmission. No scheme achieved a sustained reduction in hospital use. The primary barrier was the difficulty of implementing financial integration, despite the existence of statutory and regulatory support. Even where funds were successfully pooled, budget holders’ control over access to services remained limited. Barriers in the form of differences in performance frameworks, priorities and governance were prominent amongst the UK schemes, whereas difficulties in linking different information systems were more widespread. Despite these barriers, many schemes – including those that failed to improve health or reduce costs – reported that access to care had improved. Some of these schemes revealed substantial levels of unmet need and so total costs increased. Conclusions It is often assumed in policy that integrating funding will promote integrated care, and lead to better health outcomes and lower costs. Both our agency theory-based framework and the evidence indicate that the link is likely to be weak. Integrated care may uncover unmet need. Resolving this can benefit both individuals and society, but total care costs are likely to rise. Provided that integration delivers improvements in quality of life, even with additional costs, it may, nonetheless, offer value for money. PMID:25595287

Representation of viruses in the remediated PDB archive

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

Lawson, Catherine L., E-mail: cathy.lawson@rutgers.edu; Dutta, Shuchismita; Westbrook, John D.

2008-08-01

A new data model for PDB entries of viruses and other biological assemblies with regular noncrystallographic symmetry is described. A new scheme has been devised to represent viruses and other biological assemblies with regular noncrystallographic symmetry in the Protein Data Bank (PDB). The scheme describes existing and anticipated PDB entries of this type using generalized descriptions of deposited and experimental coordinate frames, symmetry and frame transformations. A simplified notation has been adopted to express the symmetry generation of assemblies from deposited coordinates and matrix operations describing the required point, helical or crystallographic symmetry. Complete correct information for building full assemblies,more » subassemblies and crystal asymmetric units of all virus entries is now available in the remediated PDB archive.« less

The impact of national accreditation reform on survey reliability: a 2-year investigation of survey coordinators' perspectives.

PubMed

Greenfield, David; Hogden, Anne; Hinchcliff, Reece; Mumford, Virginia; Pawsey, Marjorie; Debono, Deborah; Westbrook, Johanna I; Braithwaite, Jeffrey

2016-10-01

Accrediting health care organizations against standards is a recognized safety and quality intervention. The credibility of an accreditation programme relies on surveying reliability. We investigated accreditation survey coordinators' perceptions of reliability issues and their continued relevancy, during a period of national accreditation reform. In 2013 and 2014, questionnaire surveys were developed using survey coordinators' feedback of their experiences and concerns regarding the accreditation process. Each year, a purpose-designed questionnaire survey was administered during the accrediting agency survey coordinator training days. Participants reported that survey reliability was informed by five categories of issues: the management of the accreditation process, including standards and health care organizational issues; surveyor workforce management; survey coordinator role; survey team; and individual surveyors. A new accreditation system and programme did not alter the factors reported to shape survey reliability. However, across the reform period, there was a noted change within each category of the specific issues that were of concern. Furthermore, consensus between coordinators that existed in 2013 appears to have diminished in 2014. Across all categories, in 2014 there was greater diversity of opinion than in 2013. The known challenges to the reliability of an accreditation programme retained their potency and relevancy during a period of reform. The diversity of opinion identified across the coordinator workforce could potentially place the credibility and reliability of the new scheme at risk. The study highlights that reliability of an accreditation scheme is an ongoing achievement, not a one-off attainment. © 2016 John Wiley & Sons, Ltd.

Acquisition of HPLC-Mass Spectrometer

DTIC Science & Technology

2015-08-18

phenyl alanine. This dithiol is coordinated to the iron and all attempts to decompose the ionic coordination complex 56 to recover strictly the...sulfonation process of an asymmetric deprotonation providing a lithium complex with sparteine. This reaction scheme will also direct stereochemistry of...currently used in ointments for treatment of pain and inflammation. Capsaicin shows promise as an effective anti-cancer nutritional agent and

Adaptive sliding control of non-autonomous active suspension systems with time-varying loadings

NASA Astrophysics Data System (ADS)

Chen, Po-Chang; Huang, An-Chyau

2005-04-01

An adaptive sliding controller is proposed in this paper for controlling a non-autonomous quarter-car suspension system with time-varying loadings. The bound of the car-body loading is assumed to be available. Then, the reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived. Due to spring nonlinearities, the system property becomes asymmetric after coordinate transformation. Besides, in practical cases, system parameters are not easy to be obtained precisely for controller design. Therefore, in this paper, system uncertainties are lumped into two unknown time-varying functions. Since the variation bound of one of the unknown functions is not available, conventional adaptive schemes and robust designs are not applicable. To deal with this problem, the function approximation technique is employed to represent the unknown function as a finite combination of basis functions. The Lyapunov direct method can thus be used to find adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system. Since the position and velocity measurements of the unsprung mass are lumped into the unknown function, there is no need to install sensors on the axle and wheel assembly in the actual implementation. Simulation results are presented to show the performance of the proposed strategy.

An asymptotic preserving multidimensional ALE method for a system of two compressible flows coupled with friction

NASA Astrophysics Data System (ADS)

Del Pino, S.; Labourasse, E.; Morel, G.

2018-06-01

We present a multidimensional asymptotic preserving scheme for the approximation of a mixture of compressible flows. Fluids are modelled by two Euler systems of equations coupled with a friction term. The asymptotic preserving property is mandatory for this kind of model, to derive a scheme that behaves well in all regimes (i.e. whatever the friction parameter value is). The method we propose is defined in ALE coordinates, using a Lagrange plus remap approach. This imposes a multidimensional definition and analysis of the scheme.

Quantification and visualization of coordination during non-cyclic upper extremity motion.

PubMed

Fineman, Richard A; Stirling, Leia A

2017-10-03

There are many design challenges in creating at-home tele-monitoring systems that enable quantification and visualization of complex biomechanical behavior. One such challenge is robustly quantifying joint coordination in a way that is intuitive and supports clinical decision-making. This work defines a new measure of coordination called the relative coordination metric (RCM) and its accompanying normalization schemes. RCM enables quantification of coordination during non-constrained discrete motions. Here RCM is applied to a grasping task. Fifteen healthy participants performed a reach, grasp, transport, and release task with a cup and a pen. The measured joint angles were then time-normalized and the RCM time-series were calculated between the shoulder-elbow, shoulder-wrist, and elbow-wrist. RCM was normalized using four differing criteria: the selected joint degree of freedom, angular velocity, angular magnitude, and range of motion. Percent time spent in specified RCM ranges was used asa composite metric and was evaluated for each trial. RCM was found to vary based on: (1) chosen normalization scheme, (2) the stage within the task, (3) the object grasped, and (4) the trajectory of the motion. The RCM addresses some of the limitations of current measures of coordination because it is applicable to discrete motions, does not rely on cyclic repetition, and uses velocity-based measures. Future work will explore clinically relevant differences in the RCM as it is expanded to evaluate different tasks and patient populations. Copyright © 2017. Published by Elsevier Ltd.

Development of an eddy-resolving reanalysis using the 1/12° global HYbrid Coordinate Ocean Model and the Navy Coupled Ocean Data Assimilation Scheme

NASA Astrophysics Data System (ADS)

Allard, Richard; Metzger, E. Joseph; Broome, Robert; Franklin, Deborah; Smedstad, Ole Martin; Wallcraft, Alan

2013-04-01

Multiple international agencies have performed atmospheric reanalyses using static dynamical models and assimilation schemes while ingesting all available quality controlled observational data. Some are clearly aimed at climate time scales while others focus on the more recent time period in which assimilated satellite data are used to constrain the system. Typically these are performed at horizontal and vertical resolutions that are coarser than the existing operational atmospheric prediction system. Multiple agencies have also performed ocean reanalyses using some of the atmospheric forcing products described above. However, only a few are eddy-permitting and none are capable of resolving oceanic mesoscale features (eddies and current meanders) across the entire globe. To fill this void, the Naval Research Laboratory is performing an eddy-resolving 1993-2010 ocean reanalysis using the 1/12° global HYbrid Coordinate Ocean Model (HYCOM) that employs the Navy Coupled Ocean Data Assimilation (NCODA) scheme. A 1/12° global HYCOM/NCODA prediction system has been running in real-time at the Naval Oceanographic Office (NAVOCEANO) since 22 December 2006. It has undergone operational testing and will become an operational product by early 2013. It is capable of nowcasting and forecasting the oceanic "weather" which includes the 3D ocean temperature, salinity and current structure, the surface mixed layer, and the location of mesoscale features such as eddies, meandering currents and fronts. The system has a mid-latitude resolution of ~7 km and employs 32 hybrid vertical coordinate surfaces. Compared to traditional isopycnal coordinate models, the hybrid vertical coordinate extends the geographic range of applicability toward shallow coastal seas and the unstratified parts of the world ocean. HYCOM contains a built-in thermodynamic ice model, where ice grows and melts due to heat flux and sea surface temperature (SST) changes, but it does not contain advanced rheological physics. The ice edge is constrained by satellite ice concentration. Once per day, NCODA performs a 3D ocean analysis using all available observational data and the 1-day HYCOM forecast as the first guess in a sequential incremental update cycle. Observational data include surface observations from satellites, including sea surface height (SSH) anomalies, SST, and sea ice concentrations, plus in-situ SST observations from ships and buoys as well as temperature and salinity profiles from XBTs, CTDs and Argo profiling floats. Surface information is projected downward using synthetic profiles from the Modular Ocean Data Assimilation System (MODAS) at those locations with a predefined SSH anomaly. Unlike previous reanalyses, this ocean reanalysis will be integrated at the same horizontal and vertical resolution as the operational system running at NAVOCEANO. The system is forced with atmospheric output from the National Centers for Environmental Prediction (NCEP) Climate Forecast System Reanalysis (CFSR) and the observations listed above. The reanalysis began in 1993 because of the advent of satellite altimeter data that will constrain the oceanic mesoscale. Significant effort has been put into obtaining and quality controlling all input observational data, with special emphasis on the profile data. The computational resources are obtained through the High Performance Computing Modernization Office.

GPS-Free Localization Algorithm for Wireless Sensor Networks

PubMed Central

Wang, Lei; Xu, Qingzheng

2010-01-01

Localization is one of the most fundamental problems in wireless sensor networks, since the locations of the sensor nodes are critical to both network operations and most application level tasks. A GPS-free localization scheme for wireless sensor networks is presented in this paper. First, we develop a standardized clustering-based approach for the local coordinate system formation wherein a multiplication factor is introduced to regulate the number of master and slave nodes and the degree of connectivity among master nodes. Second, using homogeneous coordinates, we derive a transformation matrix between two Cartesian coordinate systems to efficiently merge them into a global coordinate system and effectively overcome the flip ambiguity problem. The algorithm operates asynchronously without a centralized controller; and does not require that the location of the sensors be known a priori. A set of parameter-setting guidelines for the proposed algorithm is derived based on a probability model and the energy requirements are also investigated. A simulation analysis on a specific numerical example is conducted to validate the mathematical analytical results. We also compare the performance of the proposed algorithm under a variety multiplication factor, node density and node communication radius scenario. Experiments show that our algorithm outperforms existing mechanisms in terms of accuracy and convergence time. PMID:22219694

Convection Schemes for Use with Curvilinear Coordinate Systems - A Survey.

DTIC Science & Technology

1984-06-01

k ’’j )-,"’, . - It. CONTROLLING OFFICE NAME AND ADDRESS IS. REPORT DATE DEPARTMENT OF THE AR1NY June 1984 US Army Corps of...1 034.0) V - - E(34.d) Now by Taylor series expansion on a uniform grid, f - f ( k ) (Ax) k +1k!O i k ! (5 where the superscript ( k ) indicates the k -tb...derivative. With the derivative operator defined as Df - fx. Eq. (35) can be written k f.- k k fEf ("x) Dk kj- (Ax) k J~O k ! k -O 7- ) which yields

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2016-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Robot formation control in stealth mode with scalable team size

NASA Astrophysics Data System (ADS)

Yu, Hongjun; Shi, Peng; Lim, Cheng-Chew

2016-11-01

In situations where robots need to keep electromagnetic silent in a formation, communication channels become unavailable. Moreover, as passive displacement sensors are used, limited sensing ranges are inevitable due to power insufficiency and limited noise reduction. To address the formation control problem for a scalable team of robots subject to the above restrictions, a flexible strategy is necessary. In this paper, under the assumption that the data transmission among the robots is not available, a novel controller and a protocol are designed that do not rely on communication. As the controller only drives the robots to a partially desired formation, a distributed coordination protocol is proposed to resolve the imperfections. It is shown that the effectiveness of the controller and the protocol rely on the formation connectivity, and a condition is given on the sensing range. Simulations are conducted to illustrate the feasibility and advantages of the new design scheme developed.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

MPDATA: Third-order accuracy for variable flows

NASA Astrophysics Data System (ADS)

Waruszewski, Maciej; Kühnlein, Christian; Pawlowska, Hanna; Smolarkiewicz, Piotr K.

2018-04-01

This paper extends the multidimensional positive definite advection transport algorithm (MPDATA) to third-order accuracy for temporally and spatially varying flows. This is accomplished by identifying the leading truncation error of the standard second-order MPDATA, performing the Cauchy-Kowalevski procedure to express it in a spatial form and compensating its discrete representation-much in the same way as the standard MPDATA corrects the first-order accurate upwind scheme. The procedure of deriving the spatial form of the truncation error was automated using a computer algebra system. This enables various options in MPDATA to be included straightforwardly in the third-order scheme, thereby minimising the implementation effort in existing code bases. Following the spirit of MPDATA, the error is compensated using the upwind scheme resulting in a sign-preserving algorithm, and the entire scheme can be formulated using only two upwind passes. Established MPDATA enhancements, such as formulation in generalised curvilinear coordinates, the nonoscillatory option or the infinite-gauge variant, carry over to the fully third-order accurate scheme. A manufactured 3D analytic solution is used to verify the theoretical development and its numerical implementation, whereas global tracer-transport benchmarks demonstrate benefits for chemistry-transport models fundamental to air quality monitoring, forecasting and control. A series of explicitly-inviscid implicit large-eddy simulations of a convective boundary layer and explicitly-viscid simulations of a double shear layer illustrate advantages of the fully third-order-accurate MPDATA for fluid dynamics applications.

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.

Adaptive Jacobian Fuzzy Attitude Control for Flexible Spacecraft Combined Attitude and Sun Tracking System

NASA Astrophysics Data System (ADS)

Chak, Yew-Chung; Varatharajoo, Renuganth

2016-07-01

Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to the actual angular velocity. Numerical results are presented to demonstrate the effectiveness of the proposed scheme in tracking the desired attitude, as well as suppressing the elastic deflection effects of solar arrays during maneuver.

Vibrational quasi-degenerate perturbation theory with optimized coordinates: Applications to ethylene and trans-1,3-butadiene

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

Yagi, Kiyoshi, E-mail: kiyoshi.yagi@riken.jp; Otaki, Hiroki

A perturbative extension to optimized coordinate vibrational self-consistent field (oc-VSCF) is proposed based on the quasi-degenerate perturbation theory (QDPT). A scheme to construct the degenerate space (P space) is developed, which incorporates degenerate configurations and alleviates the divergence of perturbative expansion due to localized coordinates in oc-VSCF (e.g., local O–H stretching modes of water). An efficient configuration selection scheme is also implemented, which screens out the Hamiltonian matrix element between the P space configuration (p) and the complementary Q space configuration (q) based on a difference in their quantum numbers (λ{sub pq} = ∑{sub s}|p{sub s} − q{sub s}|). Itmore » is demonstrated that the second-order vibrational QDPT based on optimized coordinates (oc-VQDPT2) smoothly converges with respect to the order of the mode coupling, and outperforms the conventional one based on normal coordinates. Furthermore, an improved, fast algorithm is developed for optimizing the coordinates. First, the minimization of the VSCF energy is conducted in a restricted parameter space, in which only a portion of pairs of coordinates is selectively transformed. A rational index is devised for this purpose, which identifies the important coordinate pairs to mix from others that may remain unchanged based on the magnitude of harmonic coupling induced by the transformation. Second, a cubic force field (CFF) is employed in place of a quartic force field, which bypasses intensive procedures that arise due to the presence of the fourth-order force constants. It is found that oc-VSCF based on CFF together with the pair selection scheme yields the coordinates similar in character to the conventional ones such that the final vibrational energy is affected very little while gaining an order of magnitude acceleration. The proposed method is applied to ethylene and trans-1,3-butadiene. An accurate, multi-resolution potential, which combines the MP2 and coupled-cluster with singles, doubles, and perturbative triples level of electronic structure theory, is generated and employed in the oc-VQDPT2 calculation to obtain the fundamental tones as well as selected overtones/combination tones coupled to the fundamentals through the Fermi resonance. The calculated frequencies of ethylene and trans-1,3-butadiene are found to be in excellent agreement with the experimental values with a mean absolute error of 8 and 9 cm{sup −1}, respectively.« less

Interpolation schemes for peptide rearrangements.

PubMed

Bauer, Marianne S; Strodel, Birgit; Fejer, Szilard N; Koslover, Elena F; Wales, David J

2010-02-07

A variety of methods (in total seven) comprising different combinations of internal and Cartesian coordinates are tested for interpolation and alignment in connection attempts for polypeptide rearrangements. We consider Cartesian coordinates, the internal coordinates used in CHARMM, and natural internal coordinates, each of which has been interfaced to the OPTIM code and compared with the corresponding results for united-atom force fields. We show that aligning the methylene hydrogens to preserve the sign of a local dihedral angle, rather than minimizing a distance metric, provides significant improvements with respect to connection times and failures. We also demonstrate the superiority of natural coordinate methods in conjunction with internal alignment. Checking the potential energy of the interpolated structures can act as a criterion for the choice of the interpolation coordinate system, which reduces failures and connection times significantly.

Dirichlet boundary conditions for arbitrary-shaped boundaries in stellarator-like magnetic fields for the Flux-Coordinate Independent method

NASA Astrophysics Data System (ADS)

Hill, Peter; Shanahan, Brendan; Dudson, Ben

2017-04-01

We present a technique for handling Dirichlet boundary conditions with the Flux Coordinate Independent (FCI) parallel derivative operator with arbitrary-shaped material geometry in general 3D magnetic fields. The FCI method constructs a finite difference scheme for ∇∥ by following field lines between poloidal planes and interpolating within planes. Doing so removes the need for field-aligned coordinate systems that suffer from singularities in the metric tensor at null points in the magnetic field (or equivalently, when q → ∞). One cost of this method is that as the field lines are not on the mesh, they may leave the domain at any point between neighbouring planes, complicating the application of boundary conditions. The Leg Value Fill (LVF) boundary condition scheme presented here involves an extrapolation/interpolation of the boundary value onto the field line end point. The usual finite difference scheme can then be used unmodified. We implement the LVF scheme in BOUT++ and use the Method of Manufactured Solutions to verify the implementation in a rectangular domain, and show that it does not modify the error scaling of the finite difference scheme. The use of LVF for arbitrary wall geometry is outlined. We also demonstrate the feasibility of using the FCI approach in no n-axisymmetric configurations for a simple diffusion model in a "straight stellarator" magnetic field. A Gaussian blob diffuses along the field lines, tracing out flux surfaces. Dirichlet boundary conditions impose a last closed flux surface (LCFS) that confines the density. Including a poloidal limiter moves the LCFS to a smaller radius. The expected scaling of the numerical perpendicular diffusion, which is a consequence of the FCI method, in stellarator-like geometry is recovered. A novel technique for increasing the parallel resolution during post-processing, in order to reduce artefacts in visualisations, is described.

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

Johnston, Ryne C.; Zhou, Jing; Smith, Jeremy C.

In redox processes in complex transition metal-containing species are often intimately associated with changes in ligand protonation states and metal coordination number. Moreover, a major challenge is therefore to develop consistent computational approaches for computing pH-dependent redox and ligand dissociation properties of organometallic species. Reduction of the Co center in the vitamin B12 derivative aquacobalamin can be accompanied by ligand dissociation, protonation, or both, making these properties difficult to compute accurately. We examine this challenge here by using density functional theory and continuum solvation to compute Co ligand binding equilibrium constants (Kon/off), pKas and reduction potentials for models of aquacobalaminmore » in aqueous solution. We consider two models for cobalamin ligand coordination: the first follows the hexa, penta, tetra coordination scheme for Co III, Co II, and Co I species, respectively, and the second model features saturation of each vacant axial coordination site on Co II and Co I species with a single, explicit water molecule to maintain six directly interacting ligands or water molecules in each oxidation state. Comparing these two coordination schemes in combination with five dispersion-corrected density functionals, we find that the accuracy of the computed properties is largely independent of the scheme used, but including only a continuum representation of the solvent yields marginally better results than saturating the first solvation shell around Co throughout. PBE performs best, displaying balanced accuracy and superior performance overall, with RMS errors of 80 mV for seven reduction potentials, 2.0 log units for five pK as and 2.3 log units for two log K on/off values for the aquacobalamin system. Furthermore, we find that the BP86 functional commonly used in corrinoid studies suffers from erratic behavior and inaccurate descriptions of Co axial ligand binding, leading to substantial errors in predicted pK as and K on/off values. Finally, these findings demonstrate the effectiveness of the present approach for computing electrochemical and thermodynamic properties of a complex transition metal-containing cofactor.« less

A Sixteen Node Shell Element with a Matrix Stabilization Scheme.

DTIC Science & Technology

1987-04-22

coordinates with components x, y and z are defined on the shell midsurface in addition to global coordinates with components X, Y and Z. The x, y and z axes... midsurface while a3 is normal to the surface. The al, A2 and a3 vectors are given at each node as an input. In addition, they are defined at each integra...drawn from the point on the midsurface to the generic material point, t is the shell thickness and the nondimenslonal coordinate C runs from -1 to 1

A fast efficient implicit scheme for the gasdynamic equations using a matrix reduction technique

NASA Technical Reports Server (NTRS)

Barth, T. J.; Steger, J. L.

1985-01-01

An efficient implicit finite-difference algorithm for the gasdynamic equations utilizing matrix reduction techniques is presented. A significant reduction in arithmetic operations is achieved without loss of the stability characteristics generality found in the Beam and Warming approximate factorization algorithm. Steady-state solutions to the conservative Euler equations in generalized coordinates are obtained for transonic flows and used to show that the method offers computational advantages over the conventional Beam and Warming scheme. Existing Beam and Warming codes can be retrofit with minimal effort. The theoretical extension of the matrix reduction technique to the full Navier-Stokes equations in Cartesian coordinates is presented in detail. Linear stability, using a Fourier stability analysis, is demonstrated and discussed for the one-dimensional Euler equations.

ipole: Semianalytic scheme for relativistic polarized radiative transport

NASA Astrophysics Data System (ADS)

Moscibrodzka, Monika; Gammie, Charles F.

2018-04-01

ipole is a ray-tracing code for covariant, polarized radiative transport particularly useful for modeling Event Horizon Telescope sources, though may also be used for other relativistic transport problems. The code extends the ibothros scheme for covariant, unpolarized transport using two representations of the polarized radiation field: in the coordinate frame, it parallel transports the coherency tensor, and in the frame of the plasma, it evolves the Stokes parameters under emission, absorption, and Faraday conversion. The transport step is as spacetime- and coordinate- independent as possible; the emission, absorption, and Faraday conversion step is implemented using an analytic solution to the polarized transport equation with constant coefficients. As a result, ipole is stable, efficient, and produces a physically reasonable solution even for a step with high optical depth and Faraday depth.

Design of a 3-dimensional visual illusion speed reduction marking scheme.

PubMed

Liang, Guohua; Qian, Guomin; Wang, Ye; Yi, Zige; Ru, Xiaolei; Ye, Wei

2017-03-01

To determine which graphic and color combination for a 3-dimensional visual illusion speed reduction marking scheme presents the best visual stimulus, five parameters were designed. According to the Balanced Incomplete Blocks-Law of Comparative Judgment, three schemes, which produce strong stereoscopic impressions, were screened from the 25 initial design schemes of different combinations of graphics and colors. Three-dimensional experimental simulation scenes of the three screened schemes were created to evaluate four different effects according to a semantic analysis. The following conclusions were drawn: schemes with a red color are more effective than those without; the combination of red, yellow and blue produces the best visual stimulus; a larger area from the top surface and the front surface should be colored red; and a triangular prism should be painted as the graphic of the marking according to the stereoscopic impression and the coordination of graphics with the road.

Edge equilibrium code for tokamaks

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

Li, Xujing; Zakharov, Leonid E.; Drozdov, Vladimir V.

2014-01-15

The edge equilibrium code (EEC) described in this paper is developed for simulations of the near edge plasma using the finite element method. It solves the Grad-Shafranov equation in toroidal coordinate and uses adaptive grids aligned with magnetic field lines. Hermite finite elements are chosen for the numerical scheme. A fast Newton scheme which is the same as implemented in the equilibrium and stability code (ESC) is applied here to adjust the grids.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2017-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and [Formula: see text] robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and H2 robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:28959117

Considerations and techniques for incorporating remotely sensed imagery into the land resource management process.

NASA Technical Reports Server (NTRS)

Brooner, W. G.; Nichols, D. A.

1972-01-01

Development of a scheme for utilizing remote sensing technology in an operational program for regional land use planning and land resource management program applications. The scheme utilizes remote sensing imagery as one of several potential inputs to derive desired and necessary data, and considers several alternative approaches to the expansion and/or reduction and analysis of data, using automated data handling techniques. Within this scheme is a five-stage program development which includes: (1) preliminary coordination, (2) interpretation and encoding, (3) creation of data base files, (4) data analysis and generation of desired products, and (5) applications.

Development of high-accuracy convection schemes for sequential solvers

NASA Technical Reports Server (NTRS)

Thakur, Siddharth; Shyy, Wei

1993-01-01

An exploration is conducted of the applicability of such high resolution schemes as TVD to the resolving of sharp flow gradients using a sequential solution approach borrowed from pressure-based algorithms. It is shown that by extending these high-resolution shock-capturing schemes to a sequential solver that treats the equations as a collection of scalar conservation equations, the speed of signal propagation in the solution has to be coordinated by assigning the local convection speed as the characteristic speed for the entire system. A higher amount of dissipation is therefore needed to eliminate oscillations near discontinuities.

Well-balanced compressible cut-cell simulation of atmospheric flow.

PubMed

Klein, R; Bates, K R; Nikiforakis, N

2009-11-28

Cut-cell meshes present an attractive alternative to terrain-following coordinates for the representation of topography within atmospheric flow simulations, particularly in regions of steep topographic gradients. In this paper, we present an explicit two-dimensional method for the numerical solution on such meshes of atmospheric flow equations including gravitational sources. This method is fully conservative and allows for time steps determined by the regular grid spacing, avoiding potential stability issues due to arbitrarily small boundary cells. We believe that the scheme is unique in that it is developed within a dimensionally split framework, in which each coordinate direction in the flow is solved independently at each time step. Other notable features of the scheme are: (i) its conceptual and practical simplicity, (ii) its flexibility with regard to the one-dimensional flux approximation scheme employed, and (iii) the well-balancing of the gravitational sources allowing for stable simulation of near-hydrostatic flows. The presented method is applied to a selection of test problems including buoyant bubble rise interacting with geometry and lee-wave generation due to topography.

Model-based adaptive sliding mode control of the subcritical boiler-turbine system with uncertainties.

PubMed

Tian, Zhen; Yuan, Jingqi; Xu, Liang; Zhang, Xiang; Wang, Jingcheng

2018-05-25

As higher requirements are proposed for the load regulation and efficiency enhancement, the control performance of boiler-turbine systems has become much more important. In this paper, a novel robust control approach is proposed to improve the coordinated control performance for subcritical boiler-turbine units. To capture the key features of the boiler-turbine system, a nonlinear control-oriented model is established and validated with the history operation data of a 300 MW unit. To achieve system linearization and decoupling, an adaptive feedback linearization strategy is proposed, which could asymptotically eliminate the linearization error caused by the model uncertainties. Based on the linearized boiler-turbine system, a second-order sliding mode controller is designed with the super-twisting algorithm. Moreover, the closed-loop system is proved robustly stable with respect to uncertainties and disturbances. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves excellent tracking performance, strong robustness and chattering reduction. Copyright © 2018. Published by Elsevier Ltd.

[Retrospect of tuberculosis control in Brazil].

PubMed

Hijjar, Miguel Aiub; Gerhardt, Germano; Teixeira, Gilmário M; Procópio, Maria José

2007-09-01

The aim of the study was to look back on the course of action involving measures of tuberculosis control in Brazil since the end of the 19th century, covering the history of social struggles and pointing out institutions and people that have dedicated themselves to looking for solutions to these issues. The Brazilian response to tuberculosis started in society with the Ligas Contra a Tuberculose (Leagues Against Tuberculosis), promoting scientific advances, such as the BCG vaccination, which begun in 1927. From the public power, the Inspetoria de Profilaxia da TB (TB Prophylaxis Inspection Service - 1920), the Serviço Nacional de Tuberculose (National Service of Tuberculosis - 1940), and the Campanha Nacional Contra a Tuberculose (National Campaign Against Tuberculosis - 1946), coordinated national policies such as chemotherapy, beginning with the discovery of streptomycin in 1944. The emergence of bacterial resistance led to the development of several therapeutic schemes. The Scheme 1 (rifampycin, hydrazide and pyrazinamid), which was the main one in 1979 and is still used nowadays, had a great epidemiological effect. The WHO declared TB a public health emergency in 1993. In response, Brazil developed some strategies; the first one was the Plano Emergencial para Controle da Tuberculose (Emergency Plan for Tuberculosis Control - 1994), prioritizing 230 municipalities. The current prospects are an effective municipalization of actions and their greater integration with the Programas de Agentes Comunitários e Saúde da Família (Humanitarian Agents and Family Health Programs).

Oscillations and stability of numerical solutions of the heat conduction equation

NASA Technical Reports Server (NTRS)

Kozdoba, L. A.; Levi, E. V.

1976-01-01

The mathematical model and results of numerical solutions are given for the one dimensional problem when the linear equations are written in a rectangular coordinate system. All the computations are easily realizable for two and three dimensional problems when the equations are written in any coordinate system. Explicit and implicit schemes are shown in tabular form for stability and oscillations criteria; the initial temperature distribution is considered uniform.

High-order accurate finite-volume formulations for the pressure gradient force in layered ocean models

NASA Astrophysics Data System (ADS)

Engwirda, Darren; Kelley, Maxwell; Marshall, John

2017-08-01

Discretisation of the horizontal pressure gradient force in layered ocean models is a challenging task, with non-trivial interactions between the thermodynamics of the fluid and the geometry of the layers often leading to numerical difficulties. We present two new finite-volume schemes for the pressure gradient operator designed to address these issues. In each case, the horizontal acceleration is computed as an integration of the contact pressure force that acts along the perimeter of an associated momentum control-volume. A pair of new schemes are developed by exploring different control-volume geometries. Non-linearities in the underlying equation-of-state definitions and thermodynamic profiles are treated using a high-order accurate numerical integration framework, designed to preserve hydrostatic balance in a non-linear manner. Numerical experiments show that the new methods achieve high levels of consistency, maintaining hydrostatic and thermobaric equilibrium in the presence of strongly-sloping layer geometries, non-linear equations-of-state and non-uniform vertical stratification profiles. These results suggest that the new pressure gradient formulations may be appropriate for general circulation models that employ hybrid vertical coordinates and/or terrain-following representations.

Land and Resource Management Issues Relevant to Deploying In-Situ Thermal Technologies

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

Keiter, Robert; Ruple, John; Tanana, Heather

2011-01-01

Utah is home to oil shale resources containing roughly 1.3 trillion barrels of oil equivalent and our nation’s richest oil sands resources. If economically feasible and environmentally responsible means of tapping these resources can be developed, these resources could provide a safe and stable domestic energy source for decades to come. In Utah, oil shale and oil sands resources underlay a patchwork of federal, state, private, and tribal lands that are subject to different regulatory schemes and conflicting management objectives. Evaluating the development potential of Utah’s oil shale and oil sands resources requires an understanding of jurisdictional issues and themore » challenges they present to deployment and efficient utilization of emerging technologies. The jurisdictional patchwork and divergent management requirements inhibit efficient, economic, and environmentally sustainable development. This report examines these barriers to resource development, methods of obtaining access to landlocked resources, and options for consolidating resource ownership. This report also examines recent legislative efforts to wrest control of western public lands from the federal government. If successful, these efforts could dramatically reshape resource control and access, though these efforts appear to fall far short of their stated goals. The unintended consequences of adversarial approaches to obtaining resource access may outweigh their benefits, hardening positions and increasing tensions to the detriment of overall coordination between resource managers. Federal land exchanges represent a more efficient and mutually beneficial means of consolidating management control and improving management efficiency. Independent of exchange proposals, resource managers must improve coordination, moving beyond mere consultation with neighboring landowners and sister agencies to coordinating actions with them.« less

Control of parallel manipulators using force feedback

NASA Technical Reports Server (NTRS)

Nanua, Prabjot

1994-01-01

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Poisson Coordinates.

PubMed

Li, Xian-Ying; Hu, Shi-Min

2013-02-01

Harmonic functions are the critical points of a Dirichlet energy functional, the linear projections of conformal maps. They play an important role in computer graphics, particularly for gradient-domain image processing and shape-preserving geometric computation. We propose Poisson coordinates, a novel transfinite interpolation scheme based on the Poisson integral formula, as a rapid way to estimate a harmonic function on a certain domain with desired boundary values. Poisson coordinates are an extension of the Mean Value coordinates (MVCs) which inherit their linear precision, smoothness, and kernel positivity. We give explicit formulas for Poisson coordinates in both continuous and 2D discrete forms. Superior to MVCs, Poisson coordinates are proved to be pseudoharmonic (i.e., they reproduce harmonic functions on n-dimensional balls). Our experimental results show that Poisson coordinates have lower Dirichlet energies than MVCs on a number of typical 2D domains (particularly convex domains). As well as presenting a formula, our approach provides useful insights for further studies on coordinates-based interpolation and fast estimation of harmonic functions.

Unsteady Transonic Flow Past Airfoils in Rigid Body Motion.

DTIC Science & Technology

1981-03-01

coordinate system. Numerical experiments show that the scheme is very stable and is able to resolve the highly non- linear transonic effects for flutter...Numerical experiments show that the scheme is very stable and is able to resolve the highly nonlinear transonic effects for flutter analysis within...of attack, the angle between the flight direction and the airfoil chord. The effect of chanqinthe angle of attack of a conventional symmetric airfoil

Edge Equilibrium Code (EEC) For Tokamaks

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

Li, Xujling

2014-02-24

The edge equilibrium code (EEC) described in this paper is developed for simulations of the near edge plasma using the finite element method. It solves the Grad-Shafranov equation in toroidal coordinate and uses adaptive grids aligned with magnetic field lines. Hermite finite elements are chosen for the numerical scheme. A fast Newton scheme which is the same as implemented in the equilibrium and stability code (ESC) is applied here to adjust the grids

Communications systems and methods for subsea processors

DOEpatents

Gutierrez, Jose; Pereira, Luis

2016-04-26

A subsea processor may be located near the seabed of a drilling site and used to coordinate operations of underwater drilling components. The subsea processor may be enclosed in a single interchangeable unit that fits a receptor on an underwater drilling component, such as a blow-out preventer (BOP). The subsea processor may issue commands to control the BOP and receive measurements from sensors located throughout the BOP. A shared communications bus may interconnect the subsea processor and underwater components and the subsea processor and a surface or onshore network. The shared communications bus may be operated according to a time division multiple access (TDMA) scheme.

Research on Three-phase Four-wire Inverter

NASA Astrophysics Data System (ADS)

Xin, W. D.; Li, X. K.; Huang, G. Z.; Fan, X. C.; Gong, X. J.; Sun, L.; Wang, J.; Zhu, D. W.

2017-05-01

The concept of Voltage Source Converter (VSC) based hybrid AC and DC distribution system architecture is proposed, which can solve the traditional AC distribution power quality problems and respond to the request of DC distribution development. At first, a novel VSC system structure combining the four-leg based three-phase four-wire with LC filter is adopted, using the overall coordination control scheme of the AC current tracking compensation based grid-interfaced VSC. In the end, the 75 kW simulation experimental system is designed and tested to verify the performance of the proposed VSC under DC distribution, distributed DC sources conditions, as well as power quality management of AC distribution.

Laser pulse control of ultrafast heterogeneous electron transfer: a computational study.

PubMed

Wang, Luxia; May, Volkhard

2004-10-22

Laser pulse control of the photoinduced 90 fs charge injection from perylene into the conduction band of TiO2 is studied theoretically. The approach accounts for the electronic-ground state of the dye, the first excited state, the ionized state formed after charge injection, and the continuum of the electronic states in the conduction band, all defined vs a single reaction coordinate. To address different control tasks optimal control theory is combined with a full quantum dynamical description of the electron-vibrational motion accompanying the charge injection process. First it is proved in which way the charge injection time can be changed by tailored laser pulses. In a second step a pump-dump scheme from the perylene ground state to the first excited electronic state and back to the ground state is discussed. Because of the strong coupling of the excited perylene state to the band continuum of TiO2 this control task is more suited to an experimental test than the direct control of the charge injection.

A 17 degree of freedom anthropomorphic manipulator

NASA Technical Reports Server (NTRS)

Vold, Havard I.; Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Eismann, Paul H.

1989-01-01

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

Mobile robotic sensors for perimeter detection and tracking.

PubMed

Clark, Justin; Fierro, Rafael

2007-02-01

Mobile robot/sensor networks have emerged as tools for environmental monitoring, search and rescue, exploration and mapping, evaluation of civil infrastructure, and military operations. These networks consist of many sensors each equipped with embedded processors, wireless communication, and motion capabilities. This paper describes a cooperative mobile robot network capable of detecting and tracking a perimeter defined by a certain substance (e.g., a chemical spill) in the environment. Specifically, the contributions of this paper are twofold: (i) a library of simple reactive motion control algorithms and (ii) a coordination mechanism for effectively carrying out perimeter-sensing missions. The decentralized nature of the methodology implemented could potentially allow the network to scale to many sensors and to reconfigure when adding/deleting sensors. Extensive simulation results and experiments verify the validity of the proposed cooperative control scheme.

Dynamic fisheye grids for binary black hole simulations

NASA Astrophysics Data System (ADS)

Zilhão, Miguel; Noble, Scott C.

2014-03-01

We present a new warped gridding scheme adapted to simulating gas dynamics in binary black hole spacetimes. The grid concentrates grid points in the vicinity of each black hole to resolve the smaller scale structures there, and rarefies grid points away from each black hole to keep the overall problem size at a practical level. In this respect, our system can be thought of as a ‘double’ version of the fisheye coordinate system, used before in numerical relativity codes for evolving binary black holes. The gridding scheme is constructed as a mapping between a uniform coordinate system—in which the equations of motion are solved—to the distorted system representing the spatial locations of our grid points. Since we are motivated to eventually use this system for circumbinary disc calculations, we demonstrate how the distorted system can be constructed to asymptote to the typical spherical polar coordinate system, amenable to efficiently simulating orbiting gas flows about central objects with little numerical diffusion. We discuss its implementation in the Harm3d code, tailored to evolve the magnetohydrodynamics equations in curved spacetimes. We evaluate the performance of the system’s implementation in Harm3d with a series of tests, such as the advected magnetic field loop test, magnetized Bondi accretion, and evolutions of hydrodynamic discs about a single black hole and about a binary black hole. Like we have done with Harm3d, this gridding scheme can be implemented in other unigrid codes as a (possibly) simpler alternative to adaptive mesh refinement.

Delivery of a national home safety equipment scheme in England: a survey of local scheme leaders.

PubMed

Mulvaney, C A; Watson, M C; Hamilton, T; Errington, G

2013-11-01

Unintentional home injuries sustained by preschool children are a major cause of morbidity in the UK. Home safety equipment schemes may reduce home injury rates. In 2009, the Royal Society for the Prevention of Accidents was appointed as central coordinator of a two-year, £18m national home safety equipment scheme in England. This paper reports the findings from a national survey of all scheme leaders responsible for local scheme delivery. A questionnaire mailed to all local scheme leaders sought details of how the schemes were operated locally; barriers and facilitators to scheme implementation; evaluation of the local scheme and its sustainability. A response rate of 73% was achieved. Health visitors and family support workers played a key role in both the identification of eligible families and performing home safety checks. The majority of local scheme leaders (94.6%) reported that they thought their local scheme had been successful in including those families considered 'harder to engage'. Many scheme leaders (72.4%) reported that they had evaluated the provision of safety equipment in their scheme and over half (56.6%) stated that they would not be able to continue the scheme once funding ceased. Local schemes need support to effectively evaluate their scheme and to seek sustainability funding to ensure the future of the scheme. There remains a lack of evidence of whether the provision of home safety equipment reduces injuries in preschool children.

A 3D-CFD code for accurate prediction of fluid flows and fluid forces in seals

NASA Technical Reports Server (NTRS)

Athavale, M. M.; Przekwas, A. J.; Hendricks, R. C.

1994-01-01

Current and future turbomachinery requires advanced seal configurations to control leakage, inhibit mixing of incompatible fluids and to control the rotodynamic response. In recognition of a deficiency in the existing predictive methodology for seals, a seven year effort was established in 1990 by NASA's Office of Aeronautics Exploration and Technology, under the Earth-to-Orbit Propulsion program, to develop validated Computational Fluid Dynamics (CFD) concepts, codes and analyses for seals. The effort will provide NASA and the U.S. Aerospace Industry with advanced CFD scientific codes and industrial codes for analyzing and designing turbomachinery seals. An advanced 3D CFD cylindrical seal code has been developed, incorporating state-of-the-art computational methodology for flow analysis in straight, tapered and stepped seals. Relevant computational features of the code include: stationary/rotating coordinates, cylindrical and general Body Fitted Coordinates (BFC) systems, high order differencing schemes, colocated variable arrangement, advanced turbulence models, incompressible/compressible flows, and moving grids. This paper presents the current status of code development, code demonstration for predicting rotordynamic coefficients, numerical parametric study of entrance loss coefficients for generic annular seals, and plans for code extensions to labyrinth, damping, and other seal configurations.

A study and evaluation of image analysis techniques applied to remotely sensed data

NASA Technical Reports Server (NTRS)

Atkinson, R. J.; Dasarathy, B. V.; Lybanon, M.; Ramapriyan, H. K.

1976-01-01

An analysis of phenomena causing nonlinearities in the transformation from Landsat multispectral scanner coordinates to ground coordinates is presented. Experimental results comparing rms errors at ground control points indicated a slight improvement when a nonlinear (8-parameter) transformation was used instead of an affine (6-parameter) transformation. Using a preliminary ground truth map of a test site in Alabama covering the Mobile Bay area and six Landsat images of the same scene, several classification methods were assessed. A methodology was developed for automatic change detection using classification/cluster maps. A coding scheme was employed for generation of change depiction maps indicating specific types of changes. Inter- and intraseasonal data of the Mobile Bay test area were compared to illustrate the method. A beginning was made in the study of data compression by applying a Karhunen-Loeve transform technique to a small section of the test data set. The second part of the report provides a formal documentation of the several programs developed for the analysis and assessments presented.

Model predictive control-based dynamic coordinate strategy for hydraulic hub-motor auxiliary system of a heavy commercial vehicle

NASA Astrophysics Data System (ADS)

Zeng, Xiaohua; Li, Guanghan; Yin, Guodong; Song, Dafeng; Li, Sheng; Yang, Nannan

2018-02-01

Equipping a hydraulic hub-motor auxiliary system (HHMAS), which mainly consists of a hydraulic variable pump, a hydraulic hub-motor, a hydraulic valve block and hydraulic accumulators, with part-time all-wheel-drive functions improves the power performance and fuel economy of heavy commercial vehicles. The coordinated control problem that occurs when HHMAS operates in the auxiliary drive mode is addressed in this paper; the solution to this problem is the key to the maximization of HHMAS. To achieve a reasonable distribution of the engine power between mechanical and hydraulic paths, a nonlinear control scheme based on model predictive control (MPC) is investigated. First, a nonlinear model of HHMAS with vehicle dynamics and tire slip characteristics is built, and a controller-design-oriented model is simplified. Then, a steady-state feedforward + dynamic MPC feedback controller (FMPC) is designed to calculate the control input sequence of engine torque and hydraulic variable pump displacement. Finally, the controller is tested in the MATLAB/Simulink and AMESim co-simulation platform and the hardware-in-the-loop experiment platform, and its performance is compared with that of the existing proportional-integral-derivative controller and the feedforward controller under the same conditions. Simulation results show that the designed FMPC has the best performance, and control performance can be guaranteed in a real-time environment. Compared with the tracking control error of the feedforward controller, that of the designed FMPC is decreased by 85% and the traction efficiency performance is improved by 23% under a low-friction-surface condition. Moreover, under common road conditions for heavy commercial vehicles, the traction force can increase up to 13.4-15.6%.

HARM: A Numerical Scheme for General Relativistic Magnetohydrodynamics

NASA Astrophysics Data System (ADS)

Gammie, Charles F.; McKinney, Jonathan C.; Tóth, Gábor

2003-05-01

We describe a conservative, shock-capturing scheme for evolving the equations of general relativistic magnetohydrodynamics. The fluxes are calculated using the Harten, Lax, & van Leer scheme. A variant of constrained transport, proposed earlier by Tóth, is used to maintain a divergence-free magnetic field. Only the covariant form of the metric in a coordinate basis is required to specify the geometry. We describe code performance on a full suite of test problems in both special and general relativity. On smooth flows we show that it converges at second order. We conclude by showing some results from the evolution of a magnetized torus near a rotating black hole.

Curvilinear grids for WENO methods in astrophysical simulations

NASA Astrophysics Data System (ADS)

Grimm-Strele, H.; Kupka, F.; Muthsam, H. J.

2014-03-01

We investigate the applicability of curvilinear grids in the context of astrophysical simulations and WENO schemes. With the non-smooth mapping functions from Calhoun et al. (2008), we can tackle many astrophysical problems which were out of scope with the standard grids in numerical astrophysics. We describe the difficulties occurring when implementing curvilinear coordinates into our WENO code, and how we overcome them. We illustrate the theoretical results with numerical data. The WENO finite difference scheme works only for high Mach number flows and smooth mapping functions, whereas the finite volume scheme gives accurate results even for low Mach number flows and on non-smooth grids.

A comparative study of upwind and MacCormack schemes for CAA benchmark problems

NASA Technical Reports Server (NTRS)

Viswanathan, K.; Sankar, L. N.

1995-01-01

In this study, upwind schemes and MacCormack schemes are evaluated as to their suitability for aeroacoustic applications. The governing equations are cast in a curvilinear coordinate system and discretized using finite volume concepts. A flux splitting procedure is used for the upwind schemes, where the signals crossing the cell faces are grouped into two categories: signals that bring information from outside into the cell, and signals that leave the cell. These signals may be computed in several ways, with the desired spatial and temporal accuracy achieved by choosing appropriate interpolating polynomials. The classical MacCormack schemes employed here are fourth order accurate in time and space. Results for categories 1, 4, and 6 of the workshop's benchmark problems are presented. Comparisons are also made with the exact solutions, where available. The main conclusions of this study are finally presented.

Three-dimensional simulation of vortex breakdown

NASA Technical Reports Server (NTRS)

Kuruvila, G.; Salas, M. D.

1990-01-01

The integral form of the complete, unsteady, compressible, three-dimensional Navier-Stokes equations in the conservation form, cast in generalized coordinate system, are solved, numerically, to simulate the vortex breakdown phenomenon. The inviscid fluxes are discretized using Roe's upwind-biased flux-difference splitting scheme and the viscous fluxes are discretized using central differencing. Time integration is performed using a backward Euler ADI (alternating direction implicit) scheme. A full approximation multigrid is used to accelerate the convergence to steady state.

Transient and steady state viscoelastic rolling contact

NASA Technical Reports Server (NTRS)

Padovan, J.; Paramadilok, O.

1985-01-01

Based on moving total Lagrangian coordinates, a so-called traveling Hughes type contact strategy is developed. Employing the modified contact scheme in conjunction with a traveling finite element strategy, an overall solution methodology is developed to handle transient and steady viscoelastic rolling contact. To verify the scheme, the results of both experimental and analytical benchmarking is presented. The experimental benchmarking includes the handling of rolling tires up to their upper bound behavior, namely the standing wave response.

Test Methodology Development for Experimental Structural Assessment of ASC Planar Spring Material for Long-Term Durability

NASA Technical Reports Server (NTRS)

Yun, Gunjin; Abdullah, A. B. M.; Binienda, Wieslaw; Krause, David L.; Kalluri, Sreeramesh

2014-01-01

A vibration-based testing methodology has been developed that will assess fatigue behavior of the metallic material of construction for the Advanced Stirling Convertor displacer (planar) spring component. To minimize the testing duration, the test setup is designed for base-excitation of a multiplespecimen arrangement, driven in a high-frequency resonant mode; this allows completion of fatigue testing in an accelerated period. A high performance electro-dynamic exciter (shaker) is used to generate harmonic oscillation of cantilever beam specimens, which are clasped on the shaker armature with specially-designed clamp fixtures. The shaker operates in closed-loop control with dynamic specimen response feedback provided by a scanning laser vibrometer. A test coordinator function synchronizes the shaker controller and the laser vibrometer to complete the closed-loop scheme. The test coordinator also monitors structural health of the test specimens throughout the test period, recognizing any change in specimen dynamic behavior. As this may be due to fatigue crack initiation, the test coordinator terminates test progression and then acquires test data in an orderly manner. Design of the specimen and fixture geometry was completed by finite element analysis such that peak stress does not occur at the clamping fixture attachment points. Experimental stress evaluation was conducted to verify the specimen stress predictions. A successful application of the experimental methodology was demonstrated by validation tests with carbon steel specimens subjected to fully-reversed bending stress; high-cycle fatigue failures were induced in such specimens using higher-than-prototypical stresses

Design and control of an embedded vision guided robotic fish with multiple control surfaces.

PubMed

Yu, Junzhi; Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

PubMed Central

Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface. PMID:24688413

High Order Schemes in Bats-R-US for Faster and More Accurate Predictions

NASA Astrophysics Data System (ADS)

Chen, Y.; Toth, G.; Gombosi, T. I.

2014-12-01

BATS-R-US is a widely used global magnetohydrodynamics model that originally employed second order accurate TVD schemes combined with block based Adaptive Mesh Refinement (AMR) to achieve high resolution in the regions of interest. In the last years we have implemented fifth order accurate finite difference schemes CWENO5 and MP5 for uniform Cartesian grids. Now the high order schemes have been extended to generalized coordinates, including spherical grids and also to the non-uniform AMR grids including dynamic regridding. We present numerical tests that verify the preservation of free-stream solution and high-order accuracy as well as robust oscillation-free behavior near discontinuities. We apply the new high order accurate schemes to both heliospheric and magnetospheric simulations and show that it is robust and can achieve the same accuracy as the second order scheme with much less computational resources. This is especially important for space weather prediction that requires faster than real time code execution.

Multi-dimensional high order essentially non-oscillatory finite difference methods in generalized coordinates

NASA Technical Reports Server (NTRS)

Shu, Chi-Wang

1992-01-01

The nonlinear stability of compact schemes for shock calculations is investigated. In recent years compact schemes were used in various numerical simulations including direct numerical simulation of turbulence. However to apply them to problems containing shocks, one has to resolve the problem of spurious numerical oscillation and nonlinear instability. A framework to apply nonlinear limiting to a local mean is introduced. The resulting scheme can be proven total variation (1D) or maximum norm (multi D) stable and produces nice numerical results in the test cases. The result is summarized in the preprint entitled 'Nonlinearly Stable Compact Schemes for Shock Calculations', which was submitted to SIAM Journal on Numerical Analysis. Research was continued on issues related to two and three dimensional essentially non-oscillatory (ENO) schemes. The main research topics include: parallel implementation of ENO schemes on Connection Machines; boundary conditions; shock interaction with hydrogen bubbles, a preparation for the full combustion simulation; and direct numerical simulation of compressible sheared turbulence.

Integration of the shallow water equations on the sphere using a vector semi-Lagrangian scheme with a multigrid solver

NASA Technical Reports Server (NTRS)

Bates, J. R.; Semazzi, F. H. M.; Higgins, R. W.; Barros, Saulo R. M.

1990-01-01

A vector semi-Lagrangian semi-implicit two-time-level finite-difference integration scheme for the shallow water equations on the sphere is presented. A C-grid is used for the spatial differencing. The trajectory-centered discretization of the momentum equation in vector form eliminates pole problems and, at comparable cost, gives greater accuracy than a previous semi-Lagrangian finite-difference scheme which used a rotated spherical coordinate system. In terms of the insensitivity of the results to increasing timestep, the new scheme is as successful as recent spectral semi-Lagrangian schemes. In addition, the use of a multigrid method for solving the elliptic equation for the geopotential allows efficient integration with an operation count which, at high resolution, is of lower order than in the case of the spectral models. The properties of the new scheme should allow finite-difference models to compete with spectral models more effectively than has previously been possible.

[Extension of health coverage and community based health insurance schemes in Africa: Myths and realities].

PubMed

Boidin, B

2015-02-01

This article tackles the perspectives and limits of the extension of health coverage based on community based health insurance schemes in Africa. Despite their strong potential contribution to the extension of health coverage, their weaknesses challenge their ability to play an important role in this extension. Three limits are distinguished: financial fragility; insufficient adaptation to characteristics and needs of poor people; organizational and institutional failures. Therefore lessons can be learnt from the limits of the institutionalization of community based health insurance schemes. At first, community based health insurance schemes are to be considered as a transitional but insufficient solution. There is also a stronger role to be played by public actors in improving financial support, strengthening health services and coordinating coverage programs.

Development of upwind schemes for the Euler equations

NASA Technical Reports Server (NTRS)

Chakravarthy, Sukumar R.

1987-01-01

Described are many algorithmic and computational aspects of upwind schemes and their second-order accurate formulations based on Total-Variation-Diminishing (TVD) approaches. An operational unification of the underlying first-order scheme is first presented encompassing Godunov's, Roe's, Osher's, and Split-Flux methods. For higher order versions, the preprocessing and postprocessing approaches to constructing TVD discretizations are considered. TVD formulations can be used to construct relaxation methods for unfactored implicit upwind schemes, which in turn can be exploited to construct space-marching procedures for even the unsteady Euler equations. A major part of the report describes time- and space-marching procedures for solving the Euler equations in 2-D, 3-D, Cartesian, and curvilinear coordinates. Along with many illustrative examples, several results of efficient computations on 3-D supersonic flows with subsonic pockets are presented.

A Shock-Adaptive Godunov Scheme Based on the Generalised Lagrangian Formulation

NASA Astrophysics Data System (ADS)

Lepage, C. Y.; Hui, W. H.

1995-12-01

Application of the Godunov scheme to the Euler equations of gas dynamics based on the Eulerian formulation of flow smears discontinuities, sliplines especially, over several computational cells, while the accuracy in the smooth flow region is of the order O( h), where h is the cell width. Based on the generalised Lagrangian formulation (GLF) of Hui et al., the Godunov scheme yields superior accuracy. By the use of coordinate streamlines in the GLF, the slipline—itself a streamline—is resolved crisply. Infinite shock resolution is achieved through the splitting of shock-cells. An improved entropy-conservation formulation of the governing equations is also proposed for computations in smooth flow regions. Finally, the use of the GLF substantially simplifies the programming logic resulting in a very robust, accurate, and efficient scheme.

A Control Scheme That Uses Dynamic Postural Synergies to Coordinate a Hybrid Walking Neuroprosthesis: Theory and Experiments.

PubMed

Alibeji, Naji A; Molazadeh, Vahidreza; Dicianno, Brad E; Sharma, Nitin

2018-01-01

A hybrid walking neuroprosthesis that combines functional electrical stimulation (FES) with a powered lower limb exoskeleton can be used to restore walking in persons with paraplegia. It provides therapeutic benefits of FES and torque reliability of the powered exoskeleton. Moreover, by harnessing metabolic power of muscles via FES, the hybrid combination has a potential to lower power consumption and reduce actuator size in the powered exoskeleton. Its control design, however, must overcome the challenges of actuator redundancy due to the combined use of FES and electric motor. Further, dynamic disturbances such as electromechanical delay (EMD) and muscle fatigue must be considered during the control design process. This ensures stability and control performance despite disparate dynamics of FES and electric motor. In this paper, a general framework to coordinate FES of multiple gait-governing muscles with electric motors is presented. A muscle synergy-inspired control framework is used to derive the controller and is motivated mainly to address the actuator redundancy issue. Dynamic postural synergies between FES of the muscles and the electric motors were artificially generated through optimizations and result in key dynamic postures when activated. These synergies were used in the feedforward path of the control system. A dynamic surface control technique, modified with a delay compensation term, is used as the feedback controller to address model uncertainty, the cascaded muscle activation dynamics, and EMD. To address muscle fatigue, the stimulation levels in the feedforward path were gradually increased based on a model-based fatigue estimate. A Lyapunov-based stability approach was used to derive the controller and guarantee its stability. The synergy-based controller was demonstrated experimentally on an able-bodied subject and person with an incomplete spinal cord injury.

Direct model reference adaptive control of a flexible robotic manipulator

NASA Technical Reports Server (NTRS)

Meldrum, D. R.

1985-01-01

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators wih colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference adaptive control (MRAC) scheme based on command generator tracker theory is designed for a flexible manipulator. Quicker, more precise tracking results are expected over nonadaptive control laws for this MRAC approach. Equations of motion in modal coordinates are derived for a single-link, flexible manipulator with an actuator at the pinned-end and a sensor at the free end. An MRAC is designed with the objective of controlling the torquing actuator so that the tip position follows a trajectory that is prescribed by the reference model. An appealing feature of this direct MRAC law is that it allows the reference model to have fewer states than the plant itself. Direct adaptive control also adjusts the controller parameters directly with knowledge of only the plant output and input signals.

Toward Quantitatively Accurate Calculation of the Redox-Associated Acid–Base and Ligand Binding Equilibria of Aquacobalamin

DOE PAGES

Johnston, Ryne C.; Zhou, Jing; Smith, Jeremy C.; ...

2016-07-08

In redox processes in complex transition metal-containing species are often intimately associated with changes in ligand protonation states and metal coordination number. Moreover, a major challenge is therefore to develop consistent computational approaches for computing pH-dependent redox and ligand dissociation properties of organometallic species. Reduction of the Co center in the vitamin B12 derivative aquacobalamin can be accompanied by ligand dissociation, protonation, or both, making these properties difficult to compute accurately. We examine this challenge here by using density functional theory and continuum solvation to compute Co ligand binding equilibrium constants (Kon/off), pKas and reduction potentials for models of aquacobalaminmore » in aqueous solution. We consider two models for cobalamin ligand coordination: the first follows the hexa, penta, tetra coordination scheme for Co III, Co II, and Co I species, respectively, and the second model features saturation of each vacant axial coordination site on Co II and Co I species with a single, explicit water molecule to maintain six directly interacting ligands or water molecules in each oxidation state. Comparing these two coordination schemes in combination with five dispersion-corrected density functionals, we find that the accuracy of the computed properties is largely independent of the scheme used, but including only a continuum representation of the solvent yields marginally better results than saturating the first solvation shell around Co throughout. PBE performs best, displaying balanced accuracy and superior performance overall, with RMS errors of 80 mV for seven reduction potentials, 2.0 log units for five pK as and 2.3 log units for two log K on/off values for the aquacobalamin system. Furthermore, we find that the BP86 functional commonly used in corrinoid studies suffers from erratic behavior and inaccurate descriptions of Co axial ligand binding, leading to substantial errors in predicted pK as and K on/off values. Finally, these findings demonstrate the effectiveness of the present approach for computing electrochemical and thermodynamic properties of a complex transition metal-containing cofactor.« less

On the use of transition matrix methods with extended ensembles.

PubMed

Escobedo, Fernando A; Abreu, Charlles R A

2006-03-14

Different extended ensemble schemes for non-Boltzmann sampling (NBS) of a selected reaction coordinate lambda were formulated so that they employ (i) "variable" sampling window schemes (that include the "successive umbrella sampling" method) to comprehensibly explore the lambda domain and (ii) transition matrix methods to iteratively obtain the underlying free-energy eta landscape (or "importance" weights) associated with lambda. The connection between "acceptance ratio" and transition matrix methods was first established to form the basis of the approach for estimating eta(lambda). The validity and performance of the different NBS schemes were then assessed using as lambda coordinate the configurational energy of the Lennard-Jones fluid. For the cases studied, it was found that the convergence rate in the estimation of eta is little affected by the use of data from high-order transitions, while it is noticeably improved by the use of a broader window of sampling in the variable window methods. Finally, it is shown how an "elastic" window of sampling can be used to effectively enact (nonuniform) preferential sampling over the lambda domain, and how to stitch the weights from separate one-dimensional NBS runs to produce a eta surface over a two-dimensional domain.

a Numerical Model for Flue Gas Desulfurization System.

NASA Astrophysics Data System (ADS)

Kim, Sung Joon

The purpose of this work is to develop a reliable numerical model for spray dryer desulfurization systems. The shape of the spray dryer requires that a body fitted orthogonal coordinate system be used for the numerical model. The governing equations are developed in the general orthogonal coordinates and discretized to yield a system of algebraic equations. A turbulence model is also included in the numerical program. A new second order numerical scheme is developed and included in the numerical model. The trajectory approach is used to simulate the flow of the dispersed phase. Two-way coupling phenomena is modeled by this scheme. The absorption of sulfur dioxide into lime slurry droplets is simulated by a model based on gas -phase mass transfer. The program is applied to a typical spray dryer desulfurization system. The results show the capability of the program to predict the sensitivity of system performance to changes in operational parameters.

A conservative finite difference algorithm for the unsteady transonic potential equation in generalized coordinates

NASA Technical Reports Server (NTRS)

Bridgeman, J. O.; Steger, J. L.; Caradonna, F. X.

1982-01-01

An implicit, approximate-factorization, finite-difference algorithm has been developed for the computation of unsteady, inviscid transonic flows in two and three dimensions. The computer program solves the full-potential equation in generalized coordinates in conservation-law form in order to properly capture shock-wave position and speed. A body-fitted coordinate system is employed for the simple and accurate treatment of boundary conditions on the body surface. The time-accurate algorithm is modified to a conventional ADI relaxation scheme for steady-state computations. Results from two- and three-dimensional steady and two-dimensional unsteady calculations are compared with existing methods.

Review on how proficiency testing needs in Brazil are supplied by accredited providers by Cgcre

NASA Astrophysics Data System (ADS)

Moura, M. H.; Borges, R. M. H.

2015-01-01

Proficiency testing schemes are an important tool to quality assurance in measurement as well as a tool to harmonization of multilateral recognition arrangements for accreditation. The General Coordination for Accreditation (Cgcre) of INMETRO developed a new program to accredit proficiency testing providers according with the International Standard ISO/IEC 17043. This work presents a review on needs for proficiency testing schemes in Brazil and assesses how these needs are supplied by accredited providers.

Quality control in mutation analysis: the European Molecular Genetics Quality Network (EMQN).

PubMed

Müller, C R

2001-08-01

The demand for clinical molecular genetics testing has steadily grown since its introduction in the 1980s. In order to reach and maintain the agreed quality standards of laboratory medicine, the same internal and external quality assurance (IQA/EQA) criteria have to be applied as for "conventional" clinical chemistry or pathology. In 1996 the European Molecular Genetics Quality Network (EMQN) was established in order to spread QA standards across Europe and to harmonise the existing national activities. EMQN is operated by a central co-ordinator and 17 national partners from 15 EU countries; since 1998 it is being funded by the EU commission for a 3-year period. EMQN promotes QA by two tools: by providing disease-specific best practice meetings (BPM) and EQA schemes. A typical BPM is focussed on one disease or group of related disorders. International experts report on the latest news of gene characterisation and function and the state-of-the-art techniques for mutation detection. Disease-specific EQA schemes are provided by experts in the field. DNA samples are sent out together with mock clinical referrals and a diagnostic question is asked. Written reports must be returned which are marked for genotyping and interpretation. So far, three BPMs have been held and six EQA schemes are in operation at various stages. Although mutation types and diagnostic techniques varied considerably between schemes, the overall technical performance showed a high diagnostic standard. Nevertheless, serious genotyping errors have been occurred in some schemes which underline the necessity of quality assurance efforts. The European Molecular Genetics Quality Network provides a necessary platform for the internal and external quality assurance of molecular genetic testing.

Control of a Robotic Hand Using a Tongue Control System-A Prosthesis Application.

PubMed

Johansen, Daniel; Cipriani, Christian; Popovic, Dejan B; Struijk, Lotte N S A

2016-07-01

The aim of this study was to investigate the feasibility of using an inductive tongue control system (ITCS) for controlling robotic/prosthetic hands and arms. This study presents a novel dual modal control scheme for multigrasp robotic hands combining standard electromyogram (EMG) with the ITCS. The performance of the ITCS control scheme was evaluated in a comparative study. Ten healthy subjects used both the ITCS control scheme and a conventional EMG control scheme to complete grasping exercises with the IH1 Azzurra robotic hand implementing five grasps. Time to activate a desired function or grasp was used as the performance metric. Statistically significant differences were found when comparing the performance of the two control schemes. On average, the ITCS control scheme was 1.15 s faster than the EMG control scheme, corresponding to a 35.4% reduction in the activation time. The largest difference was for grasp 5 with a mean AT reduction of 45.3% (2.38 s). The findings indicate that using the ITCS control scheme could allow for faster activation of specific grasps or functions compared with a conventional EMG control scheme. For transhumeral and especially bilateral amputees, the ITCS control scheme could have a significant impact on the prosthesis control. In addition, the ITCS would provide bilateral amputees with the additional advantage of environmental and computer control for which the ITCS was originally developed.

Operating systems. [of computers

NASA Technical Reports Server (NTRS)

Denning, P. J.; Brown, R. L.

1984-01-01

A counter operating system creates a hierarchy of levels of abstraction, so that at a given level all details concerning lower levels can be ignored. This hierarchical structure separates functions according to their complexity, characteristic time scale, and level of abstraction. The lowest levels include the system's hardware; concepts associated explicitly with the coordination of multiple tasks appear at intermediate levels, which conduct 'primitive processes'. Software semaphore is the mechanism controlling primitive processes that must be synchronized. At higher levels lie, in rising order, the access to the secondary storage devices of a particular machine, a 'virtual memory' scheme for managing the main and secondary memories, communication between processes by way of a mechanism called a 'pipe', access to external input and output devices, and a hierarchy of directories cataloguing the hardware and software objects to which access must be controlled.

COVER (cover of vaccination evaluated rapidly): description of the England and Wales scheme.

PubMed

Begg, N T; Gill, O N; White, J M

1989-03-01

The COVER scheme, a method for the rapid evaluation of vaccine coverage in England and Wales, is described. The primary aim of the scheme is to improve cover by providing health district vaccination programme coordinators with relevant timely information. Quarterly data were obtained from, analysed and promptly fed back to, 126 health districts on cohorts of children who had recently attained the target ages for receiving the selected sentinel vaccines; 18 months for third diphtheria and third pertussis and 2 years for measles. Although the data suggested that vaccination cover is improving, national performance still falls well short of 90%, the 1990 target set by the World Health Organisation for countries in Europe.

A model for regulation of mammalian ribosomal DNA transcription. Co-ordination of initiation and termination.

PubMed Central

Nashimoto, M; Mishima, Y

1988-01-01

Based on recent experimental data about transcription initiation and termination, a model for regulation of mammalian ribosomal DNA transcription is developed using a simple kinetic scheme. In this model, the existence of the transition pathway from the terminator to the promoter increases the rate of ribosomal RNA precursor synthesis. In addition to this 'non-transcribed spacer' traverse of RNA polymerase I, the co-ordination of initiation and termination allows a rapid on/off switch transition from the minimum to the maximum rate of ribosomal RNA precursor synthesis. Furthermore, taking account of the participation of two factors in the termination event, we propose a plausible molecular mechanism for the co-ordination of initiation and termination. This co-ordination is emphasized by repetition of the terminator unit. PMID:3223915

Research on the business QoS and trustworthy and controllable strategies mechanism for energy internet

NASA Astrophysics Data System (ADS)

Zhang, Geng; Lu, Meiling; Zhang, Dahua; Zhou, Liang; Li, Likang

2017-01-01

Energy internet is a kind of power sharing network, which can realize the bidirectional flow of energy information on the basis of the existing power grid. It puts forward higher requirements for reliability and controllability of information communication, and all kinds of business QoS of the backbone network. So the research of business QoS and trustworthy and controllable strategies mechanism have an important significance for the development of energy internet. This paper mainly studies how to use the software defined network (SDN) to achieve business QoS, and provide QoS support for all kinds of business of the energy internet. Combined with the current development situation of the energy internet in our country, this paper researches the trustworthy and controllable strategies mechanism for energy internet, and proposes the transition scheme of the IPv6 credible network architecture based on SDN. This coordinates the contradiction between the growing demand for energy internet applications and the limitations of the energy internet technology itself.

The drug regulatory and review process in Guyana.

PubMed

Woo-Ming, R B

1993-01-01

After the old "Sale of Food and Drugs" Ordinance, Cap. 144 was repealed, the new Food and Drugs Act was enacted in 1971. This new Act has considerable flexibility and gives the Minister extensive authority to make Regulations (for carrying out the purposes and provisions of the Act). The Act controls the manufacture, importation, sale, advertising, labeling, packaging, and distribution of drug samples, and the testing of drugs. The Act also controls raw materials and finished products of drugs at the point of entry into the country, with a single agency coordinating both the inspection and analytical services. Developing countries could ensure the procurement of safe, good quality, and effective drugs and devices with the enactment of a similar Food and Drugs Act only. Rapid assessment of Drug Safety, Quality and Efficacy is done through Guyana's participation in the WHO Certification Scheme on the Quality of Pharmaceutical Products moving in International Commerce. This certification scheme is highly commendable especially to third-world countries. The Food and Drug Regulations (1977) have several unique features for drug, cosmetic and device control and they allow for a system of centralized control with limited staff to enforce the legislation. In summary, enforcement of legislative control of imported pharmaceuticals and product evaluation can be considered strong points in the drug regulatory and review process in Guyana. A cautious attitude is observed so as to ensure efficacy, safety, and quality of drugs entering the market. This Drug Regulatory and Review Process is recommended for implementation by third-world countries with outdated drug legislation.(ABSTRACT TRUNCATED AT 250 WORDS)

Smart Grids for Aquifer Thermal Energy Storage (ATES): a case study for the Amsterdam Zuidas district

NASA Astrophysics Data System (ADS)

Jaxa-Rozen, Marc; Bloemendal, Martin; Rostampour, Vahab

2017-04-01

In the context of increasingly strict requirements for building energy efficiency, Aquifer Thermal Energy Storage (ATES) systems have emerged as an effective means to reduce energy demand for space heating and cooling in larger buildings. In the Netherlands, over 2000 systems are currently active, which has already raised issues with spatial planning in some areas; current planning schemes may lack the flexibility to properly address variations in ATES operation, which are driven by uncertainties across a broad range of time scales - from daily changes in building energy demand, to decadal trends for climate or groundwater conditions. This work is therefore part of a broader research effort on ATES Smart Grids (ATES-SG), which has focused on more adaptive methods for ATES management and control. In particular, improved control schemes which allow for coordination between neighboring ATES systems may offer more robust performance under uncertainty (Rostampour & Keviczky, 2016). The case studies for the ATES-SG project have so far focused on idealized cases, and on a historical simulation of ATES development in the city center of Utrecht. This poster will present an additional case study for the city center of Amsterdam, which poses several geohydrological challenges for ATES: for instance, variable density flow due to salinity gradients in the local aquifer, and varying depths for ATES systems due to the thickness of the aquifer. To study the effect of these conditions, this case uses an existing 15-layer geohydrological model of the Amsterdam region, cropped to an area of 4500m x 2500m around the Amsterdam Zuidas district. This rapidly developing business district is one of the densest areas of ATES use in Amsterdam, with 32 well doublets and 53 monowells currently registered. The geohydrological model is integrated with GIS data to accurately represent ATES spatial planning; simulated well flows are provided by a model predictive control component. This model is then simulated for two cases: a baseline decoupled configuration without coordination, and a case in which a subset of adjacent ATES systems is managed centrally to avoid overlaps between stored thermal volumes. Given that the thickness of the local aquifer offers significant potential for further ATES adoption in the area, such a coordinated approach could help maximize the benefits of future ATES development. References Rostampour, V., & Keviczky, T. (2016). Probabilistic Energy Management for Building Climate Comfort in Smart Thermal Grids with Seasonal Storage Systems. Submitted to IFAC World Congress 2017. Available at https://arxiv.org/abs/1611.03206

Efficient Computation of Closed-loop Frequency Response for Large Order Flexible Systems

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Giesy, Daniel P.

1997-01-01

An efficient and robust computational scheme is given for the calculation of the frequency response function of a large order, flexible system implemented with a linear, time invariant control system. Advantage is taken of the highly structured sparsity of the system matrix of the plant based on a model of the structure using normal mode coordinates. The computational time per frequency point of the new computational scheme is a linear function of system size, a significant improvement over traditional, full-matrix techniques whose computational times per frequency point range from quadratic to cubic functions of system size. This permits the practical frequency domain analysis of systems of much larger order than by traditional, full-matrix techniques. Formulations are given for both open and closed loop loop systems. Numerical examples are presented showing the advantages of the present formulation over traditional approaches, both in speed and in accuracy. Using a model with 703 structural modes, a speed-up of almost two orders of magnitude was observed while accuracy improved by up to 5 decimal places.

VizieR Online Data Catalog: HI4PI spectra and column density maps (HI4PI team+, 2016)

NASA Astrophysics Data System (ADS)

Hi4PI Collaboration; Ben Bekhti, N.; Floeer, L.; Keller, R.; Kerp, J.; Lenz, D.; Winkel, B.; Bailin, J.; Calabretta, M. R.; Dedes, L.; Ford, H. A.; Gibson, B. K.; Haud, U.; Janowiecki, S.; Kalberla, P. M. W.; Lockman, F. J.; McClure-Griffiths, N. M.; Murphy, T.; Nakanishi, H.; Pisano, D. J.; Staveley-Smith, L.

2016-09-01

The HI4PI data release comprises 21-cm neutral atomic hydrogen data of the Milky Way (-600km/s0°; -470km/s

Modeling and sliding mode predictive control of the ultra-supercritical boiler-turbine system with uncertainties and input constraints.

PubMed

Tian, Zhen; Yuan, Jingqi; Zhang, Xiang; Kong, Lei; Wang, Jingcheng

2018-05-01

The coordinated control system (CCS) serves as an important role in load regulation, efficiency optimization and pollutant reduction for coal-fired power plants. The CCS faces with tough challenges, such as the wide-range load variation, various uncertainties and constraints. This paper aims to improve the load tacking ability and robustness for boiler-turbine units under wide-range operation. To capture the key dynamics of the ultra-supercritical boiler-turbine system, a nonlinear control-oriented model is developed based on mechanism analysis and model reduction techniques, which is validated with the history operation data of a real 1000 MW unit. To simultaneously address the issues of uncertainties and input constraints, a discrete-time sliding mode predictive controller (SMPC) is designed with the dual-mode control law. Moreover, the input-to-state stability and robustness of the closed-loop system are proved. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves good tracking performance, disturbance rejection ability and compatibility to input constraints. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A second-order shock-adaptive Godunov scheme based on the generalized Lagrangian formulation

NASA Astrophysics Data System (ADS)

Lepage, Claude

Application of the Godunov scheme to the Euler equations of gas dynamics, based on the Eulerian formulation of flow, smears discontinuities (especially sliplines) over several computational cells, while the accuracy in the smooth flow regions is of the order of a function of the cell width. Based on the generalized Lagrangian formulation (GLF), the Godunov scheme yields far superior results. By the use of coordinate streamlines in the GLF, the slipline (itself a streamline) is resolved crisply. Infinite shock resolution is achieved through the splitting of shock cells, while the accuracy in the smooth flow regions is improved using a nonconservative formulation of the governing equations coupled to a second order extension of the Godunov scheme. Furthermore, GLF requires no grid generation for boundary value problems and the simple structure of the solution to the Riemann problem in the GLF is exploited in the numerical implementation of the shock adaptive scheme. Numerical experiments reveal high efficiency and unprecedented resolution of shock and slipline discontinuities.

Using patient self-reports to study heterogeneity of treatment effects in major depressive disorder

PubMed Central

Kessler, R.C.; van Loo, H.M.; Wardenaar, K.J.; Bossarte, R.M.; Brenner, L.A.; Ebert, D.D; de Jonge, P.; Nierenberg, A.A.; Rosellini, A.J.; Sampson, N.A.; Schoevers, R.A.; Wilcox, M.A.; Zaslavsky, A.M.

2016-01-01

Aims Clinicians need guidance to address the heterogeneity of treatment responses of patients with major depressive disorder (MDD). While prediction schemes based on symptom clustering and biomarkers have so far not yielded results of sufficient strength to inform clinical decision-making, prediction schemes based on big data predictive analytic models might be more practically useful. Methods We review evidence suggesting that prediction equations based on symptoms and other easily-assessed clinical features found in previous research to predict MDD treatment outcomes might provide a foundation for developing predictive analytic clinical decision support models that could help clinicians select optimal (personalized) MDD treatments. These methods could also be useful in targeting patient subsamples for more expensive biomarker assessments. Results Approximately two dozen baseline variables obtained from medical records or patient reports have been found repeatedly in MDD treatment trials to predict overall treatment outcomes (i.e., intervention versus control) or differential treatment outcomes (i.e., intervention A versus intervention B). Similar evidence has been found in observational studies of MDD persistence-severity. However, no treatment studies have yet attempted to develop treatment outcome equations using the full set of these predictors. Promising preliminary empirical results coupled with recent developments in statistical methodology suggest that models could be developed to provide useful clinical decision support in personalized treatment selection. These tools could also provide a strong foundation to increase statistical power in focused studies of biomarkers and MDD heterogeneity of treatment response in subsequent controlled trials. Conclusions Coordinated efforts are needed to develop a protocol for systematically collecting information about established predictors of heterogeneity of MDD treatment response in large observational treatment studies, applying and refining these models in subsequent pragmatic trials, carrying out pooled secondary analyses to extract the maximum amount of information from these coordinated studies, and using this information to focus future discovery efforts in the segment of the patient population in which continued uncertainty about treatment response exists. PMID:26810628

Using patient self-reports to study heterogeneity of treatment effects in major depressive disorder.

PubMed

Kessler, R C; van Loo, H M; Wardenaar, K J; Bossarte, R M; Brenner, L A; Ebert, D D; de Jonge, P; Nierenberg, A A; Rosellini, A J; Sampson, N A; Schoevers, R A; Wilcox, M A; Zaslavsky, A M

2017-02-01

Clinicians need guidance to address the heterogeneity of treatment responses of patients with major depressive disorder (MDD). While prediction schemes based on symptom clustering and biomarkers have so far not yielded results of sufficient strength to inform clinical decision-making, prediction schemes based on big data predictive analytic models might be more practically useful. We review evidence suggesting that prediction equations based on symptoms and other easily-assessed clinical features found in previous research to predict MDD treatment outcomes might provide a foundation for developing predictive analytic clinical decision support models that could help clinicians select optimal (personalised) MDD treatments. These methods could also be useful in targeting patient subsamples for more expensive biomarker assessments. Approximately two dozen baseline variables obtained from medical records or patient reports have been found repeatedly in MDD treatment trials to predict overall treatment outcomes (i.e., intervention v. control) or differential treatment outcomes (i.e., intervention A v. intervention B). Similar evidence has been found in observational studies of MDD persistence-severity. However, no treatment studies have yet attempted to develop treatment outcome equations using the full set of these predictors. Promising preliminary empirical results coupled with recent developments in statistical methodology suggest that models could be developed to provide useful clinical decision support in personalised treatment selection. These tools could also provide a strong foundation to increase statistical power in focused studies of biomarkers and MDD heterogeneity of treatment response in subsequent controlled trials. Coordinated efforts are needed to develop a protocol for systematically collecting information about established predictors of heterogeneity of MDD treatment response in large observational treatment studies, applying and refining these models in subsequent pragmatic trials, carrying out pooled secondary analyses to extract the maximum amount of information from these coordinated studies, and using this information to focus future discovery efforts in the segment of the patient population in which continued uncertainty about treatment response exists.

Research to Assembly Scheme for Satellite Deck Based on Robot Flexibility Control Principle

NASA Astrophysics Data System (ADS)

Guo, Tao; Hu, Ruiqin; Xiao, Zhengyi; Zhao, Jingjing; Fang, Zhikai

2018-03-01

Deck assembly is critical quality control point in final satellite assembly process, and cable extrusion and structure collision problems in assembly process will affect development quality and progress of satellite directly. Aimed at problems existing in deck assembly process, assembly project scheme for satellite deck based on robot flexibility control principle is proposed in this paper. Scheme is introduced firstly; secondly, key technologies on end force perception and flexible docking control in the scheme are studied; then, implementation process of assembly scheme for satellite deck is described in detail; finally, actual application case of assembly scheme is given. Result shows that compared with traditional assembly scheme, assembly scheme for satellite deck based on robot flexibility control principle has obvious advantages in work efficiency, reliability and universality aspects etc.

VizieR Online Data Catalog: EBHIS spectra and HI column density maps (Winkel+, 2016)

NASA Astrophysics Data System (ADS)

Winkel, B.; Kerp, J.; Floeer, L.; Kalberla, P. M. W.; Ben Bekhti, N.; Keller, R.; Lenz, D.

2015-11-01

The EBHIS 1st data release comprises 21-cm neutral atomic hydrogen data of the Milky Way (-600km/s

47 CFR 95.1111 - Frequency coordination.

Code of Federal Regulations, 2012 CFR

2012-10-01

..., title, office, phone number, fax number, e-mail address). (b) An authorized health care provider shall...) Modulation scheme used (including occupied bandwidth); (3) Effective radiated power; (4) Number of...) and model numbers); (5) Legal name of the authorized health care provider; (6) Location of transmitter...

On the interpretations of Langevin stochastic equation in different coordinate systems

NASA Astrophysics Data System (ADS)

Martínez, E.; López-Díaz, L.; Torres, L.; Alejos, O.

2004-01-01

The stochastic Langevin Landau-Lifshitz equation is usually utilized in micromagnetics formalism to account for thermal effects. Commonly, two different interpretations of the stochastic integrals can be made: Ito and Stratonovich. In this work, the Langevin-Landau-Lifshitz (LLL) equation is written in both Cartesian and Spherical coordinates. If Spherical coordinates are employed, the noise is additive, and therefore, Ito and Stratonovich solutions are equal. This is not the case when (LLL) equation is written in Cartesian coordinates. In this case, the Langevin equation must be interpreted in the Stratonovich sense in order to reproduce correct statistical results. Nevertheless, the statistics of the numerical results obtained from Euler-Ito and Euler-Stratonovich schemes are equivalent due to the additional numerical constraint imposed in Cartesian system after each time step, which itself assures that the magnitude of the magnetization is preserved.

Two-stage collaborative global optimization design model of the CHPG microgrid

NASA Astrophysics Data System (ADS)

Liao, Qingfen; Xu, Yeyan; Tang, Fei; Peng, Sicheng; Yang, Zheng

2017-06-01

With the continuous developing of technology and reducing of investment costs, renewable energy proportion in the power grid is becoming higher and higher because of the clean and environmental characteristics, which may need more larger-capacity energy storage devices, increasing the cost. A two-stage collaborative global optimization design model of the combined-heat-power-and-gas (abbreviated as CHPG) microgrid is proposed in this paper, to minimize the cost by using virtual storage without extending the existing storage system. P2G technology is used as virtual multi-energy storage in CHPG, which can coordinate the operation of electric energy network and natural gas network at the same time. Demand response is also one kind of good virtual storage, including economic guide for the DGs and heat pumps in demand side and priority scheduling of controllable loads. Two kinds of storage will coordinate to smooth the high-frequency fluctuations and low-frequency fluctuations of renewable energy respectively, and achieve a lower-cost operation scheme simultaneously. Finally, the feasibility and superiority of proposed design model is proved in a simulation of a CHPG microgrid.

Comparative kinetic and energetic modelling of phyllosemiquinone oxidation in Photosystem I.

PubMed

Santabarbara, Stefano; Zucchelli, Giuseppe

2016-04-14

The oxidation kinetics of phyllo(semi)quinone (PhQ), which acts as an electron transfer (ET) intermediate in the Photosystem I reaction centre, are described by a minimum of two exponential phases, characterised by lifetimes in the 10-30 ns and 150-300 ns ranges. The fastest phase is considered to be dominated by the oxidation of the PhQ molecule coordinated by the PsaB reaction centre subunit (PhQB), and the slowest phase is dominated by the oxidation of the PsaA coordinated PhQ (PhQA). Testing different energetic schemes within a unified theory-based kinetic modelling approach provides reliable limit-values for some of the physical-chemical parameters controlling these ET reactions: (i) the value of ΔG(0) associated with PhQA oxidation is smaller than ∼+30 meV; (ii) the value of the total reorganisation energy (λt) likely exceeds 0.7 eV; (iii) different mean nuclear modes are coupled to PhQB and PhQA oxidation, the former being larger, and both being ≥100 cm(-1).

Hyperbolic/parabolic development for the GIM-STAR code. [flow fields in supersonic inlets

NASA Technical Reports Server (NTRS)

Spradley, L. W.; Stalnaker, J. F.; Ratliff, A. W.

1980-01-01

Flow fields in supersonic inlet configurations were computed using the eliptic GIM code on the STAR computer. Spillage flow under the lower cowl was calculated to be 33% of the incoming stream. The shock/boundary layer interaction on the upper propulsive surface was computed including separation. All shocks produced by the flow system were captured. Linearized block implicit (LBI) schemes were examined to determine their application to the GIM code. Pure explicit methods have stability limitations and fully implicit schemes are inherently inefficient; however, LBI schemes show promise as an effective compromise. A quasiparabolic version of the GIM code was developed using elastical parabolized Navier-Stokes methods combined with quasitime relaxation. This scheme is referred to as quasiparabolic although it applies equally well to hyperbolic supersonic inviscid flows. Second order windward differences are used in the marching coordinate and either explicit or linear block implicit time relaxation can be incorporated.

Assessment of a high-resolution central scheme for the solution of the relativistic hydrodynamics equations

NASA Astrophysics Data System (ADS)

Lucas-Serrano, A.; Font, J. A.; Ibáñez, J. M.; Martí, J. M.

2004-12-01

We assess the suitability of a recent high-resolution central scheme developed by \\cite{kurganov} for the solution of the relativistic hydrodynamic equations. The novelty of this approach relies on the absence of Riemann solvers in the solution procedure. The computations we present are performed in one and two spatial dimensions in Minkowski spacetime. Standard numerical experiments such as shock tubes and the relativistic flat-faced step test are performed. As an astrophysical application the article includes two-dimensional simulations of the propagation of relativistic jets using both Cartesian and cylindrical coordinates. The simulations reported clearly show the capabilities of the numerical scheme of yielding satisfactory results, with an accuracy comparable to that obtained by the so-called high-resolution shock-capturing schemes based upon Riemann solvers (Godunov-type schemes), even well inside the ultrarelativistic regime. Such a central scheme can be straightforwardly applied to hyperbolic systems of conservation laws for which the characteristic structure is not explicitly known, or in cases where a numerical computation of the exact solution of the Riemann problem is prohibitively expensive. Finally, we present comparisons with results obtained using various Godunov-type schemes as well as with those obtained using other high-resolution central schemes which have recently been reported in the literature.

A Method for Molecular Dynamics on Curved Surfaces

PubMed Central

Paquay, Stefan; Kusters, Remy

2016-01-01

Dynamics simulations of constrained particles can greatly aid in understanding the temporal and spatial evolution of biological processes such as lateral transport along membranes and self-assembly of viruses. Most theoretical efforts in the field of diffusive transport have focused on solving the diffusion equation on curved surfaces, for which it is not tractable to incorporate particle interactions even though these play a crucial role in crowded systems. We show here that it is possible to take such interactions into account by combining standard constraint algorithms with the classical velocity Verlet scheme to perform molecular dynamics simulations of particles constrained to an arbitrarily curved surface. Furthermore, unlike Brownian dynamics schemes in local coordinates, our method is based on Cartesian coordinates, allowing for the reuse of many other standard tools without modifications, including parallelization through domain decomposition. We show that by applying the schemes to the Langevin equation for various surfaces, we obtain confined Brownian motion, which has direct applications to many biological and physical problems. Finally we present two practical examples that highlight the applicability of the method: 1) the influence of crowding and shape on the lateral diffusion of proteins in curved membranes; and 2) the self-assembly of a coarse-grained virus capsid protein model. PMID:27028633

A Method for Molecular Dynamics on Curved Surfaces

NASA Astrophysics Data System (ADS)

Paquay, Stefan; Kusters, Remy

2016-03-01

Dynamics simulations of constrained particles can greatly aid in understanding the temporal and spatial evolution of biological processes such as lateral transport along membranes and self-assembly of viruses. Most theoretical efforts in the field of diffusive transport have focussed on solving the diffusion equation on curved surfaces, for which it is not tractable to incorporate particle interactions even though these play a crucial role in crowded systems. We show here that it is possible to combine standard constraint algorithms with the classical velocity Verlet scheme to perform molecular dynamics simulations of particles constrained to an arbitrarily curved surface, in which such interactions can be taken into account. Furthermore, unlike Brownian dynamics schemes in local coordinates, our method is based on Cartesian coordinates allowing for the reuse of many other standard tools without modifications, including parallelisation through domain decomposition. We show that by applying the schemes to the Langevin equation for various surfaces, confined Brownian motion is obtained, which has direct applications to many biological and physical problems. Finally we present two practical examples that highlight the applicability of the method: (i) the influence of crowding and shape on the lateral diffusion of proteins in curved membranes and (ii) the self-assembly of a coarse-grained virus capsid protein model.

Maximum-likelihood-based extended-source spatial acquisition and tracking for planetary optical communications

NASA Astrophysics Data System (ADS)

Tsou, Haiping; Yan, Tsun-Yee

1999-04-01

This paper describes an extended-source spatial acquisition and tracking scheme for planetary optical communications. This scheme uses the Sun-lit Earth image as the beacon signal, which can be computed according to the current Sun-Earth-Probe angle from a pre-stored Earth image or a received snapshot taken by other Earth-orbiting satellite. Onboard the spacecraft, the reference image is correlated in the transform domain with the received image obtained from a detector array, which is assumed to have each of its pixels corrupted by an independent additive white Gaussian noise. The coordinate of the ground station is acquired and tracked, respectively, by an open-loop acquisition algorithm and a closed-loop tracking algorithm derived from the maximum likelihood criterion. As shown in the paper, the optimal spatial acquisition requires solving two nonlinear equations, or iteratively solving their linearized variants, to estimate the coordinate when translation in the relative positions of onboard and ground transceivers is considered. Similar assumption of linearization leads to the closed-loop spatial tracking algorithm in which the loop feedback signals can be derived from the weighted transform-domain correlation. Numerical results using a sample Sun-lit Earth image demonstrate that sub-pixel resolutions can be achieved by this scheme in a high disturbance environment.

Non-hydrostatic semi-elastic hybrid-coordinate SISL extension of HIRLAM. Part II: numerical testing

NASA Astrophysics Data System (ADS)

Rõõm, Rein; Männik, Aarne; Luhamaa, Andres; Zirk, Marko

2007-10-01

The semi-implicit semi-Lagrangian (SISL), two-time-level, non-hydrostatic numerical scheme, based on the non-hydrostatic, semi-elastic pressure-coordinate equations, is tested in model experiments with flow over given orography (elliptical hill, mountain ridge, system of successive ridges) in a rectangular domain with emphasis on the numerical accuracy and non-hydrostatic effect presentation capability. Comparison demonstrates good (in strong primary wave generation) to satisfactory (in weak secondary wave reproduction in some cases) consistency of the numerical modelling results with known stationary linear test solutions. Numerical stability of the developed model is investigated with respect to the reference state choice, modelling dynamics of a stationary front. The horizontally area-mean reference temperature proves to be the optimal stability warrant. The numerical scheme with explicit residual in the vertical forcing term becomes unstable for cross-frontal temperature differences exceeding 30 K. Stability is restored, if the vertical forcing is treated implicitly, which enables to use time steps, comparable with the hydrostatic SISL.

Tensor methodology and computational geometry in direct computational experiments in fluid mechanics

NASA Astrophysics Data System (ADS)

Degtyarev, Alexander; Khramushin, Vasily; Shichkina, Julia

2017-07-01

The paper considers a generalized functional and algorithmic construction of direct computational experiments in fluid dynamics. Notation of tensor mathematics is naturally embedded in the finite - element operation in the construction of numerical schemes. Large fluid particle, which have a finite size, its own weight, internal displacement and deformation is considered as an elementary computing object. Tensor representation of computational objects becomes strait linear and uniquely approximation of elementary volumes and fluid particles inside them. The proposed approach allows the use of explicit numerical scheme, which is an important condition for increasing the efficiency of the algorithms developed by numerical procedures with natural parallelism. It is shown that advantages of the proposed approach are achieved among them by considering representation of large particles of a continuous medium motion in dual coordinate systems and computing operations in the projections of these two coordinate systems with direct and inverse transformations. So new method for mathematical representation and synthesis of computational experiment based on large particle method is proposed.

The anatomy and physiology of the ocular motor system.

PubMed

Horn, Anja K E; Leigh, R John

2011-01-01

Accurate diagnosis of abnormal eye movements depends upon knowledge of the purpose, properties, and neural substrate of distinct functional classes of eye movement. Here, we summarize current concepts of the anatomy of eye movement control. Our approach is bottom-up, starting with the extraocular muscles and their innervation by the cranial nerves. Second, we summarize the neural circuits in the pons underlying horizontal gaze control, and the midbrain connections that coordinate vertical and torsional movements. Third, the role of the cerebellum in governing and optimizing eye movements is presented. Fourth, each area of cerebral cortex contributing to eye movements is discussed. Last, descending projections from cerebral cortex, including basal ganglionic circuits that govern different components of gaze, and the superior colliculus, are summarized. At each stage of this review, the anatomical scheme is used to predict the effects of lesions on the control of eye movements, providing clinical-anatomical correlation. Copyright © 2011 Elsevier B.V. All rights reserved.

Determination of functions of controlling drives of main executive mechanisms of mining excavators

NASA Astrophysics Data System (ADS)

Lagunova, Yu A.; Komissarov, A. P.; Lukashuk, O. A.

2018-03-01

It is shown that a special shovel is a feature of the structure of the drives of the main mechanisms (mechanisms of lifting and pressure) of career excavators with working equipment, the presence in the transfer device of a two-crank-lever mechanism of working equipment that connects the main mechanisms with the working body (bucket). In this case, the transformation of the mechanical energy parameters of the motors into energy-force parameters realized at the cutting edge of the bucket (teeth) takes place depending on the type of the kinematic scheme of the two-link-lever mechanism. The concept of “control function” defining the relationship between the parameters characterizing the position of the bucket in the face (the coordinates of the tip of the cutting edge of the bucket, the digging speed) and the required control level are introduced. These are the values of the lifting and head speeds ensuring the bucket movement along a given trajectory.

Relationship between mathematical abstraction in learning parallel coordinates concept and performance in learning analytic geometry of pre-service mathematics teachers: an investigation

NASA Astrophysics Data System (ADS)

Nurhasanah, F.; Kusumah, Y. S.; Sabandar, J.; Suryadi, D.

2018-05-01

As one of the non-conventional mathematics concepts, Parallel Coordinates is potential to be learned by pre-service mathematics teachers in order to give them experiences in constructing richer schemes and doing abstraction process. Unfortunately, the study related to this issue is still limited. This study wants to answer a research question “to what extent the abstraction process of pre-service mathematics teachers in learning concept of Parallel Coordinates could indicate their performance in learning Analytic Geometry”. This is a case study that part of a larger study in examining mathematical abstraction of pre-service mathematics teachers in learning non-conventional mathematics concept. Descriptive statistics method is used in this study to analyze the scores from three different tests: Cartesian Coordinate, Parallel Coordinates, and Analytic Geometry. The participants in this study consist of 45 pre-service mathematics teachers. The result shows that there is a linear association between the score on Cartesian Coordinate and Parallel Coordinates. There also found that the higher levels of the abstraction process in learning Parallel Coordinates are linearly associated with higher student achievement in Analytic Geometry. The result of this study shows that the concept of Parallel Coordinates has a significant role for pre-service mathematics teachers in learning Analytic Geometry.

Performance Analysis of IEEE 802.15.3 MAC Protocol with Different ACK Polices

NASA Astrophysics Data System (ADS)

Mehta, S.; Kwak, K. S.

The wireless personal area network (WPAN) is an emerging wireless technology for future short range indoor and outdoor communication applications. The IEEE 802.15.3 medium access control (MAC) is proposed, specially, for short range high data rates applications, to coordinate the access to the wireless medium among the competing devices. This paper uses analytical model to study the performance analysis of WPAN (IEEE 802.15.3) MAC in terms of throughput, efficient bandwidth utilization, and delay with various acknowledgment schemes under different parameters. Also, some important observations are obtained, which can be very useful to the protocol architectures. Finally, we come up with some important research issues to further investigate the possible improvements in the WPAN MAC.

Algorithms for adaptive stochastic control for a class of linear systems

NASA Technical Reports Server (NTRS)

Toda, M.; Patel, R. V.

1977-01-01

Control of linear, discrete time, stochastic systems with unknown control gain parameters is discussed. Two suboptimal adaptive control schemes are derived: one is based on underestimating future control and the other is based on overestimating future control. Both schemes require little on-line computation and incorporate in their control laws some information on estimation errors. The performance of these laws is studied by Monte Carlo simulations on a computer. Two single input, third order systems are considered, one stable and the other unstable, and the performance of the two adaptive control schemes is compared with that of the scheme based on enforced certainty equivalence and the scheme where the control gain parameters are known.

Community oncology in an era of payment reform.

PubMed

Cox, John V; Ward, Jeffery C; Hornberger, John C; Temel, Jennifer S; McAneny, Barbara L

2014-01-01

Patients and payers (government and private) are frustrated with the fee-for-service system (FFS) of payment for outpatient health services. FFS rewards volume and highly valued services, including expensive diagnostics and therapeutics, over lesser valued cognitive services. Proposed payment schemes would incent collaboration and coordination of care among providers and reward quality. In oncology, new payment schemes must address the high costs of all services, particularly drugs, while preserving the robust distribution of sites of service available to patients in the United States. Information technology and personalized cancer care are changing the practice of oncology. Twenty-first century oncology will require increasing cognitive work and shared decision making, both of which are not well regarded in the FFS model. A high proportion of health care dollars are consumed in the final months of life. Effective delivery of palliative and end-of-life care must be addressed by practice and by new models of payment. Value-based reimbursement schemes will require oncology practices to change how they are structured. Lessons drawn from the principles of primary care's Patient Centered Medical Home (PCMH) will help oncology practice to prepare for new schemes. PCMH principles place a premium on proactively addressing toxicities of therapies, coordinating care with other providers, and engaging patients in shared decision making, supporting the ideal of value defined in the triple aim-to measurably improve patient experience and quality of care at less cost. Payment reform will be disruptive to all. Oncology must be engaged in policy discussions and guide rational shifts in priorities defined by new payment models.

Towards Stochastic Optimization-Based Electric Vehicle Penetration in a Novel Archipelago Microgrid.

PubMed

Yang, Qingyu; An, Dou; Yu, Wei; Tan, Zhengan; Yang, Xinyu

2016-06-17

Due to the advantage of avoiding upstream disturbance and voltage fluctuation from a power transmission system, Islanded Micro-Grids (IMG) have attracted much attention. In this paper, we first propose a novel self-sufficient Cyber-Physical System (CPS) supported by Internet of Things (IoT) techniques, namely "archipelago micro-grid (MG)", which integrates the power grid and sensor networks to make the grid operation effective and is comprised of multiple MGs while disconnected with the utility grid. The Electric Vehicles (EVs) are used to replace a portion of Conventional Vehicles (CVs) to reduce CO 2 emission and operation cost. Nonetheless, the intermittent nature and uncertainty of Renewable Energy Sources (RESs) remain a challenging issue in managing energy resources in the system. To address these issues, we formalize the optimal EV penetration problem as a two-stage Stochastic Optimal Penetration (SOP) model, which aims to minimize the emission and operation cost in the system. Uncertainties coming from RESs (e.g., wind, solar, and load demand) are considered in the stochastic model and random parameters to represent those uncertainties are captured by the Monte Carlo-based method. To enable the reasonable deployment of EVs in each MGs, we develop two scheduling schemes, namely Unlimited Coordinated Scheme (UCS) and Limited Coordinated Scheme (LCS), respectively. An extensive simulation study based on a modified 9 bus system with three MGs has been carried out to show the effectiveness of our proposed schemes. The evaluation data indicates that our proposed strategy can reduce both the environmental pollution created by CO 2 emissions and operation costs in UCS and LCS.

Towards Stochastic Optimization-Based Electric Vehicle Penetration in a Novel Archipelago Microgrid

PubMed Central

Yang, Qingyu; An, Dou; Yu, Wei; Tan, Zhengan; Yang, Xinyu

2016-01-01

Due to the advantage of avoiding upstream disturbance and voltage fluctuation from a power transmission system, Islanded Micro-Grids (IMG) have attracted much attention. In this paper, we first propose a novel self-sufficient Cyber-Physical System (CPS) supported by Internet of Things (IoT) techniques, namely “archipelago micro-grid (MG)”, which integrates the power grid and sensor networks to make the grid operation effective and is comprised of multiple MGs while disconnected with the utility grid. The Electric Vehicles (EVs) are used to replace a portion of Conventional Vehicles (CVs) to reduce CO2 emission and operation cost. Nonetheless, the intermittent nature and uncertainty of Renewable Energy Sources (RESs) remain a challenging issue in managing energy resources in the system. To address these issues, we formalize the optimal EV penetration problem as a two-stage Stochastic Optimal Penetration (SOP) model, which aims to minimize the emission and operation cost in the system. Uncertainties coming from RESs (e.g., wind, solar, and load demand) are considered in the stochastic model and random parameters to represent those uncertainties are captured by the Monte Carlo-based method. To enable the reasonable deployment of EVs in each MGs, we develop two scheduling schemes, namely Unlimited Coordinated Scheme (UCS) and Limited Coordinated Scheme (LCS), respectively. An extensive simulation study based on a modified 9 bus system with three MGs has been carried out to show the effectiveness of our proposed schemes. The evaluation data indicates that our proposed strategy can reduce both the environmental pollution created by CO2 emissions and operation costs in UCS and LCS. PMID:27322281

Development of highly accurate approximate scheme for computing the charge transfer integral

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

Pershin, Anton; Szalay, Péter G.

The charge transfer integral is a key parameter required by various theoretical models to describe charge transport properties, e.g., in organic semiconductors. The accuracy of this important property depends on several factors, which include the level of electronic structure theory and internal simplifications of the applied formalism. The goal of this paper is to identify the performance of various approximate approaches of the latter category, while using the high level equation-of-motion coupled cluster theory for the electronic structure. The calculations have been performed on the ethylene dimer as one of the simplest model systems. By studying different spatial perturbations, itmore » was shown that while both energy split in dimer and fragment charge difference methods are equivalent with the exact formulation for symmetrical displacements, they are less efficient when describing transfer integral along the asymmetric alteration coordinate. Since the “exact” scheme was found computationally expensive, we examine the possibility to obtain the asymmetric fluctuation of the transfer integral by a Taylor expansion along the coordinate space. By exploring the efficiency of this novel approach, we show that the Taylor expansion scheme represents an attractive alternative to the “exact” calculations due to a substantial reduction of computational costs, when a considerably large region of the potential energy surface is of interest. Moreover, we show that the Taylor expansion scheme, irrespective of the dimer symmetry, is very accurate for the entire range of geometry fluctuations that cover the space the molecule accesses at room temperature.« less

Quantitative assessment of four men using above-elbow prosthetic control.

PubMed

Popat, R A; Krebs, D E; Mansfield, J; Russell, D; Clancy, E; Gill-Body, K M; Hogan, N

1993-07-01

We studied the relationship between kinematically unconstrained activities of daily living (ADL) tasks and a kinematically constrained task in above-elbow (AE) amputee subjects using myoelectrically controlled prostheses. Four men, 24 to 49 years old, with unilateral AE amputation wore a prosthesis interfaced to a programmable controller to emulate two different elbow control schemes, conventional velocity and a new "natural" controller. Subjects were timed during three ADL tasks--cutting meat, donning socks, and rolling dough--with both controllers. The prosthesis emulator was then connected to a crank device with a handle, and the subjects turned the crank from bottom to top positions in a vertical plane using each controller. Synergistic shoulder-elbow joint coordination required for crank turning was quantified as the maximum slope of the change in elbow torque versus the change in crank-angle. Performance between the two controllers differed significantly for the crank test but not for ADL tasks. One subject did not complete all crank turning tests. Positive canonical correlation of 0.77 was found between time and crank domain measures. We conclude that biomechanical assessments should be integrated with time-based clinical tests to comprehensively evaluate performance of AE amputee subjects with a myoelectric device.

Software Design Description for the HYbrid Coordinate Ocean Model (HYCOM), Version 2.2

DTIC Science & Technology

2009-02-12

scalars. J. Phys. Oceanogr. 32: 240–264. Carnes, M., (2002). Data base description for the Generalized Digital Environmental Model ( GDEM -V) (U...Direction FCT Flux-Corrected Transport scheme GDEM Generalized Digital Environmental Model GISS NASA Goddard Institute for Space Studies GRD

3D model generation using an airborne swarm

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

Clark, R. A.; Punzo, G.; Macdonald, M.

2015-03-31

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing throughmore » photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm’s computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.« less

3D model generation using an airborne swarm

NASA Astrophysics Data System (ADS)

Clark, R. A.; Punzo, G.; Dobie, G.; MacLeod, C. N.; Summan, R.; Pierce, G.; Macdonald, M.; Bolton, G.

2015-03-01

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing through photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm's computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.

An unconditionally stable Runge-Kutta method for unsteady flows

NASA Technical Reports Server (NTRS)

Jorgenson, Philip C. E.; Chima, Rodrick V.

1988-01-01

A quasi-three dimensional analysis was developed for unsteady rotor-stator interaction in turbomachinery. The analysis solves the unsteady Euler or thin-layer Navier-Stokes equations in a body fitted coordinate system. It accounts for the effects of rotation, radius change, and stream surface thickness. The Baldwin-Lomax eddy viscosity model is used for turbulent flows. The equations are integrated in time using a four stage Runge-Kutta scheme with a constant time step. Implicit residual smoothing was employed to accelerate the solution of the time accurate computations. The scheme is described and accuracy analyses are given. Results are shown for a supersonic through-flow fan designed for NASA Lewis. The rotor:stator blade ratio was taken as 1:1. Results are also shown for the first stage of the Space Shuttle Main Engine high pressure fuel turbopump. Here the blade ratio is 2:3. Implicit residual smoothing was used to increase the time step limit of the unsmoothed scheme by a factor of six with negligible differences in the unsteady results. It is felt that the implicitly smoothed Runge-Kutta scheme is easily competitive with implicit schemes for unsteady flows while retaining the simplicity of an explicit scheme.

Synthesis Study on Transitions in Signal Infrastructure and Control Algorithms for Connected and Automated Transportation

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

Aziz, H. M. Abdul; Wang, Hong; Young, Stan

Documenting existing state of practice is an initial step in developing future control infrastructure to be co-deployed for heterogeneous mix of connected and automated vehicles with human drivers while leveraging benefits to safety, congestion, and energy. With advances in information technology and extensive deployment of connected and automated vehicle technology anticipated over the coming decades, cities globally are making efforts to plan and prepare for these transitions. CAVs not only offer opportunities to improve transportation systems through enhanced safety and efficient operations of vehicles. There are also significant needs in terms of exploring how best to leverage vehicle-to-vehicle (V2V) technology,more » vehicle-to-infrastructure (V2I) technology and vehicle-to-everything (V2X) technology. Both Connected Vehicle (CV) and Connected and Automated Vehicle (CAV) paradigms feature bi-directional connectivity and share similar applications in terms of signal control algorithm and infrastructure implementation. The discussion in our synthesis study assumes the CAV/CV context where connectivity exists with or without automated vehicles. Our synthesis study explores the current state of signal control algorithms and infrastructure, reports the completed and newly proposed CV/CAV deployment studies regarding signal control schemes, reviews the deployment costs for CAV/AV signal infrastructure, and concludes with a discussion on the opportunities such as detector free signal control schemes and dynamic performance management for intersections, and challenges such as dependency on market adaptation and the need to build a fault-tolerant signal system deployment in a CAV/CV environment. The study will serve as an initial critical assessment of existing signal control infrastructure (devices, control instruments, and firmware) and control schemes (actuated, adaptive, and coordinated-green wave). Also, the report will help to identify the future needs for the signal infrastructure to act as the nervous system for urban transportation networks, providing not only signaling, but also observability, surveillance, and measurement capacity. The discussion of the opportunities space includes network optimization and control theory perspectives, and the current states of observability for key system parameters (what can be detected, how frequently can it be reported) as well as controllability of dynamic parameters (this includes adjusting not only the signal phase and timing, but also the ability to alter vehicle trajectories through information or direct control). The perspective of observability and controllability of the dynamic systems provides an appropriate lens to discuss future directions as CAV/CV become more prevalent in the future.« less

Travel associated legionnaires' disease in Europe: 2003.

PubMed

Ricketts, K; Joseph, C

2004-10-01

Six hundred and thirty two cases of travel-associated legionnaires' disease with onset in 2003 were reported to the EWGLINET surveillance scheme by 24 countries. Eighty nine clusters were detected, 35 (39%) of which would not have been detected without the EWGLINET scheme. One hundred and seven accommodation sites were investigated and 22 sites were published on the EWGLI website. The proportion of cases diagnosed primarily by the urinary antigen test was 81.2%, and 48 positive cultures were obtained. Thirty eight deaths were reported to the EWGLINET scheme, giving a crude fatality rate of 6%. Countries are encouraged to inform the coordinating centre of cases that fall ill after travelling within their own country of residence ('internal travel'), and are also encouraged to obtain patient isolates for culture where at all possible.

Further analytical study of hybrid rocket combustion

NASA Technical Reports Server (NTRS)

Hung, W. S. Y.; Chen, C. S.; Haviland, J. K.

1972-01-01

Analytical studies of the transient and steady-state combustion processes in a hybrid rocket system are discussed. The particular system chosen consists of a gaseous oxidizer flowing within a tube of solid fuel, resulting in a heterogeneous combustion. Finite rate chemical kinetics with appropriate reaction mechanisms were incorporated in the model. A temperature dependent Arrhenius type fuel surface regression rate equation was chosen for the current study. The governing mathematical equations employed for the reacting gas phase and for the solid phase are the general, two-dimensional, time-dependent conservation equations in a cylindrical coordinate system. Keeping the simplifying assumptions to a minimum, these basic equations were programmed for numerical computation, using two implicit finite-difference schemes, the Lax-Wendroff scheme for the gas phase, and, the Crank-Nicolson scheme for the solid phase.

Implicit and Multigrid Method for Ideal Multigrid Convergence: Direct Numerical Simulation of Separated Flow Around NACA 0012 Airfoil

NASA Technical Reports Server (NTRS)

Liu, Chao-Qun; Shan, H.; Jiang, L.

1999-01-01

Numerical investigation of flow separation over a NACA 0012 airfoil at large angles of attack has been carried out. The numerical calculation is performed by solving the full Navier-Stokes equations in generalized curvilinear coordinates. The second-order LU-SGS implicit scheme is applied for time integration. This scheme requires no tridiagonal inversion and is capable of being completely vectorized, provided the corresponding Jacobian matrices are properly selected. A fourth-order centered compact scheme is used for spatial derivatives. In order to reduce numerical oscillation, a sixth-order implicit filter is employed. Non-reflecting boundary conditions are imposed at the far-field and outlet boundaries to avoid possible non-physical wave reflection. Complex flow separation and vortex shedding phenomenon have been observed and discussed.

An effective and secure key-management scheme for hierarchical access control in E-medicine system.

PubMed

Odelu, Vanga; Das, Ashok Kumar; Goswami, Adrijit

2013-04-01

Recently several hierarchical access control schemes are proposed in the literature to provide security of e-medicine systems. However, most of them are either insecure against 'man-in-the-middle attack' or they require high storage and computational overheads. Wu and Chen proposed a key management method to solve dynamic access control problems in a user hierarchy based on hybrid cryptosystem. Though their scheme improves computational efficiency over Nikooghadam et al.'s approach, it suffers from large storage space for public parameters in public domain and computational inefficiency due to costly elliptic curve point multiplication. Recently, Nikooghadam and Zakerolhosseini showed that Wu-Chen's scheme is vulnerable to man-in-the-middle attack. In order to remedy this security weakness in Wu-Chen's scheme, they proposed a secure scheme which is again based on ECC (elliptic curve cryptography) and efficient one-way hash function. However, their scheme incurs huge computational cost for providing verification of public information in the public domain as their scheme uses ECC digital signature which is costly when compared to symmetric-key cryptosystem. In this paper, we propose an effective access control scheme in user hierarchy which is only based on symmetric-key cryptosystem and efficient one-way hash function. We show that our scheme reduces significantly the storage space for both public and private domains, and computational complexity when compared to Wu-Chen's scheme, Nikooghadam-Zakerolhosseini's scheme, and other related schemes. Through the informal and formal security analysis, we further show that our scheme is secure against different attacks and also man-in-the-middle attack. Moreover, dynamic access control problems in our scheme are also solved efficiently compared to other related schemes, making our scheme is much suitable for practical applications of e-medicine systems.

From Cellular Attractor Selection to Adaptive Signal Control for Traffic Networks

PubMed Central

Tian, Daxin; Zhou, Jianshan; Sheng, Zhengguo; Wang, Yunpeng; Ma, Jianming

2016-01-01

The management of varying traffic flows essentially depends on signal controls at intersections. However, design an optimal control that considers the dynamic nature of a traffic network and coordinates all intersections simultaneously in a centralized manner is computationally challenging. Inspired by the stable gene expressions of Escherichia coli in response to environmental changes, we explore the robustness and adaptability performance of signalized intersections by incorporating a biological mechanism in their control policies, specifically, the evolution of each intersection is induced by the dynamics governing an adaptive attractor selection in cells. We employ a mathematical model to capture such biological attractor selection and derive a generic, adaptive and distributed control algorithm which is capable of dynamically adapting signal operations for the entire dynamical traffic network. We show that the proposed scheme based on attractor selection can not only promote the balance of traffic loads on each link of the network but also allows the global network to accommodate dynamical traffic demands. Our work demonstrates the potential of bio-inspired intelligence emerging from cells and provides a deep understanding of adaptive attractor selection-based control formation that is useful to support the designs of adaptive optimization and control in other domains. PMID:26972968

From Cellular Attractor Selection to Adaptive Signal Control for Traffic Networks.

PubMed

Tian, Daxin; Zhou, Jianshan; Sheng, Zhengguo; Wang, Yunpeng; Ma, Jianming

2016-03-14

The management of varying traffic flows essentially depends on signal controls at intersections. However, design an optimal control that considers the dynamic nature of a traffic network and coordinates all intersections simultaneously in a centralized manner is computationally challenging. Inspired by the stable gene expressions of Escherichia coli in response to environmental changes, we explore the robustness and adaptability performance of signalized intersections by incorporating a biological mechanism in their control policies, specifically, the evolution of each intersection is induced by the dynamics governing an adaptive attractor selection in cells. We employ a mathematical model to capture such biological attractor selection and derive a generic, adaptive and distributed control algorithm which is capable of dynamically adapting signal operations for the entire dynamical traffic network. We show that the proposed scheme based on attractor selection can not only promote the balance of traffic loads on each link of the network but also allows the global network to accommodate dynamical traffic demands. Our work demonstrates the potential of bio-inspired intelligence emerging from cells and provides a deep understanding of adaptive attractor selection-based control formation that is useful to support the designs of adaptive optimization and control in other domains.

Secure and Efficient Key Coordination Algorithm for Line Topology Network Maintenance for Use in Maritime Wireless Sensor Networks.

PubMed

Elgenaidi, Walid; Newe, Thomas; O'Connell, Eoin; Toal, Daniel; Dooly, Gerard

2016-12-21

There has been a significant increase in the proliferation and implementation of Wireless Sensor Networks (WSNs) in different disciplines, including the monitoring of maritime environments, healthcare systems, and industrial sectors. It has now become critical to address the security issues of data communication while considering sensor node constraints. There are many proposed schemes, including the scheme being proposed in this paper, to ensure that there is a high level of security in WSNs. This paper presents a symmetric security scheme for a maritime coastal environment monitoring WSN. The scheme provides security for travelling packets via individually encrypted links between authenticated neighbors, thus avoiding a reiteration of a global rekeying process. Furthermore, this scheme proposes a dynamic update key based on a trusted node configuration, called a leader node, which works as a trusted third party. The technique has been implemented in real time on a Waspmote test bed sensor platform and the results from both field testing and indoor bench testing environments are discussed in this paper.

Secure and Efficient Key Coordination Algorithm for Line Topology Network Maintenance for Use in Maritime Wireless Sensor Networks

PubMed Central

Elgenaidi, Walid; Newe, Thomas; O’Connell, Eoin; Toal, Daniel; Dooly, Gerard

2016-01-01

There has been a significant increase in the proliferation and implementation of Wireless Sensor Networks (WSNs) in different disciplines, including the monitoring of maritime environments, healthcare systems, and industrial sectors. It has now become critical to address the security issues of data communication while considering sensor node constraints. There are many proposed schemes, including the scheme being proposed in this paper, to ensure that there is a high level of security in WSNs. This paper presents a symmetric security scheme for a maritime coastal environment monitoring WSN. The scheme provides security for travelling packets via individually encrypted links between authenticated neighbors, thus avoiding a reiteration of a global rekeying process. Furthermore, this scheme proposes a dynamic update key based on a trusted node configuration, called a leader node, which works as a trusted third party. The technique has been implemented in real time on a Waspmote test bed sensor platform and the results from both field testing and indoor bench testing environments are discussed in this paper. PMID:28009834

A numerical code for the simulation of non-equilibrium chemically reacting flows on hybrid CPU-GPU clusters

NASA Astrophysics Data System (ADS)

Kudryavtsev, Alexey N.; Kashkovsky, Alexander V.; Borisov, Semyon P.; Shershnev, Anton A.

2017-10-01

In the present work a computer code RCFS for numerical simulation of chemically reacting compressible flows on hybrid CPU/GPU supercomputers is developed. It solves 3D unsteady Euler equations for multispecies chemically reacting flows in general curvilinear coordinates using shock-capturing TVD schemes. Time advancement is carried out using the explicit Runge-Kutta TVD schemes. Program implementation uses CUDA application programming interface to perform GPU computations. Data between GPUs is distributed via domain decomposition technique. The developed code is verified on the number of test cases including supersonic flow over a cylinder.

An improved cylindrical FDTD method and its application to field-tissue interaction study in MRI.

PubMed

Chi, Jieru; Liu, Feng; Xia, Ling; Shao, Tingting; Mason, David G; Crozier, Stuart

2010-01-01

This paper presents a three dimensional finite-difference time-domain (FDTD) scheme in cylindrical coordinates with an improved algorithm for accommodating the numerical singularity associated with the polar axis. The regularization of this singularity problem is entirely based on Ampere's law. The proposed algorithm has been detailed and verified against a problem with a known solution obtained from a commercial electromagnetic simulation package. The numerical scheme is also illustrated by modeling high-frequency RF field-human body interactions in MRI. The results demonstrate the accuracy and capability of the proposed algorithm.

Surveillance system and method having an operating mode partitioned fault classification model

NASA Technical Reports Server (NTRS)

Bickford, Randall L. (Inventor)

2005-01-01

A system and method which partitions a parameter estimation model, a fault detection model, and a fault classification model for a process surveillance scheme into two or more coordinated submodels together providing improved diagnostic decision making for at least one determined operating mode of an asset.

Multi-finger synergies and the muscular apparatus of the hand.

PubMed

Cuadra, Cristian; Bartsch, Angelo; Tiemann, Paula; Reschechtko, Sasha; Latash, Mark L

2018-05-01

We explored whether the synergic control of the hand during multi-finger force production tasks depends on the hand muscles involved. Healthy subjects performed accurate force production tasks and targeted force pulses while pressing against loops positioned at the level of fingertips, middle phalanges, and proximal phalanges. This varied the involvement of the extrinsic and intrinsic finger flexors. The framework of the uncontrolled manifold (UCM) hypothesis was used to analyze the structure of inter-trial variance, motor equivalence, and anticipatory synergy adjustments prior to the force pulse in the spaces of finger forces and finger modes (hypothetical finger-specific control signals). Subjects showed larger maximal force magnitudes at the proximal site of force production. There were synergies stabilizing total force during steady-state phases across all three sites of force production; no differences were seen across the sites in indices of structure of variance, motor equivalence, or anticipatory synergy adjustments. Indices of variance, which did not affect the task (within the UCM), correlated with motor equivalent motion between the steady states prior to and after the force pulse; in contrast, variance affecting task performance did not correlate with non-motor equivalent motion. The observations are discussed within the framework of hierarchical control with referent coordinates for salient effectors at each level. The findings suggest that multi-finger synergies are defined at the level of abundant transformation between the low-dimensional hand level and higher dimensional finger level while being relatively immune to transformations between the finger level and muscle level. The results also support the scheme of control with two classes of neural variables that define referent coordinates and gains in back-coupling loops between hierarchical control levels.

Design and implementation of adaptive PI control schemes for web tension control in roll-to-roll (R2R) manufacturing.

PubMed

Raul, Pramod R; Pagilla, Prabhakar R

2015-05-01

In this paper, two adaptive Proportional-Integral (PI) control schemes are designed and discussed for control of web tension in Roll-to-Roll (R2R) manufacturing systems. R2R systems are used to transport continuous materials (called webs) on rollers from the unwind roll to the rewind roll. Maintaining web tension at the desired value is critical to many R2R processes such as printing, coating, lamination, etc. Existing fixed gain PI tension control schemes currently used in industrial practice require extensive tuning and do not provide the desired performance for changing operating conditions and material properties. The first adaptive PI scheme utilizes the model reference approach where the controller gains are estimated based on matching of the actual closed-loop tension control systems with an appropriately chosen reference model. The second adaptive PI scheme utilizes the indirect adaptive control approach together with relay feedback technique to automatically initialize the adaptive PI gains. These adaptive tension control schemes can be implemented on any R2R manufacturing system. The key features of the two adaptive schemes is that their designs are simple for practicing engineers, easy to implement in real-time, and automate the tuning process. Extensive experiments are conducted on a large experimental R2R machine which mimics many features of an industrial R2R machine. These experiments include trials with two different polymer webs and a variety of operating conditions. Implementation guidelines are provided for both adaptive schemes. Experimental results comparing the two adaptive schemes and a fixed gain PI tension control scheme used in industrial practice are provided and discussed. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Event-triggered attitude control of spacecraft

NASA Astrophysics Data System (ADS)

Wu, Baolin; Shen, Qiang; Cao, Xibin

2018-02-01

The problem of spacecraft attitude stabilization control system with limited communication and external disturbances is investigated based on an event-triggered control scheme. In the proposed scheme, information of attitude and control torque only need to be transmitted at some discrete triggered times when a defined measurement error exceeds a state-dependent threshold. The proposed control scheme not only guarantees that spacecraft attitude control errors converge toward a small invariant set containing the origin, but also ensures that there is no accumulation of triggering instants. The performance of the proposed control scheme is demonstrated through numerical simulation.

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Consistency of histopathological reporting of breast lesions detected by screening: findings of the U.K. National External Quality Assessment (EQA) Scheme. U. K. National Coordinating Group for Breast Screening Pathology.

PubMed

Sloane, J P; Ellman, R; Anderson, T J; Brown, C L; Coyne, J; Dallimore, N S; Davies, J D; Eakins, D; Ellis, I O; Elston, C W

1994-01-01

The aim of the scheme was to determine consistency of histopathological reporting in the United Kingdom National Breast Screening Programme. This external quality assessment scheme involved 51 sets of 12 slides which were circulated to 186-251 pathologists at intervals of 6 months for 3 years. Participants recorded their diagnoses on standard reporting forms, which were submitted to the U.K. National Cancer Screening Evaluation Unit for analysis. A high level of consistency was achieved in diagnosing major categories of breast disease including invasive carcinoma and the important borderline lesions, radial scar and ductal carcinoma in situ (DCIS), the latter exceeding a national target set prior to the onset of the scheme. Atypical hyperplasia (AH) was reported with much less consistency although, where it was the majority opinion, over 86% of diagnoses were of benign disorders and only 14% were of DCIS. Inconsistency was encountered in subtyping and measuring DCIS, the former apparently due to current uncertainties about classification and the latter to poor circumscription, variation in size in different sections and merging with zones of AH. Reporting prognostic features of invasive carcinomas was variable. Measurement of size was achieved with adequate consistency except in a small number of very poorly circumscribed tumours. Grading and subtyping were inconsistent although the latter was not specifically tested and will be the subject of future study. Members of the National Coordinating Group achieved greater uniformity than the remainder of the participants in all diagnostic categories, but both groups experienced similar types of problem. Our findings suggest that participation in the scheme improves diagnostic consistency. In conclusion, consistency in diagnosing invasive carcinoma and radial scar is excellent, and good in DCIS, but improvements are desirable in diagnosing atypical hyperplasia, classifying DCIS and reporting certain prognostic features of invasive tumours. Such improvements will require further research, the development of improved diagnostic criteria and the dissemination of clearer guidelines.

An overview of existing raptor contaminant monitoring activities in Europe.

PubMed

Gómez-Ramírez, P; Shore, R F; van den Brink, N W; van Hattum, B; Bustnes, J O; Duke, G; Fritsch, C; García-Fernández, A J; Helander, B O; Jaspers, V; Krone, O; Martínez-López, E; Mateo, R; Movalli, P; Sonne, C

2014-06-01

Biomonitoring using raptors as sentinels can provide early warning of the potential impacts of contaminants on humans and the environment and also a means of tracking the success of associated mitigation measures. Examples include detection of heavy metal-induced immune system impairment, PCB-induced altered reproductive impacts, and toxicity associated with lead in shot game. Authorisation of such releases and implementation of mitigation is now increasingly delivered through EU-wide directives but there is little established pan-European monitoring to quantify outcomes. We investigated the potential for EU-wide coordinated contaminant monitoring using raptors as sentinels. We did this using a questionnaire to ascertain the current scale of national activity across 44 European countries. According to this survey, there have been 52 different contaminant monitoring schemes with raptors over the last 50years. There were active schemes in 15 (predominantly western European) countries and 23 schemes have been running for >20years; most monitoring was conducted for >5years. Legacy persistent organic compounds (specifically organochlorine insecticides and PCBs), and metals/metalloids were monitored in most of the 15 countries. Fungicides, flame retardants and anticoagulant rodenticides were also relatively frequently monitored (each in at least 6 countries). Common buzzard (Buteo buteo), common kestrel (Falco tinnunculus), golden eagle (Aquila chrysaetos), white-tailed sea eagle (Haliaeetus albicilla), peregrine falcon (Falco peregrinus), tawny owl (Strix aluco) and barn owl (Tyto alba) were most commonly monitored (each in 6-10 countries). Feathers and eggs were most widely analysed although many schemes also analysed body tissues. Our study reveals an existing capability across multiple European countries for contaminant monitoring using raptors. However, coordination between existing schemes and expansion of monitoring into Eastern Europe is needed. This would enable assessment of the appropriateness of the EU-regulation of substances that are hazardous to humans and the environment, the effectiveness of EU level mitigation policies, and identify pan-European spatial and temporal trends in current and emerging contaminants of concern. Copyright © 2014. Published by Elsevier Ltd.

An architecture for rapid prototyping of control schemes for artificial ventricles.

PubMed

Ficola, Antonio; Pagnottelli, Stefano; Valigi, Paolo; Zoppitelli, Maurizio

2004-01-01

This paper presents an experimental system aimed at rapid prototyping of feedback control schemes for ventricular assist devices, and artificial ventricles in general. The system comprises a classical mock circulatory system, an actuated bellow-based ventricle chamber, and a software architecture for control schemes implementation and experimental data acquisition, visualization and storing. Several experiments have been carried out, showing good performance of ventricular pressure tracking control schemes.

Output Consensus of Heterogeneous Linear Multi-Agent Systems by Distributed Event-Triggered/Self-Triggered Strategy.

PubMed

Hu, Wenfeng; Liu, Lu; Feng, Gang

2016-09-02

This paper addresses the output consensus problem of heterogeneous linear multi-agent systems. We first propose a novel distributed event-triggered control scheme. It is shown that, with the proposed control scheme, the output consensus problem can be solved if two matrix equations are satisfied. Then, we further propose a novel self-triggered control scheme, with which continuous monitoring is avoided. By introducing a fixed timer into both event- and self-triggered control schemes, Zeno behavior can be ruled out for each agent. The effectiveness of the event- and self-triggered control schemes is illustrated by an example.

Hierarchical adaptation scheme for multiagent data fusion and resource management in situation analysis

NASA Astrophysics Data System (ADS)

Benaskeur, Abder R.; Roy, Jean

2001-08-01

Sensor Management (SM) has to do with how to best manage, coordinate and organize the use of sensing resources in a manner that synergistically improves the process of data fusion. Based on the contextual information, SM develops options for collecting further information, allocates and directs the sensors towards the achievement of the mission goals and/or tunes the parameters for the realtime improvement of the effectiveness of the sensing process. Conscious of the important role that SM has to play in modern data fusion systems, we are currently studying advanced SM Concepts that would help increase the survivability of the current Halifax and Iroquois Class ships, as well as their possible future upgrades. For this purpose, a hierarchical scheme has been proposed for data fusion and resource management adaptation, based on the control theory and within the process refinement paradigm of the JDL data fusion model, and taking into account the multi-agent model put forward by the SASS Group for the situation analysis process. The novelty of this work lies in the unified framework that has been defined for tackling the adaptation of both the fusion process and the sensor/weapon management.

Reconciling global mammal prioritization schemes into a strategy.

PubMed

Rondinini, Carlo; Boitani, Luigi; Rodrigues, Ana S L; Brooks, Thomas M; Pressey, Robert L; Visconti, Piero; Baillie, Jonathan E M; Baisero, Daniele; Cabeza, Mar; Crooks, Kevin R; Di Marco, Moreno; Redford, Kent H; Andelman, Sandy A; Hoffmann, Michael; Maiorano, Luigi; Stuart, Simon N; Wilson, Kerrie A

2011-09-27

The huge conservation interest that mammals attract and the large datasets that have been collected on them have propelled a diversity of global mammal prioritization schemes, but no comprehensive global mammal conservation strategy. We highlight some of the potential discrepancies between the schemes presented in this theme issue, including: conservation of species or areas, reactive and proactive conservation approaches, conservation knowledge and action, levels of aggregation of indicators of trend and scale issues. We propose that recently collected global mammal data and many of the mammal prioritization schemes now available could be incorporated into a comprehensive global strategy for the conservation of mammals. The task of developing such a strategy should be coordinated by a super-partes, authoritative institution (e.g. the International Union for Conservation of Nature, IUCN). The strategy would facilitate funding agencies, conservation organizations and national institutions to rapidly identify a number of short-term and long-term global conservation priorities, and act complementarily to achieve them.

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

PubMed Central

Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang

2017-01-01

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully. PMID:28862691

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot.

PubMed

Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang

2017-09-01

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.

Performance Evaluation of Counter-Based Dynamic Load Balancing Schemes for Massive Contingency Analysis with Different Computing Environments

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

Chen, Yousu; Huang, Zhenyu; Chavarría-Miranda, Daniel

Contingency analysis is a key function in the Energy Management System (EMS) to assess the impact of various combinations of power system component failures based on state estimation. Contingency analysis is also extensively used in power market operation for feasibility test of market solutions. High performance computing holds the promise of faster analysis of more contingency cases for the purpose of safe and reliable operation of today’s power grids with less operating margin and more intermittent renewable energy sources. This paper evaluates the performance of counter-based dynamic load balancing schemes for massive contingency analysis under different computing environments. Insights frommore » the performance evaluation can be used as guidance for users to select suitable schemes in the application of massive contingency analysis. Case studies, as well as MATLAB simulations, of massive contingency cases using the Western Electricity Coordinating Council power grid model are presented to illustrate the application of high performance computing with counter-based dynamic load balancing schemes.« less

Stability of hand force production. I. Hand level control variables and multifinger synergies.

PubMed

Reschechtko, Sasha; Latash, Mark L

2017-12-01

We combined the theory of neural control of movement with referent coordinates and the uncontrolled manifold hypothesis to explore synergies stabilizing the hand action in accurate four-finger pressing tasks. In particular, we tested a hypothesis on two classes of synergies, those among the four fingers and those within a pair of control variables, stabilizing hand action under visual feedback and disappearing without visual feedback. Subjects performed four-finger total force and moment production tasks under visual feedback; the feedback was later partially or completely removed. The "inverse piano" device was used to lift and lower the fingers smoothly at the beginning and at the end of each trial. These data were used to compute pairs of hypothetical control variables. Intertrial analysis of variance within the finger force space was used to quantify multifinger synergies stabilizing both force and moment. A data permutation method was used to quantify synergies among control variables. Under visual feedback, synergies in the spaces of finger forces and hypothetical control variables were found to stabilize total force. Without visual feedback, the subjects showed a force drift to lower magnitudes and a moment drift toward pronation. This was accompanied by disappearance of the four-finger synergies and strong attenuation of the control variable synergies. The indexes of the two types of synergies correlated with each other. The findings are interpreted within the scheme with multiple levels of abundant variables. NEW & NOTEWORTHY We extended the idea of hierarchical control with referent spatial coordinates for the effectors and explored two types of synergies stabilizing multifinger force production tasks. We observed synergies among finger forces and synergies between hypothetical control variables that stabilized performance under visual feedback but failed to stabilize it after visual feedback had been removed. Indexes of two types of synergies correlated with each other. The data suggest the existence of multiple mechanisms stabilizing motor actions. Copyright © 2017 the American Physiological Society.

Fast packet switching algorithms for dynamic resource control over ATM networks

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

Tsang, R.P.; Keattihananant, P.; Chang, T.

1996-12-01

Real-time continuous media traffic, such as digital video and audio, is expected to comprise a large percentage of the network load on future high speed packet switch networks such as ATM. A major feature which distinguishes high speed networks from traditional slower speed networks is the large amount of data the network must process very quickly. For efficient network usage, traffic control mechanisms are essential. Currently, most mechanisms for traffic control (such as flow control) have centered on the support of Available Bit Rate (ABR), i.e., non real-time, traffic. With regard to ATM, for ABR traffic, two major types ofmore » schemes which have been proposed are rate- control and credit-control schemes. Neither of these schemes are directly applicable to Real-time Variable Bit Rate (VBR) traffic such as continuous media traffic. Traffic control for continuous media traffic is an inherently difficult problem due to the time- sensitive nature of the traffic and its unpredictable burstiness. In this study, we present a scheme which controls traffic by dynamically allocating/de- allocating resources among competing VCs based upon their real-time requirements. This scheme incorporates a form of rate- control, real-time burst-level scheduling and link-link flow control. We show analytically potential performance improvements of our rate- control scheme and present a scheme for buffer dimensioning. We also present simulation results of our schemes and discuss the tradeoffs inherent in maintaining high network utilization and statistically guaranteeing many users` Quality of Service.« less

A numerical study of hypersonic stagnation heat transfer predictions at a coordinate singularity

NASA Technical Reports Server (NTRS)

Grasso, Francesco; Gnoffo, Peter A.

1990-01-01

The problem of grid induced errors associated with a coordinate singularity on heating predictions in the stagnation region of a three-dimensional body in hypersonic flow is examined. The test problem is for Mach 10 flow over an Aeroassist Flight Experiment configuration. This configuration is composed of an elliptic nose, a raked elliptic cone, and a circular shoulder. Irregularities in the heating predictions in the vicinity of the coordinate singularity, located at the axis of the elliptic nose near the stagnation point, are examined with respect to grid refinement and grid restructuring. The algorithm is derived using a finite-volume formulation. An upwind-biased total-variation diminishing scheme is employed for the inviscid flux contribution, and central differences are used for the viscous terms.

A computer code for three-dimensional incompressible flows using nonorthogonal body-fitted coordinate systems

NASA Technical Reports Server (NTRS)

Chen, Y. S.

1986-01-01

In this report, a numerical method for solving the equations of motion of three-dimensional incompressible flows in nonorthogonal body-fitted coordinate (BFC) systems has been developed. The equations of motion are transformed to a generalized curvilinear coordinate system from which the transformed equations are discretized using finite difference approximations in the transformed domain. The hybrid scheme is used to approximate the convection terms in the governing equations. Solutions of the finite difference equations are obtained iteratively by using a pressure-velocity correction algorithm (SIMPLE-C). Numerical examples of two- and three-dimensional, laminar and turbulent flow problems are employed to evaluate the accuracy and efficiency of the present computer code. The user's guide and computer program listing of the present code are also included.

Using cooperative control to manage uncertainties for Aquifer Thermal Energy Storage (ATES)

NASA Astrophysics Data System (ADS)

Jaxa-Rozen, Marc; Rostampour, Vahab; Kwakkel, Jan; Bloemendal, Martin

2017-04-01

Aquifer Thermal Energy Storage (ATES) technology can lead to major reductions in energy demand for heating and cooling in buildings. ATES systems rely on shallow aquifers to seasonally store thermal energy and have become popular in the Netherlands, where a combination of easily accessible aquifers and strict energy regulations makes the technology especially relevant. However, this rapid adoption has made their management in dense urban areas more challenging. For instance, thermal interferences between neighboring systems can degrade storage efficiency. Policies for the permitting and spatial layout of ATES thus tend to be conservative to ensure the performance of individual systems, but this limits the space available for new systems - leading to a trade-off between individual system performance, and the overall energy savings obtained from ATES in a given area. Furthermore, recent studies show that operational uncertainties contribute to poor outcomes under current planning practices; systems in the Netherlands typically use less than half of their permitted water volume. This further reduces energy savings compared to expectations and also leads to an over-allocation of subsurface space. In this context, this work investigates the potential of a more flexible approach for ATES planning and operation, under which neighboring systems coordinate their operation. This is illustrated with a three-building idealized case, using a model predictive control approach for two control schemes: a decoupled formulation, and a centralized scheme that aims to avoid interferences between neighboring systems (assuming perfect information exchange). These control schemes are compared across a range of scenarios for spatial layout, building energy demand, and climate, using a coupled agent-based/geohydrological simulation. The simulation indicates that centralized operation could significantly improve the spatial layout efficiency of ATES systems, by allowing systems to be placed more densely without penalizing their individual performance. This effectively relaxes the trade-off between individual system performance and collective energy savings as observed in the decoupled case. The continued adoption of ATES technology provides a window of opportunity to revisit existing practices for the layout and operation of urban ATES systems, as information exchange - supported by appropriate spatial planning - could offer significant potential towards improved performance under operational uncertainties.

Compensator-based 6-DOF control for probe asteroid-orbital-frame hovering with actuator limitations

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Zhang, Peng; Liu, Keping; Li, Yuanchun

2016-05-01

This paper is concerned with 6-DOF control of a probe hovering in the orbital frame of an asteroid. Considering the requirements of the scientific instruments pointing direction and orbital position in practical missions, the coordinate control of relative attitude and orbit between the probe and target asteroid is imperative. A 6-DOF dynamic equation describing the relative translational and rotational motion of a probe in the asteroid's orbital frame is derived, taking the irregular gravitation, model and parameter uncertainties and external disturbances into account. An adaptive sliding mode controller is employed to guarantee the convergence of the state error, where the adaptation law is used to estimate the unknown upper bound of system uncertainty. Then the controller is improved to deal with the practical problem of actuator limitations by introducing a RBF neural network compensator, which is used to approximate the difference between the actual control with magnitude constraint and the designed nominal control law. The closed-loop system is proved to be asymptotically stable through the Lyapunov stability analysis. Numerical simulations are performed to compare the performances of the preceding designed control laws. Simulation results demonstrate the validity of the control scheme using the compensator-based adaptive sliding mode control law in the presence of actuator limitations, system uncertainty and external disturbance.

A shared position/force control methodology for teleoperation

NASA Technical Reports Server (NTRS)

Lee, Jin S.

1987-01-01

A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.

Multilayer Optimization of Heterogeneous Networks Using Grammatical Genetic Programming.

PubMed

Fenton, Michael; Lynch, David; Kucera, Stepan; Claussen, Holger; O'Neill, Michael

2017-09-01

Heterogeneous cellular networks are composed of macro cells (MCs) and small cells (SCs) in which all cells occupy the same bandwidth. Provision has been made under the third generation partnership project-long term evolution framework for enhanced intercell interference coordination (eICIC) between cell tiers. Expanding on previous works, this paper instruments grammatical genetic programming to evolve control heuristics for heterogeneous networks. Three aspects of the eICIC framework are addressed including setting SC powers and selection biases, MC duty cycles, and scheduling of user equipments (UEs) at SCs. The evolved heuristics yield minimum downlink rates three times higher than a baseline method, and twice that of a state-of-the-art benchmark. Furthermore, a greater number of UEs receive transmissions under the proposed scheme than in either the baseline or benchmark cases.

Development of advanced control schemes for telerobot manipulators

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1991-01-01

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Local Laplacian Coding From Theoretical Analysis of Local Coding Schemes for Locally Linear Classification.

PubMed

Pang, Junbiao; Qin, Lei; Zhang, Chunjie; Zhang, Weigang; Huang, Qingming; Yin, Baocai

2015-12-01

Local coordinate coding (LCC) is a framework to approximate a Lipschitz smooth function by combining linear functions into a nonlinear one. For locally linear classification, LCC requires a coding scheme that heavily determines the nonlinear approximation ability, posing two main challenges: 1) the locality making faraway anchors have smaller influences on current data and 2) the flexibility balancing well between the reconstruction of current data and the locality. In this paper, we address the problem from the theoretical analysis of the simplest local coding schemes, i.e., local Gaussian coding and local student coding, and propose local Laplacian coding (LPC) to achieve the locality and the flexibility. We apply LPC into locally linear classifiers to solve diverse classification tasks. The comparable or exceeded performances of state-of-the-art methods demonstrate the effectiveness of the proposed method.

Deblurring for spatial and temporal varying motion with optical computing

NASA Astrophysics Data System (ADS)

Xiao, Xiao; Xue, Dongfeng; Hui, Zhao

2016-05-01

A way to estimate and remove spatially and temporally varying motion blur is proposed, which is based on an optical computing system. The translation and rotation motion can be independently estimated from the joint transform correlator (JTC) system without iterative optimization. The inspiration comes from the fact that the JTC system is immune to rotation motion in a Cartesian coordinate system. The work scheme of the JTC system is designed to keep switching between the Cartesian coordinate system and polar coordinate system in different time intervals with the ping-pang handover. In the ping interval, the JTC system works in the Cartesian coordinate system to obtain a translation motion vector with optical computing speed. In the pang interval, the JTC system works in the polar coordinate system. The rotation motion is transformed to the translation motion through coordinate transformation. Then the rotation motion vector can also be obtained from JTC instantaneously. To deal with continuous spatially variant motion blur, submotion vectors based on the projective motion path blur model are proposed. The submotion vectors model is more effective and accurate at modeling spatially variant motion blur than conventional methods. The simulation and real experiment results demonstrate its overall effectiveness.

Computing UV/vis spectra from the adiabatic and vertical Franck-Condon schemes with the use of Cartesian and internal coordinates

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

Götze, Jan P.; Karasulu, Bora; Thiel, Walter

We address the effects of using Cartesian or internal coordinates in the adiabatic Franck-Condon (AFC) and vertical Franck-Condon (VFC) approaches to electronic spectra. The adopted VFC approach is a simplified variant of the original approach [A. Hazra, H. H. Chang, and M. Nooijen, J. Chem. Phys. 151, 2125 (2004)], as we omit any contribution from normal modes with imaginary frequency. For our test molecules ranging from ethylene to flavin compounds, VFC offers several advantages over AFC, especially by preserving the properties of the FC region and by avoiding complications arising from the crossing of excited-state potential surfaces or from themore » failure of the harmonic approximation. The spectral quality for our target molecules is insensitive to the chosen approach. We also explore the effects of Duschinsky rotation and relate the need for internal coordinates to the absence of symmetry elements. When using Duschinsky rotation and treating larger systems without planar symmetry, internal coordinates are found to outperform Cartesian coordinates in the AFC spectral calculations.« less

SELF-GRAVITATIONAL FORCE CALCULATION OF SECOND-ORDER ACCURACY FOR INFINITESIMALLY THIN GASEOUS DISKS IN POLAR COORDINATES

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

Wang, Hsiang-Hsu; Taam, Ronald E.; Yen, David C. C., E-mail: yen@math.fju.edu.tw

Investigating the evolution of disk galaxies and the dynamics of proto-stellar disks can involve the use of both a hydrodynamical and a Poisson solver. These systems are usually approximated as infinitesimally thin disks using two-dimensional Cartesian or polar coordinates. In Cartesian coordinates, the calculations of the hydrodynamics and self-gravitational forces are relatively straightforward for attaining second-order accuracy. However, in polar coordinates, a second-order calculation of self-gravitational forces is required for matching the second-order accuracy of hydrodynamical schemes. We present a direct algorithm for calculating self-gravitational forces with second-order accuracy without artificial boundary conditions. The Poisson integral in polar coordinates ismore » expressed in a convolution form and the corresponding numerical complexity is nearly linear using a fast Fourier transform. Examples with analytic solutions are used to verify that the truncated error of this algorithm is of second order. The kernel integral around the singularity is applied to modify the particle method. The use of a softening length is avoided and the accuracy of the particle method is significantly improved.« less

Computing UV/vis spectra from the adiabatic and vertical Franck-Condon schemes with the use of Cartesian and internal coordinates.

PubMed

Götze, Jan P; Karasulu, Bora; Thiel, Walter

2013-12-21

We address the effects of using Cartesian or internal coordinates in the adiabatic Franck-Condon (AFC) and vertical Franck-Condon (VFC) approaches to electronic spectra. The adopted VFC approach is a simplified variant of the original approach [A. Hazra, H. H. Chang, and M. Nooijen, J. Chem. Phys. 151, 2125 (2004)], as we omit any contribution from normal modes with imaginary frequency. For our test molecules ranging from ethylene to flavin compounds, VFC offers several advantages over AFC, especially by preserving the properties of the FC region and by avoiding complications arising from the crossing of excited-state potential surfaces or from the failure of the harmonic approximation. The spectral quality for our target molecules is insensitive to the chosen approach. We also explore the effects of Duschinsky rotation and relate the need for internal coordinates to the absence of symmetry elements. When using Duschinsky rotation and treating larger systems without planar symmetry, internal coordinates are found to outperform Cartesian coordinates in the AFC spectral calculations.

Supporting Quality in YTS.

ERIC Educational Resources Information Center

Further Education Unit, London (England).

This document explains the Youth Training Scheme (YTS) in Great Britain. It is intended for YTS managers, coordinators, and tutors but may also be useful to curriculum and staff developers at colleges and training organizations. The manual begins with an introduction that gives the background and rational for the YTS, and it ends with a 60-item…

Scientific Communication of Geochemical Data and the Use of Computer Databases.

ERIC Educational Resources Information Center

Le Bas, M. J.; Durham, J.

1989-01-01

Describes a scheme in the United Kingdom that coordinates geochemistry publications with a computerized geochemistry database. The database comprises not only data published in the journals but also the remainder of the pertinent data set. The discussion covers the database design; collection, storage and retrieval of data; and plans for future…

A proposed group management scheme for XTP multicast

NASA Technical Reports Server (NTRS)

Dempsey, Bert J.; Weaver, Alfred C.

1990-01-01

The purpose of a group management scheme is to enable its associated transfer layer protocol to be responsive to user determined reliability requirements for multicasting. Group management (GM) must assist the client process in coordinating multicast group membership, allow the user to express the subset of the multicast group that a particular multicast distribution must reach in order to be successful (reliable), and provide the transfer layer protocol with the group membership information necessary to guarantee delivery to this subset. GM provides services and mechanisms that respond to the need of the client process or process level management protocols to coordinate, modify, and determine attributes of the multicast group, especially membership. XTP GM provides a link between process groups and their multicast groups by maintaining a group membership database that identifies members in a name space understood by the underlying transfer layer protocol. Other attributes of the multicast group useful to both the client process and the data transfer protocol may be stored in the database. Examples include the relative dispersion, most recent update, and default delivery parameters of a group.

Supercritical flow past a symmetrical bicircular arc airfoil

NASA Technical Reports Server (NTRS)

Holt, Maurice; Yew, Khoy Chuah

1989-01-01

A numerical scheme is developed for computing steady supercritical flow about symmetrical airfoils, applying it to an ellipse for zero angle of attack. An algorithmic description of this new scheme is presented. Application to a symmetrical bicircular arc airfoil is also proposed. The flow field before the shock is region 1. For transonic flow, singularity can be avoided by integrating the resulting ordinary differential equations away from the body. Region 2 contains the shock which will be located by shock fitting techniques. The shock divides region 2 into supersonic and subsonic regions and there is no singularity problem in this case. The Method of Lines is used in this region and it is advantageous to integrate the resulting ordinary differential equation along the body for shock fitting. Coaxial coordinates have to be used for the bicircular arc airfoil so that boundary values on the airfoil body can be taken with one direction of the coaxial coordinates fixed. To avoid taking boundary values at + or - infinity in the coaxial co-ordinary system, approximate analytical representation of the flow field near the tips of the airfoil is proposed.

IPOLE - semi-analytic scheme for relativistic polarized radiative transport

NASA Astrophysics Data System (ADS)

Mościbrodzka, M.; Gammie, C. F.

2018-03-01

We describe IPOLE, a new public ray-tracing code for covariant, polarized radiative transport. The code extends the IBOTHROS scheme for covariant, unpolarized transport using two representations of the polarized radiation field: In the coordinate frame, it parallel transports the coherency tensor; in the frame of the plasma it evolves the Stokes parameters under emission, absorption, and Faraday conversion. The transport step is implemented to be as spacetime- and coordinate- independent as possible. The emission, absorption, and Faraday conversion step is implemented using an analytic solution to the polarized transport equation with constant coefficients. As a result, IPOLE is stable, efficient, and produces a physically reasonable solution even for a step with high optical depth and Faraday depth. We show that the code matches analytic results in flat space, and that it produces results that converge to those produced by Dexter's GRTRANS polarized transport code on a complicated model problem. We expect IPOLE will mainly find applications in modelling Event Horizon Telescope sources, but it may also be useful in other relativistic transport problems such as modelling for the IXPE mission.

Efficient Graph-Based Resource Allocation Scheme Using Maximal Independent Set for Randomly- Deployed Small Star Networks

PubMed Central

Zhou, Jian; Wang, Lusheng; Wang, Weidong; Zhou, Qingfeng

2017-01-01

In future scenarios of heterogeneous and dense networks, randomly-deployed small star networks (SSNs) become a key paradigm, whose system performance is restricted to inter-SSN interference and requires an efficient resource allocation scheme for interference coordination. Traditional resource allocation schemes do not specifically focus on this paradigm and are usually too time consuming in dense networks. In this article, a very efficient graph-based scheme is proposed, which applies the maximal independent set (MIS) concept in graph theory to help divide SSNs into almost interference-free groups. We first construct an interference graph for the system based on a derived distance threshold indicating for any pair of SSNs whether there is intolerable inter-SSN interference or not. Then, SSNs are divided into MISs, and the same resource can be repetitively used by all the SSNs in each MIS. Empirical parameters and equations are set in the scheme to guarantee high performance. Finally, extensive scenarios both dense and nondense are randomly generated and simulated to demonstrate the performance of our scheme, indicating that it outperforms the classical max K-cut-based scheme in terms of system capacity, utility and especially time cost. Its achieved system capacity, utility and fairness can be close to the near-optimal strategy obtained by a time-consuming simulated annealing search. PMID:29113109

A cascaded coding scheme for error control

NASA Technical Reports Server (NTRS)

Shu, L.; Kasami, T.

1985-01-01

A cascade coding scheme for error control is investigated. The scheme employs a combination of hard and soft decisions in decoding. Error performance is analyzed. If the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit-error-rate. Some example schemes are evaluated. They seem to be quite suitable for satellite down-link error control.

A cascaded coding scheme for error control

NASA Technical Reports Server (NTRS)

Kasami, T.; Lin, S.

1985-01-01

A cascaded coding scheme for error control was investigated. The scheme employs a combination of hard and soft decisions in decoding. Error performance is analyzed. If the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit-error-rate. Some example schemes are studied which seem to be quite suitable for satellite down-link error control.

A second-order accurate finite volume scheme with the discrete maximum principle for solving Richards’ equation on unstructured meshes

DOE PAGES

Svyatsky, Daniil; Lipnikov, Konstantin

2017-03-18

Richards’s equation describes steady-state or transient flow in a variably saturated medium. For a medium having multiple layers of soils that are not aligned with coordinate axes, a mesh fitted to these layers is no longer orthogonal and the classical two-point flux approximation finite volume scheme is no longer accurate. Here, we propose new second-order accurate nonlinear finite volume (NFV) schemes for the head and pressure formulations of Richards’ equation. We prove that the discrete maximum principles hold for both formulations at steady-state which mimics similar properties of the continuum solution. The second-order accuracy is achieved using high-order upwind algorithmsmore » for the relative permeability. Numerical simulations of water infiltration into a dry soil show significant advantage of the second-order NFV schemes over the first-order NFV schemes even on coarse meshes. Since explicit calculation of the Jacobian matrix becomes prohibitively expensive for high-order schemes due to build-in reconstruction and slope limiting algorithms, we study numerically the preconditioning strategy introduced recently in Lipnikov et al. (2016) that uses a stable approximation of the continuum Jacobian. Lastly, numerical simulations show that the new preconditioner reduces computational cost up to 2–3 times in comparison with the conventional preconditioners.« less

A second-order accurate finite volume scheme with the discrete maximum principle for solving Richards’ equation on unstructured meshes

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

Svyatsky, Daniil; Lipnikov, Konstantin

Richards’s equation describes steady-state or transient flow in a variably saturated medium. For a medium having multiple layers of soils that are not aligned with coordinate axes, a mesh fitted to these layers is no longer orthogonal and the classical two-point flux approximation finite volume scheme is no longer accurate. Here, we propose new second-order accurate nonlinear finite volume (NFV) schemes for the head and pressure formulations of Richards’ equation. We prove that the discrete maximum principles hold for both formulations at steady-state which mimics similar properties of the continuum solution. The second-order accuracy is achieved using high-order upwind algorithmsmore » for the relative permeability. Numerical simulations of water infiltration into a dry soil show significant advantage of the second-order NFV schemes over the first-order NFV schemes even on coarse meshes. Since explicit calculation of the Jacobian matrix becomes prohibitively expensive for high-order schemes due to build-in reconstruction and slope limiting algorithms, we study numerically the preconditioning strategy introduced recently in Lipnikov et al. (2016) that uses a stable approximation of the continuum Jacobian. Lastly, numerical simulations show that the new preconditioner reduces computational cost up to 2–3 times in comparison with the conventional preconditioners.« less

Science Planning and Orbit Classification for Solar Probe Plus

NASA Astrophysics Data System (ADS)

Kusterer, M. B.; Fox, N. J.; Rodgers, D. J.; Turner, F. S.

2016-12-01

There are a number of challenges for the Science Planning Team (SPT) of the Solar Probe Plus (SPP) Mission. Since SPP is using a decoupled payload operations approach, tight coordination between the mission operations and payload teams will be required. The payload teams must manage the volume of data that they write to the spacecraft solid-state recorders (SSR) for their individual instruments for downlink to the ground. Making this process more difficult, the geometry of the celestial bodies and the spacecraft during some of the SPP mission orbits cause limited uplink and downlink opportunities. The payload teams will also be required to coordinate power on opportunities, command uplink opportunities, and data transfers from instrument memory to the spacecraft SSR with the operation team. The SPT also intend to coordinate observations with other spacecraft and ground based systems. To solve these challenges, detailed orbit activity planning is required in advance for each orbit. An orbit planning process is being created to facilitate the coordination of spacecraft and payload activities for each orbit. An interactive Science Planning Tool is being designed to integrate the payload data volume and priority allocations, spacecraft ephemeris, attitude, downlink and uplink schedules, spacecraft and payload activities, and other spacecraft ephemeris. It will be used during science planning to select the instrument data priorities and data volumes that satisfy the orbit data volume constraints and power on, command uplink and data transfer time periods. To aid in the initial stages of science planning we have created an orbit classification scheme based on downlink availability and significant science events. Different types of challenges arise in the management of science data driven by orbital geometry and operational constraints, and this scheme attempts to identify the patterns that emerge.

Controlled quantum perfect teleportation of multiple arbitrary multi-qubit states

NASA Astrophysics Data System (ADS)

Shi, Runhua; Huang, Liusheng; Yang, Wei; Zhong, Hong

2011-12-01

We present an efficient controlled quantum perfect teleportation scheme. In our scheme, multiple senders can teleport multiple arbitrary unknown multi-qubit states to a single receiver via a previously shared entanglement state with the help of one or more controllers. Furthermore, our scheme has a very good performance in the measurement and operation complexity, since it only needs to perform Bell state and single-particle measurements and to apply Controlled-Not gate and other single-particle unitary operations. In addition, compared with traditional schemes, our scheme needs less qubits as the quantum resources and exchanges less classical information, and thus obtains higher communication efficiency.

Exploring the role of voluntary disease schemes on UK farmer bio-security behaviours: Findings from the Norfolk-Suffolk Bovine Viral Diarrhoea control scheme.

PubMed

Azbel-Jackson, Lena; Heffernan, Claire; Gunn, George; Brownlie, Joe

2018-01-01

The article describes the influence of a disease control scheme (the Norfolk-Suffolk Bovine Viral Diarrhoea Disease (BVD) Eradication scheme) on farmers' bio-security attitudes and behaviours. In 2010, a survey of 100 cattle farmers (53 scheme members vs. 47 out of scheme farmers) was undertaken among cattle farmers residing in Norfolk and Suffolk counties in the UK. A cross-sectional independent measures design was employed. The main analytical tool was content analysis. The following variables at the farmer-level were explored: the specific BVD control measures adopted, livestock disease priorities, motivation for scheme membership, wider knowledge acquisition, biosecurity behaviours employed and training course attendance. The findings suggest that participation in the BVD scheme improved farmers' perception of the scheme benefits and participation in training courses. However, no association was found between the taking part in the BVD scheme and livestock disease priorities or motivation for scheme participation, or knowledge about BVD bio-security measures employed. Equally importantly, scheme membership did appear to influence the importance accorded specific bio-security measures. Yet such ranking did not appear to reflect the actual behaviours undertaken. As such, disease control efforts alone while necessary, are insufficient. Rather, to enhance farmer bio-security behaviours significant effort must be made to address underlying attitudes to the specific disease threat involved.

Exploring the role of voluntary disease schemes on UK farmer bio-security behaviours: Findings from the Norfolk-Suffolk Bovine Viral Diarrhoea control scheme

PubMed Central

Azbel-Jackson, Lena; Heffernan, Claire; Gunn, George; Brownlie, Joe

2018-01-01

The article describes the influence of a disease control scheme (the Norfolk-Suffolk Bovine Viral Diarrhoea Disease (BVD) Eradication scheme) on farmers' bio-security attitudes and behaviours. In 2010, a survey of 100 cattle farmers (53 scheme members vs. 47 out of scheme farmers) was undertaken among cattle farmers residing in Norfolk and Suffolk counties in the UK. A cross-sectional independent measures design was employed. The main analytical tool was content analysis. The following variables at the farmer-level were explored: the specific BVD control measures adopted, livestock disease priorities, motivation for scheme membership, wider knowledge acquisition, biosecurity behaviours employed and training course attendance. The findings suggest that participation in the BVD scheme improved farmers' perception of the scheme benefits and participation in training courses. However, no association was found between the taking part in the BVD scheme and livestock disease priorities or motivation for scheme participation, or knowledge about BVD bio-security measures employed. Equally importantly, scheme membership did appear to influence the importance accorded specific bio-security measures. Yet such ranking did not appear to reflect the actual behaviours undertaken. As such, disease control efforts alone while necessary, are insufficient. Rather, to enhance farmer bio-security behaviours significant effort must be made to address underlying attitudes to the specific disease threat involved. PMID:29432435

Mixed finite-difference scheme for free vibration analysis of noncircular cylinders

NASA Technical Reports Server (NTRS)

Noor, A. K.; Stephens, W. B.

1973-01-01

A mixed finite-difference scheme is presented for the free-vibration analysis of simply supported closed noncircular cylindrical shells. The problem is formulated in terms of eight first-order differential equations in the circumferential coordinate which possess a symmetric coefficient matrix and are free of the derivatives of the elastic and geometric characteristics of the shell. In the finite-difference discretization, two interlacing grids are used for the different fundamental unknowns in such a way as to avoid averaging in the difference-quotient expressions used for the first derivative. The resulting finite-difference equations are symmetric. The inverse-power method is used for obtaining the eigenvalues and eigenvectors.

Spurious sea ice formation caused by oscillatory ocean tracer advection schemes

NASA Astrophysics Data System (ADS)

Naughten, Kaitlin A.; Galton-Fenzi, Benjamin K.; Meissner, Katrin J.; England, Matthew H.; Brassington, Gary B.; Colberg, Frank; Hattermann, Tore; Debernard, Jens B.

2017-08-01

Tracer advection schemes used by ocean models are susceptible to artificial oscillations: a form of numerical error whereby the advected field alternates between overshooting and undershooting the exact solution, producing false extrema. Here we show that these oscillations have undesirable interactions with a coupled sea ice model. When oscillations cause the near-surface ocean temperature to fall below the freezing point, sea ice forms for no reason other than numerical error. This spurious sea ice formation has significant and wide-ranging impacts on Southern Ocean simulations, including the disappearance of coastal polynyas, stratification of the water column, erosion of Winter Water, and upwelling of warm Circumpolar Deep Water. This significantly limits the model's suitability for coupled ocean-ice and climate studies. Using the terrain-following-coordinate ocean model ROMS (Regional Ocean Modelling System) coupled to the sea ice model CICE (Community Ice CodE) on a circumpolar Antarctic domain, we compare the performance of three different tracer advection schemes, as well as two levels of parameterised diffusion and the addition of flux limiters to prevent numerical oscillations. The upwind third-order advection scheme performs better than the centered fourth-order and Akima fourth-order advection schemes, with far fewer incidents of spurious sea ice formation. The latter two schemes are less problematic with higher parameterised diffusion, although some supercooling artifacts persist. Spurious supercooling was eliminated by adding flux limiters to the upwind third-order scheme. We present this comparison as evidence of the problematic nature of oscillatory advection schemes in sea ice formation regions, and urge other ocean/sea-ice modellers to exercise caution when using such schemes.

Controlled teleportation of an arbitrary n-qubit quantum information using quantum secret sharing of classical message

NASA Astrophysics Data System (ADS)

Zhang, Zhan-Jun

2006-03-01

I present a scheme which allows an arbitrary 2-qubit quantum state teleportation between two remote parties with control of many agents in a network. Comparisons between the present scheme and the existing scheme proposed recently [F.G. Deng, et al., Phys. Rev. A 72 (2005) 022338] are made. It seems that the present scheme is much simpler and more economic. Then I generalize the scheme to teleport an arbitrary n-qubit quantum state between two remote parties with control of agents in a network.

Anticipatory postural adjustments and anticipatory synergy adjustments: Preparing to a postural perturbation with predictable and unpredictable direction

PubMed Central

Piscitelli, Daniele; Falaki, Ali; Solnik, Stanislaw; Latash, Mark L.

2016-01-01

We explored two aspects of feed-forward postural control, anticipatory postural adjustments (APAs) and anticipatory synergy adjustments (ASAs) seen prior to self-triggered unloading with known and unknown direction of the perturbation. In particular, we tested two main hypotheses predicting contrasting changes in APAs and ASAs. The first hypothesis predicted no major changes in ASAs. The second hypothesis predicted delayed APAs with predominance of co-contraction patterns when perturbation direction was unknown. Healthy subjects stood on the force plate and help a bar with two loads acting in the forward and backward directions. They pressed a trigger that released one of the loads causing a postural perturbation. In different series, the direction of the perturbation was either known (the same load released in all trials) or unknown (the subjects did not know which of the two loads would be released). Surface electromyograms were recorded and used to quantify APAs, synergies stabilizing center of pressure coordinate (within the uncontrolled manifold hypothesis), and ASA. APAs and ASAs were seen in all conditions. APAs were delayed and predominance of co-contraction patterns was seen under the conditions with unpredictable direction of perturbation. In contrast, no significant changes in synergies and ASAs were seen. Overall, these results show that feed-forward control of vertical posture has two distinct components, reflected in APAs and ASAs, which show qualitatively different adjustments with changes in predictability of the direction of perturbation. These results are interpreted within the recently proposed hierarchical scheme of the synergic control of motor tasks. The observations underscore the complexity of the feed-forward postural control, which involves separate changes in salient performance variables (such as coordinate of the center of pressure) and in their stability properties. PMID:27866261

Anticipatory postural adjustments and anticipatory synergy adjustments: preparing to a postural perturbation with predictable and unpredictable direction.

PubMed

Piscitelli, Daniele; Falaki, Ali; Solnik, Stanislaw; Latash, Mark L

2017-03-01

We explored two aspects of feed-forward postural control, anticipatory postural adjustments (APAs) and anticipatory synergy adjustments (ASAs) seen prior to self-triggered unloading with known and unknown direction of the perturbation. In particular, we tested two main hypotheses predicting contrasting changes in APAs and ASAs. The first hypothesis predicted no major changes in ASAs. The second hypothesis predicted delayed APAs with predominance of co-contraction patterns when perturbation direction was unknown. Healthy subjects stood on the force plate and held a bar with two loads acting in the forward and backward directions. They pressed a trigger that released one of the loads causing a postural perturbation. In different series, the direction of the perturbation was either known (the same load released in all trials) or unknown (the subjects did not know which of the two loads would be released). Surface electromyograms were recorded and used to quantify APAs, synergies stabilizing center of pressure coordinate (within the uncontrolled manifold hypothesis), and ASA. APAs and ASAs were seen in all conditions. APAs were delayed, and predominance of co-contraction patterns was seen under the conditions with unpredictable direction of perturbation. In contrast, no significant changes in synergies and ASAs were seen. Overall, these results show that feed-forward control of vertical posture has two distinct components, reflected in APAs and ASAs, which show qualitatively different adjustments with changes in predictability of the direction of perturbation. These results are interpreted within the recently proposed hierarchical scheme of the synergic control of motor tasks. The observations underscore the complexity of the feed-forward postural control, which involves separate changes in salient performance variables (such as coordinate of the center of pressure) and in their stability properties.

Time-Coordination Strategies and Control Laws for Multi-Agent Unmanned Systems

NASA Technical Reports Server (NTRS)

Puig-Navarro, Javier; Hovakimyan, Naira; Allen, B. Danette

2017-01-01

Time-critical coordination tools for unmanned systems can be employed to enforce the type of temporal constraints required in terminal control areas, ensure minimum distance requirements among vehicles are satisfied, and successfully perform coordinated missions. In comparison with previous literature, this paper presents an ampler spectrum of coordination and temporal specifications for unmanned systems, and proposes a general control law that can enforce this range of constraints. The constraint classification presented con- siders the nature of the desired arrival window and the permissible coordination errors to define six different types of time-coordination strategies. The resulting decentralized coordination control law allows the vehicles to negotiate their speeds along their paths in response to information exchanged over the communication network. This control law organizes the different members in the fleet hierarchically per their behavior and informational needs as reference agent, leaders, and followers. Examples and simulation results for all the coordination strategies presented demonstrate the applicability and efficacy of the coordination control law for multiple unmanned systems.

A comparison of two multi-variable integrator windup protection schemes

NASA Technical Reports Server (NTRS)

Mattern, Duane

1993-01-01

Two methods are examined for limit and integrator wind-up protection for multi-input, multi-output linear controllers subject to actuator constraints. The methods begin with an existing linear controller that satisfies the specifications for the nominal, small perturbation, linear model of the plant. The controllers are formulated to include an additional contribution to the state derivative calculations. The first method to be examined is the multi-variable version of the single-input, single-output, high gain, Conventional Anti-Windup (CAW) scheme. Except for the actuator limits, the CAW scheme is linear. The second scheme to be examined, denoted the Modified Anti-Windup (MAW) scheme, uses a scalar to modify the magnitude of the controller output vector while maintaining the vector direction. The calculation of the scalar modifier is a nonlinear function of the controller outputs and the actuator limits. In both cases the constrained actuator is tracked. These two integrator windup protection methods are demonstrated on a turbofan engine control system with five measurements, four control variables, and four actuators. The closed-loop responses of the two schemes are compared and contrasted during limit operation. The issue of maintaining the direction of the controller output vector using the Modified Anti-Windup scheme is discussed and the advantages and disadvantages of both of the IWP methods are presented.

Equations of Interdoublet Separation during Flagella Motion Reveal Mechanisms of Wave Propagation and Instability

PubMed Central

Bayly, Philip V.; Wilson, Kate S.

2014-01-01

The motion of flagella and cilia arises from the coordinated activity of dynein motor protein molecules arrayed along microtubule doublets that span the length of axoneme (the flagellar cytoskeleton). Dynein activity causes relative sliding between the doublets, which generates propulsive bending of the flagellum. The mechanism of dynein coordination remains incompletely understood, although it has been the focus of many studies, both theoretical and experimental. In one leading hypothesis, known as the geometric clutch (GC) model, local dynein activity is thought to be controlled by interdoublet separation. The GC model has been implemented as a numerical simulation in which the behavior of a discrete set of rigid links in viscous fluid, driven by active elements, was approximated using a simplified time-marching scheme. A continuum mechanical model and associated partial differential equations of the GC model have remained lacking. Such equations would provide insight into the underlying biophysics, enable mathematical analysis of the behavior, and facilitate rigorous comparison to other models. In this article, the equations of motion for the flagellum and its doublets are derived from mechanical equilibrium principles and simple constitutive models. These equations are analyzed to reveal mechanisms of wave propagation and instability in the GC model. With parameter values in the range expected for Chlamydomonas flagella, solutions to the fully nonlinear equations closely resemble observed waveforms. These results support the ability of the GC hypothesis to explain dynein coordination in flagella and provide a mathematical foundation for comparison to other leading models. PMID:25296329

String method for calculation of minimum free-energy paths in Cartesian space in freely-tumbling systems.

PubMed

Branduardi, Davide; Faraldo-Gómez, José D

2013-09-10

The string method is a molecular-simulation technique that aims to calculate the minimum free-energy path of a chemical reaction or conformational transition, in the space of a pre-defined set of reaction coordinates that is typically highly dimensional. Any descriptor may be used as a reaction coordinate, but arguably the Cartesian coordinates of the atoms involved are the most unprejudiced and intuitive choice. Cartesian coordinates, however, present a non-trivial problem, in that they are not invariant to rigid-body molecular rotations and translations, which ideally ought to be unrestricted in the simulations. To overcome this difficulty, we reformulate the framework of the string method to integrate an on-the-fly structural-alignment algorithm. This approach, referred to as SOMA (String method with Optimal Molecular Alignment), enables the use of Cartesian reaction coordinates in freely tumbling molecular systems. In addition, this scheme permits the dissection of the free-energy change along the most probable path into individual atomic contributions, thus revealing the dominant mechanism of the simulated process. This detailed analysis also provides a physically-meaningful criterion to coarse-grain the representation of the path. To demonstrate the accuracy of the method we analyze the isomerization of the alanine dipeptide in vacuum and the chair-to-inverted-chair transition of β -D mannose in explicit water. Notwithstanding the simplicity of these systems, the SOMA approach reveals novel insights into the atomic mechanism of these isomerizations. In both cases, we find that the dynamics and the energetics of these processes are controlled by interactions involving only a handful of atoms in each molecule. Consistent with this result, we show that a coarse-grained SOMA calculation defined in terms of these subsets of atoms yields nearidentical minimum free-energy paths and committor distributions to those obtained via a highly-dimensional string.

String method for calculation of minimum free-energy paths in Cartesian space in freely-tumbling systems

PubMed Central

Branduardi, Davide; Faraldo-Gómez, José D.

2014-01-01

The string method is a molecular-simulation technique that aims to calculate the minimum free-energy path of a chemical reaction or conformational transition, in the space of a pre-defined set of reaction coordinates that is typically highly dimensional. Any descriptor may be used as a reaction coordinate, but arguably the Cartesian coordinates of the atoms involved are the most unprejudiced and intuitive choice. Cartesian coordinates, however, present a non-trivial problem, in that they are not invariant to rigid-body molecular rotations and translations, which ideally ought to be unrestricted in the simulations. To overcome this difficulty, we reformulate the framework of the string method to integrate an on-the-fly structural-alignment algorithm. This approach, referred to as SOMA (String method with Optimal Molecular Alignment), enables the use of Cartesian reaction coordinates in freely tumbling molecular systems. In addition, this scheme permits the dissection of the free-energy change along the most probable path into individual atomic contributions, thus revealing the dominant mechanism of the simulated process. This detailed analysis also provides a physically-meaningful criterion to coarse-grain the representation of the path. To demonstrate the accuracy of the method we analyze the isomerization of the alanine dipeptide in vacuum and the chair-to-inverted-chair transition of β-D mannose in explicit water. Notwithstanding the simplicity of these systems, the SOMA approach reveals novel insights into the atomic mechanism of these isomerizations. In both cases, we find that the dynamics and the energetics of these processes are controlled by interactions involving only a handful of atoms in each molecule. Consistent with this result, we show that a coarse-grained SOMA calculation defined in terms of these subsets of atoms yields nearidentical minimum free-energy paths and committor distributions to those obtained via a highly-dimensional string. PMID:24729762

Third-order 2N-storage Runge-Kutta schemes with error control

NASA Technical Reports Server (NTRS)

Carpenter, Mark H.; Kennedy, Christopher A.

1994-01-01

A family of four-stage third-order explicit Runge-Kutta schemes is derived that requires only two storage locations and has desirable stability characteristics. Error control is achieved by embedding a second-order scheme within the four-stage procedure. Certain schemes are identified that are as efficient and accurate as conventional embedded schemes of comparable order and require fewer storage locations.

Do existing mechanisms contribute to improvements in care coordination across levels of care in health services networks? Opinions of the health personnel in Colombia and Brazil.

PubMed

Vargas, Ingrid; Mogollón-Pérez, Amparo Susana; De Paepe, Pierre; da Silva, Maria Rejane Ferreira; Unger, Jean Pierre; Vázquez, María Luisa

2015-05-29

The fragmentation of healthcare provision has given rise to a wide range of interventions within organizations to improve coordination across levels of care, primarily in high income countries but also in some middle and low-income countries. The aim is to analyze the use of coordination mechanisms in healthcare networks and its implications for the delivery of health care. This is studied from the perspective of health personnel in two countries with different health systems, Colombia and Brazil. A qualitative, exploratory and descriptive-interpretative study was conducted, based on a case study of healthcare networks in two municipalities in each country. Individual semi-structured interviews were conducted with a three stage theoretical sample of a) health (112) and administrative (66) professionals of different care levels, and b) managers of providers (42) and insurers (14). A thematic content analysis was conducted, segmented by cases, informant groups and themes. The results show that care coordination mechanisms are poorly implemented in general. However, the results are marginally better in certain segments of the Colombian networks analyzed (ambulatory centres with primary and secondary care co-location owned by or tied to the contributory scheme insurers, and public providers of the subsidized scheme); and in the network of the state capital in Brazil. Professionals point to numerous problems in the use of existing mechanisms, such as the insufficient recording of information in referral forms, low frequency and level of participation in shared clinical sessions, low adherence to the few available clinical guidelines and the lack of or inadequate referral of patients by the patient referral centres, particularly in the Brazilian networks. The absence or limited use of care coordination mechanisms leads, according to informants, to the inadequate follow-up of patients, interruptions in care and duplication of tests. Professionals use informal strategies to try to overcome these limitations. The results indicate not only the limited implementation of mechanisms for coordination across care levels, but also a limited use of existing mechanisms in the healthcare networks analyzed. This has a negative impact on coordination, efficiency and quality of care. Organizational changes are required in the networks and healthcare systems to address these problems.

Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-05-01

Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

Towards black-box calculations of tunneling splittings obtained from vibrational structure methods based on normal coordinates.

PubMed

Neff, Michael; Rauhut, Guntram

2014-02-05

Multidimensional potential energy surfaces obtained from explicitly correlated coupled-cluster calculations and further corrections for high-order correlation contributions, scalar relativistic effects and core-correlation energy contributions were generated in a fully automated fashion for the double-minimum benchmark systems OH3(+) and NH3. The black-box generation of the potentials is based on normal coordinates, which were used in the underlying multimode expansions of the potentials and the μ-tensor within the Watson operator. Normal coordinates are not the optimal choice for describing double-minimum potentials and the question remains if they can be used for accurate calculations at all. However, their unique definition is an appealing feature, which removes remaining errors in truncated potential expansions arising from different choices of curvilinear coordinate systems. Fully automated calculations are presented, which demonstrate, that the proposed scheme allows for the determination of energy levels and tunneling splittings as a routine application. Copyright © 2013 Elsevier B.V. All rights reserved.

Multivalent Ion Transport in Polymers via Metal-Ligand Coordination

NASA Astrophysics Data System (ADS)

Sanoja, Gabriel; Schauser, Nicole; Evans, Christopher; Majumdar, Shubhaditya; Segalman, Rachel

Elucidating design rules for multivalent ion conducting polymers is critical for developing novel high-performance materials for electrochemical devices. Herein, we molecularly engineer multivalent ion conducting polymers based on metal-ligand interactions and illustrate that both segmental dynamics and ion coordination kinetics are essential for ion transport through polymers. We present a novel statistical copolymer, poly(ethylene oxide-stat-imidazole glycidyl ether) (i.e., PEO-stat-PIGE), that synergistically combines the structural hierarchy of PEO with the Lewis basicity of tethered imidazole ligands (xIGE = 0.17) required to coordinate a series of transition metal salts containing bis(trifluoromethylsulfonyl)imide anions. Complexes of PEO-stat-PIGE with salts exhibit a nanostructure in which ion-enriched regions alternate with ion-deficient regions, and an ionic conductivity above 10-5 S/cm. Novel normalization schemes that account for ion solvation kinetics are presented to attain a universal scaling relationship for multivalent ion transport in polymers via metal-ligand coordination. AFOSR MURI program under FA9550-12-1.

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2013 CFR

2013-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2014 CFR

2014-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2010 CFR

2010-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2012 CFR

2012-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

Reinforcement learning of periodical gaits in locomotion robots

NASA Astrophysics Data System (ADS)

Svinin, Mikhail; Yamada, Kazuyaki; Ushio, S.; Ueda, Kanji

1999-08-01

Emergence of stable gaits in locomotion robots is studied in this paper. A classifier system, implementing an instance- based reinforcement learning scheme, is used for sensory- motor control of an eight-legged mobile robot. Important feature of the classifier system is its ability to work with the continuous sensor space. The robot does not have a prior knowledge of the environment, its own internal model, and the goal coordinates. It is only assumed that the robot can acquire stable gaits by learning how to reach a light source. During the learning process the control system, is self-organized by reinforcement signals. Reaching the light source defines a global reward. Forward motion gets a local reward, while stepping back and falling down get a local punishment. Feasibility of the proposed self-organized system is tested under simulation and experiment. The control actions are specified at the leg level. It is shown that, as learning progresses, the number of the action rules in the classifier systems is stabilized to a certain level, corresponding to the acquired gait patterns.

Dual-stage periodic event-triggered output-feedback control for linear systems.

PubMed

Ruan, Zhen; Chen, Wu-Hua; Lu, Xiaomei

2018-05-01

This paper proposes an event-triggered control framework, called dual-stage periodic event-triggered control (DSPETC), which unifies periodic event-triggered control (PETC) and switching event-triggered control (SETC). Specifically, two period parameters h 1 and h 2 are introduced to characterize the new event-triggering rule, where h 1 denotes the sampling period, while h 2 denotes the monitoring period. By choosing some specified values of h 2 , the proposed control scheme can reduce to PETC or SETC scheme. In the DSPETC framework, the controlled system is represented as a switched system model and its stability is analyzed via a switching-time-dependent Lyapunov functional. Both the cases with/without network-induced delays are investigated. Simulation and experimental results show that the DSPETC scheme is superior to the PETC scheme and the SETC scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Some implementational issues of convection schemes for finite volume formulations

NASA Technical Reports Server (NTRS)

Thakur, Siddharth; Shyy, Wei

1993-01-01

Two higher-order upwind schemes - second-order upwind and QUICK - are examined in terms of their interpretation, implementation as well as performance for a recirculating flow in a lid-driven cavity, in the context of a control volume formulation using the SIMPLE algorithm. The present formulation of these schemes is based on a unified framework wherein the first-order upwind scheme is chosen as the basis, with the remaining terms being assigned to the source term. The performance of these schemes is contrasted with the first-order upwind and second-order central difference schemes. Also addressed in this study is the issue of boundary treatment associated with these higher-order upwind schemes. Two different boundary treatments - one that uses a two-point scheme consistently within a given control volume at the boundary, and the other that maintains consistency of flux across the interior face between the adjacent control volumes - are formulated and evaluated.

Some implementational issues of convection schemes for finite-volume formulations

NASA Technical Reports Server (NTRS)

Thakur, Siddharth; Shyy, Wei

1993-01-01

Two higher-order upwind schemes - second-order upwind and QUICK - are examined in terms of their interpretation, implementations, as well as performance for a recirculating flow in a lid-driven cavity, in the context of a control-volume formulation using the SIMPLE algorithm. The present formulation of these schemes is based on a unified framework wherein the first-order upwind scheme is chosen as the basis, with the remaining terms being assigned to the source term. The performance of these schemes is contrasted with the first-order upwind and second-order central difference schemes. Also addressed in this study is the issue of boundary treatment associated with these higher-order upwind schemes. Two different boundary treatments - one that uses a two-point scheme consistently within a given control volume at the boundary, and the other that maintains consistency of flux across the interior face between the adjacent control volumes - are formulated and evaluated.

A robust control scheme for flexible arms with friction in the joints

NASA Technical Reports Server (NTRS)

Rattan, Kuldip S.; Feliu, Vicente; Brown, H. Benjamin, Jr.

1988-01-01

A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis.

Implementation of a Cross-Layer Sensing Medium-Access Control Scheme.

PubMed

Su, Yishan; Fu, Xiaomei; Han, Guangyao; Xu, Naishen; Jin, Zhigang

2017-04-10

In this paper, compressed sensing (CS) theory is utilized in a medium-access control (MAC) scheme for wireless sensor networks (WSNs). We propose a new, cross-layer compressed sensing medium-access control (CL CS-MAC) scheme, combining the physical layer and data link layer, where the wireless transmission in physical layer is considered as a compress process of requested packets in a data link layer according to compressed sensing (CS) theory. We first introduced using compressive complex requests to identify the exact active sensor nodes, which makes the scheme more efficient. Moreover, because the reconstruction process is executed in a complex field of a physical layer, where no bit and frame synchronizations are needed, the asynchronous and random requests scheme can be implemented without synchronization payload. We set up a testbed based on software-defined radio (SDR) to implement the proposed CL CS-MAC scheme practically and to demonstrate the validation. For large-scale WSNs, the simulation results show that the proposed CL CS-MAC scheme provides higher throughput and robustness than the carrier sense multiple access (CSMA) and compressed sensing medium-access control (CS-MAC) schemes.

Supersonic nonlinear potential analysis

NASA Technical Reports Server (NTRS)

Siclari, M. J.

1984-01-01

The NCOREL computer code was established to compute supersonic flow fields of wings and bodies. The method encompasses an implicit finite difference transonic relaxation method to solve the full potential equation in a spherical coordinate system. Two basic topic to broaden the applicability and usefulness of the present method which is encompassed within the computer code NCOREL for the treatment of supersonic flow problems were studied. The first topic is that of computing efficiency. Accelerated schemes are in use for transonic flow problems. One such scheme is the approximate factorization (AF) method and an AF scheme to the supersonic flow problem is developed. The second topic is the computation of wake flows. The proper modeling of wake flows is important for multicomponent configurations such as wing-body and multiple lifting surfaces where the wake of one lifting surface has a pronounced effect on a downstream body or other lifting surfaces.

Momentum conserving Brownian dynamics propagator for complex soft matter fluids

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

Padding, J. T.; Briels, W. J.

2014-12-28

We present a Galilean invariant, momentum conserving first order Brownian dynamics scheme for coarse-grained simulations of highly frictional soft matter systems. Friction forces are taken to be with respect to moving background material. The motion of the background material is described by locally averaged velocities in the neighborhood of the dissolved coarse coordinates. The velocity variables are updated by a momentum conserving scheme. The properties of the stochastic updates are derived through the Chapman-Kolmogorov and Fokker-Planck equations for the evolution of the probability distribution of coarse-grained position and velocity variables, by requiring the equilibrium distribution to be a stationary solution.more » We test our new scheme on concentrated star polymer solutions and find that the transverse current and velocity time auto-correlation functions behave as expected from hydrodynamics. In particular, the velocity auto-correlation functions display a long time tail in complete agreement with hydrodynamics.« less

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

NASA Astrophysics Data System (ADS)

Wei, Hai-Rui; Long, Gui Lu

2015-03-01

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

A continually online-trained neural network controller for brushless DC motor drives

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

Rubaai, A.; Kotaru, R.; Kankam, M.D.

2000-04-01

In this paper, a high-performance controller with simultaneous online identification and control is designed for brushless dc motor drives. The dynamics of the motor/load are modeled online, and controlled using two different neural network based identification and control schemes, as the system is in operation. In the first scheme, an attempt is made to control the rotor angular speed, utilizing a single three-hidden-layer network. The second scheme attempts to control the stator currents, using a predetermined control law as a function of the estimated states. This schemes incorporates three multilayered feedforward neural networks that are online trained, using the Levenburg-Marquadtmore » training algorithm. The control of the direct and quadrature components of the stator current successfully tracked a wide variety of trajectories after relatively short online training periods. The control strategy adapts to the uncertainties of the motor/load dynamics and, in addition, learns their inherent nonlinearities. Simulation results illustrated that a neurocontroller used in conjunction with adaptive control schemes can result in a flexible control device which may be utilized in a wide range of environments.« less

System identification of propagating wave segments in excitable media and its application to advanced control

NASA Astrophysics Data System (ADS)

Katsumata, Hisatoshi; Konishi, Keiji; Hara, Naoyuki

2018-04-01

The present paper proposes a scheme for controlling wave segments in excitable media. This scheme consists of two phases: in the first phase, a simple mathematical model for wave segments is derived using only the time series data of input and output signals for the media; in the second phase, the model derived in the first phase is used in an advanced control technique. We demonstrate with numerical simulations of the Oregonator model that this scheme performs better than a conventional control scheme.

Dynamic modeling and optimal joint torque coordination of advanced robotic systems

NASA Astrophysics Data System (ADS)

Kang, Hee-Jun

The development is documented of an efficient dynamic modeling algorithm and the subsequent optimal joint input load coordination of advanced robotic systems for industrial application. A closed-form dynamic modeling algorithm for the general closed-chain robotic linkage systems is presented. The algorithm is based on the transfer of system dependence from a set of open chain Lagrangian coordinates to any desired system generalized coordinate set of the closed-chain. Three different techniques for evaluation of the kinematic closed chain constraints allow the representation of the dynamic modeling parameters in terms of system generalized coordinates and have no restriction with regard to kinematic redundancy. The total computational requirement of the closed-chain system model is largely dependent on the computation required for the dynamic model of an open kinematic chain. In order to improve computational efficiency, modification of an existing open-chain KIC based dynamic formulation is made by the introduction of the generalized augmented body concept. This algorithm allows a 44 pct. computational saving over the current optimized one (O(N4), 5995 when N = 6). As means of resolving redundancies in advanced robotic systems, local joint torque optimization is applied for effectively using actuator power while avoiding joint torque limits. The stability problem in local joint torque optimization schemes is eliminated by using fictitious dissipating forces which act in the necessary null space. The performance index representing the global torque norm is shown to be satisfactory. In addition, the resulting joint motion trajectory becomes conservative, after a transient stage, for repetitive cyclic end-effector trajectories. The effectiveness of the null space damping method is shown. The modular robot, which is built of well defined structural modules from a finite-size inventory and is controlled by one general computer system, is another class of evolving, highly versatile, advanced robotic systems. Therefore, finally, a module based dynamic modeling algorithm is presented for the dynamic coordination of such reconfigurable modular robotic systems. A user interactive module based manipulator analysis program (MBMAP) has been coded in C language running on 4D/70 Silicon Graphics.

Distributed plug-and-play optimal generator and load control for power system frequency regulation

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

Zhao, Changhong; Mallada, Enrique; Low, Steven H.

A distributed control scheme, which can be implemented on generators and controllable loads in a plug-and-play manner, is proposed for power system frequency regulation. The proposed scheme is based on local measurements, local computation, and neighborhood information exchanges over a communication network with an arbitrary (but connected) topology. In the event of a sudden change in generation or load, the proposed scheme can restore the nominal frequency and the reference inter-area power flows, while minimizing the total cost of control for participating generators and loads. Power network stability under the proposed control is proved with a relatively realistic model whichmore » includes nonlinear power flow and a generic (potentially nonlinear or high-order) turbine-governor model, and further with first- and second-order turbine-governor models as special cases. Finally, in simulations, the proposed control scheme shows a comparable performance to the existing automatic generation control (AGC) when implemented only on the generator side, and demonstrates better dynamic characteristics than AGC when each scheme is implemented on both generators and controllable loads. Simulation results also show robustness of the proposed scheme to communication link failure.« less

Distributed plug-and-play optimal generator and load control for power system frequency regulation

DOE PAGES

Zhao, Changhong; Mallada, Enrique; Low, Steven H.; ...

2018-03-14

A distributed control scheme, which can be implemented on generators and controllable loads in a plug-and-play manner, is proposed for power system frequency regulation. The proposed scheme is based on local measurements, local computation, and neighborhood information exchanges over a communication network with an arbitrary (but connected) topology. In the event of a sudden change in generation or load, the proposed scheme can restore the nominal frequency and the reference inter-area power flows, while minimizing the total cost of control for participating generators and loads. Power network stability under the proposed control is proved with a relatively realistic model whichmore » includes nonlinear power flow and a generic (potentially nonlinear or high-order) turbine-governor model, and further with first- and second-order turbine-governor models as special cases. Finally, in simulations, the proposed control scheme shows a comparable performance to the existing automatic generation control (AGC) when implemented only on the generator side, and demonstrates better dynamic characteristics than AGC when each scheme is implemented on both generators and controllable loads. Simulation results also show robustness of the proposed scheme to communication link failure.« less

Data mining for personal navigation

NASA Astrophysics Data System (ADS)

Hariharan, Gurushyam; Franti, Pasi; Mehta, Sandeep

2002-03-01

Relevance is the key in defining what data is to be extracted from the Internet. Traditionally, relevance has been defined mainly by keywords and user profiles. In this paper we discuss a fairly untouched dimension to relevance: location. Any navigational information sought by a user at large on earth is evidently governed by his location. We believe that task oriented data mining of the web amalgamated with location information is the key to providing relevant information for personal navigation. We explore the existential hurdles and propose novel approaches to tackle them. We also present naive, task-oriented data mining based approaches and their implementations in Java, to extract location based information. Ad-hoc pairing of data with coordinates (x, y) is very rare on the web. But if the same co-ordinates are converted to a logical address (state/city/street), a wide spectrum of location-based information base opens up. Hence, given the coordinates (x, y) on the earth, the scheme points to the logical address of the user. Location based information could either be picked up from fixed and known service providers (e.g. Yellow Pages) or from any arbitrary website on the Web. Once the web servers providing information relevant to the logical address are located, task oriented data mining is performed over these sites keeping in mind what information is interesting to the contemporary user. After all this, a simple data stream is provided to the user with information scaled to his convenience. The scheme has been implemented for cities of Finland.

An adaptive Cartesian control scheme for manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Energy management and control of active distribution systems

NASA Astrophysics Data System (ADS)

Shariatzadeh, Farshid

Advancements in the communication, control, computation and information technologies have driven the transition to the next generation active power distribution systems. Novel control techniques and management strategies are required to achieve the efficient, economic and reliable grid. The focus of this work is energy management and control of active distribution systems (ADS) with integrated renewable energy sources (RESs) and demand response (DR). Here, ADS mean automated distribution system with remotely operated controllers and distributed energy resources (DERs). DER as active part of the next generation future distribution system includes: distributed generations (DGs), RESs, energy storage system (ESS), plug-in hybrid electric vehicles (PHEV) and DR. Integration of DR and RESs into ADS is critical to realize the vision of sustainability. The objective of this dissertation is the development of management architecture to control and operate ADS in the presence of DR and RES. One of the most challenging issues for operating ADS is the inherent uncertainty of DR and RES as well as conflicting objective of DER and electric utilities. ADS can consist of different layers such as system layer and building layer and coordination between these layers is essential. In order to address these challenges, multi-layer energy management and control architecture is proposed with robust algorithms in this work. First layer of proposed multi-layer architecture have been implemented at the system layer. Developed AC optimal power flow (AC-OPF) generates fair price for all DR and non-DR loads which is used as a control signal for second layer. Second layer controls DR load at buildings using a developed look-ahead robust controller. Load aggregator collects information from all buildings and send aggregated load to the system optimizer. Due to the different time scale at these two management layers, time coordination scheme is developed. Robust and deterministic controllers are developed to maximize the energy usage from rooftop photovoltaic (PV) generation locally and minimize heat-ventilation and air conditioning (HVAC) consumption while maintaining inside temperature within comfort zone. The performance of the developed multi-layer architecture has been analyzed using test case studies and results show the robustness of developed controller in the presence of uncertainty.

Low-Dispersion Scheme for Nonlinear Acoustic Waves in Nonuniform Flow

NASA Technical Reports Server (NTRS)

Baysal, Oktay; Kaushik, Dinesh K.; Idres, Moumen

1997-01-01

The linear dispersion-relation-preserving scheme and its boundary conditions have been extended to the nonlinear Euler equations. This allowed computing, a nonuniform flowfield and a nonlinear acoustic wave propagation in such a medium, by the same scheme. By casting all the equations, boundary conditions, and the solution scheme in generalized curvilinear coordinates, the solutions were made possible for non-Cartesian domains and, for the better deployment of the grid points, nonuniform grid step sizes could be used. It has been tested for a number of simple initial-value and periodic-source problems. A simple demonstration of the difference between a linear and nonlinear propagation was conducted. The wall boundary condition, derived from the momentum equations and implemented through a pressure at a ghost point, and the radiation boundary condition, derived from the asymptotic solution to the Euler equations, have proven to be effective for the nonlinear equations and nonuniform flows. The nonreflective characteristic boundary conditions also have shown success but limited to the nonlinear waves in no mean flow, and failed for nonlinear waves in nonuniform flow.

A Numerical Scheme for the Solution of the Space Charge Problem on a Multiply Connected Region

NASA Astrophysics Data System (ADS)

Budd, C. J.; Wheeler, A. A.

1991-11-01

In this paper we extend the work of Budd and Wheeler ( Proc. R. Soc. London A, 417, 389, 1988) , who described a new numerical scheme for the solution of the space charge equation on a simple connected domain, to multiply connected regions. The space charge equation, ▿ · ( Δ overlineϕ ▽ overlineϕ) = 0 , is a third-order nonlinear partial differential equation for the electric potential overlineϕ which models the electric field in the vicinity of a coronating conductor. Budd and Wheeler described a new way of analysing this equation by constructing an orthogonal coordinate system ( overlineϕ, overlineψ) and recasting the equation in terms of x, y, and ▽ overlineϕ as functions of ( overlineϕ, overlineψ). This transformation is singular on multiply connected regions and in this paper we show how this may be overcome to provide an efficient numerical scheme for the solution of the space charge equation. This scheme also provides a new method for the solution of Laplaces equation and the calculation of orthogonal meshes on multiply connected regions.

Electric-field assisted spin torque nano-oscillator and binary frequency shift keying modulation

NASA Astrophysics Data System (ADS)

Zhang, Xiangli; Chen, Hao-Hsuan; Zhang, Zongzhi; Liu, Yaowen

2018-04-01

Electric-controlled magnetization precession introduces technologically relevant possibility for developing spin torque nano-oscillators (STNO) with potential applications in microwave emission. Using the perpendicularly magnetized magnetic tunnel junction (MTJ), we show that the magnetization oscillation frequency can be tuned by the co-action of electric field and spin polarized current. The dynamical phase diagram of MTJ-based STNO is analytically predicted through coordinate transformation from the laboratory frame to the rotation frame, by which the nonstationary out-of-plane magnetization precession process is therefore transformed into the stationary process in the rotation frame. Furthermore, using this STNO as a microwave source, we numerically demonstrate that the bit signal can be transmitted by a binary frequency shift keying (BFSK) modulation technique. The BFSK scheme shows good modulation features with no transient state.

An adaptive actuator failure compensation scheme for two linked 2WD mobile robots

NASA Astrophysics Data System (ADS)

Ma, Yajie; Al-Dujaili, Ayad; Cocquempot, Vincent; El Badaoui El Najjar, Maan

2017-01-01

This paper develops a new adaptive compensation control scheme for two linked mobile robots with actuator failurs. A configuration with two linked two-wheel drive (2WD) mobile robots is proposed, and the modelling of its kinematics and dynamics are given. An adaptive failure compensation scheme is developed to compensate actuator failures, consisting of a kinematic controller and a multi-design integration based dynamic controller. The kinematic controller is a virtual one, and based on which, multiple adaptive dynamic control signals are designed which covers all possible failure cases. By combing these dynamic control signals, the dynamic controller is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed adaptive failure compensation scheme.

Farmer Attitudes and Livestock Disease: Exploring Citizenship Behaviour and Peer Monitoring across Two BVD Control Schemes in the UK.

PubMed

Heffernan, Claire; Azbel-Jackson, Lena; Brownlie, Joe; Gunn, George

2016-01-01

The eradication of BVD in the UK is technically possible but appears to be socially untenable. The following study explored farmer attitudes to BVD control schemes in relation to advice networks and information sharing, shared aims and goals, motivation and benefits of membership, notions of BVD as a priority disease and attitudes toward regulation. Two concepts from the organisational management literature framed the study: citizenship behaviour where actions of individuals support the collective good (but are not explicitly recognised as such) and peer to peer monitoring (where individuals evaluate other's behaviour). Farmers from two BVD control schemes in the UK participated in the study: Orkney Livestock Association BVD Eradication Scheme and Norfolk and Suffolk Cattle Breeders Association BVD Eradication Scheme. In total 162 farmers participated in the research (109 in-scheme and 53 out of scheme). The findings revealed that group helping and information sharing among scheme members was low with a positive BVD status subject to social censure. Peer monitoring in the form of gossip with regard to the animal health status of other farms was high. Interestingly, farmers across both schemes supported greater regulation with regard to animal health, largely due to the mistrust of fellow farmers following voluntary disease control measures. While group cohesiveness varied across the two schemes, without continued financial inducements, longer-term sustainability is questionable.

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.

Neural adaptive control for vibration suppression in composite fin-tip of aircraft.

PubMed

Suresh, S; Kannan, N; Sundararajan, N; Saratchandran, P

2008-06-01

In this paper, we present a neural adaptive control scheme for active vibration suppression of a composite aircraft fin tip. The mathematical model of a composite aircraft fin tip is derived using the finite element approach. The finite element model is updated experimentally to reflect the natural frequencies and mode shapes very accurately. Piezo-electric actuators and sensors are placed at optimal locations such that the vibration suppression is a maximum. Model-reference direct adaptive neural network control scheme is proposed to force the vibration level within the minimum acceptable limit. In this scheme, Gaussian neural network with linear filters is used to approximate the inverse dynamics of the system and the parameters of the neural controller are estimated using Lyapunov based update law. In order to reduce the computational burden, which is critical for real-time applications, the number of hidden neurons is also estimated in the proposed scheme. The global asymptotic stability of the overall system is ensured using the principles of Lyapunov approach. Simulation studies are carried-out using sinusoidal force functions of varying frequency. Experimental results show that the proposed neural adaptive control scheme is capable of providing significant vibration suppression in the multiple bending modes of interest. The performance of the proposed scheme is better than the H(infinity) control scheme.

Adaptive control of a Stewart platform-based manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

1993-01-01

A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Finite volume solution of the compressible boundary-layer equations

NASA Technical Reports Server (NTRS)

Loyd, B.; Murman, E. M.

1986-01-01

A box-type finite volume discretization is applied to the integral form of the compressible boundary layer equations. Boundary layer scaling is introduced through the grid construction: streamwise grid lines follow eta = y/h = const., where y is the normal coordinate and h(x) is a scale factor proportional to the boundary layer thickness. With this grid, similarity can be applied explicity to calculate initial conditions. The finite volume method preserves the physical transparency of the integral equations in the discrete approximation. The resulting scheme is accurate, efficient, and conceptually simple. Computations for similar and non-similar flows show excellent agreement with tabulated results, solutions computed with Keller's Box scheme, and experimental data.

The PLUTO code for astrophysical gasdynamics .

NASA Astrophysics Data System (ADS)

Mignone, A.

Present numerical codes appeal to a consolidated theory based on finite difference and Godunov-type schemes. In this context we have developed a versatile numerical code, PLUTO, suitable for the solution of high-mach number flow in 1, 2 and 3 spatial dimensions and different systems of coordinates. Different hydrodynamic modules and algorithms may be independently selected to properly describe Newtonian, relativistic, MHD, or relativistic MHD fluids. The modular structure exploits a general framework for integrating a system of conservation laws, built on modern Godunov-type shock-capturing schemes. The code is freely distributed under the GNU public license and it is available for download to the astrophysical community at the URL http://plutocode.to.astro.it.

Interference Mitigation Schemes for Wireless Body Area Sensor Networks: A Comparative Survey

PubMed Central

Le, Thien T.T.; Moh, Sangman

2015-01-01

A wireless body area sensor network (WBASN) consists of a coordinator and multiple sensors to monitor the biological signals and functions of the human body. This exciting area has motivated new research and standardization processes, especially in the area of WBASN performance and reliability. In scenarios of mobility or overlapped WBASNs, system performance will be significantly degraded because of unstable signal integrity. Hence, it is necessary to consider interference mitigation in the design. This survey presents a comparative review of interference mitigation schemes in WBASNs. Further, we show that current solutions are limited in reaching satisfactory performance, and thus, more advanced solutions should be developed in the future. PMID:26110407

Universal block diagram based modeling and simulation schemes for fractional-order control systems.

PubMed

Bai, Lu; Xue, Dingyü

2017-05-08

Universal block diagram based schemes are proposed for modeling and simulating the fractional-order control systems in this paper. A fractional operator block in Simulink is designed to evaluate the fractional-order derivative and integral. Based on the block, the fractional-order control systems with zero initial conditions can be modeled conveniently. For modeling the system with nonzero initial conditions, the auxiliary signal is constructed in the compensation scheme. Since the compensation scheme is very complicated, therefore the integrator chain scheme is further proposed to simplify the modeling procedures. The accuracy and effectiveness of the schemes are assessed in the examples, the computation results testify the block diagram scheme is efficient for all Caputo fractional-order ordinary differential equations (FODEs) of any complexity, including the implicit Caputo FODEs. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized digital adaptive control of robot motion

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

Optimal control of large space structures via generalized inverse matrix

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Fang, Xiaowen

1987-01-01

Independent Modal Space Control (IMSC) is a control scheme that decouples the space structure into n independent second-order subsystems according to n controlled modes and controls each mode independently. It is well-known that the IMSC eliminates control and observation spillover caused when the conventional coupled modal control scheme is employed. The independent control of each mode requires that the number of actuators be equal to the number of modelled modes, which is very high for a faithful modeling of large space structures. A control scheme is proposed that allows one to use a reduced number of actuators to control all modeled modes suboptimally. In particular, the method of generalized inverse matrices is employed to implement the actuators such that the eigenvalues of the closed-loop system are as closed as possible to those specified by the optimal IMSC. Computer simulation of the proposed control scheme on a simply supported beam is given.

Algorithms for Efficient Computation of Transfer Functions for Large Order Flexible Systems

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Giesy, Daniel P.

1998-01-01

An efficient and robust computational scheme is given for the calculation of the frequency response function of a large order, flexible system implemented with a linear, time invariant control system. Advantage is taken of the highly structured sparsity of the system matrix of the plant based on a model of the structure using normal mode coordinates. The computational time per frequency point of the new computational scheme is a linear function of system size, a significant improvement over traditional, still-matrix techniques whose computational times per frequency point range from quadratic to cubic functions of system size. This permits the practical frequency domain analysis of systems of much larger order than by traditional, full-matrix techniques. Formulations are given for both open- and closed-loop systems. Numerical examples are presented showing the advantages of the present formulation over traditional approaches, both in speed and in accuracy. Using a model with 703 structural modes, the present method was up to two orders of magnitude faster than a traditional method. The present method generally showed good to excellent accuracy throughout the range of test frequencies, while traditional methods gave adequate accuracy for lower frequencies, but generally deteriorated in performance at higher frequencies with worst case errors being many orders of magnitude times the correct values.

Population-production-pollution nexus based air pollution management model for alleviating the atmospheric crisis in Beijing, China.

PubMed

Zeng, X T; Tong, Y F; Cui, L; Kong, X M; Sheng, Y N; Chen, L; Li, Y P

2017-07-15

In recent years, increscent emissions in the city of Beijing due to expanded population, accelerated industrialization and inter-regional pollutant transportation have led to hazardous atmospheric pollution issues. Although a number of anthropogenic control measures have been put into use, frequent/severe haze events have still challenged regional governments. In this study, a hybrid population-production-pollution nexus model (PPP) is proposed for air pollution management and air quality planning (AMP) with the aim to coordinate human activities and environmental protection. A fuzzy-stochastic mixed quadratic programming method (FSQ) is developed and introduced into a PPP for tackling atmospheric pollution issues with uncertainties. Based on the contribution of an index of population-production-pollution, a hybrid PPP-based AMP model that considers employment structure, industrial layout pattern, production mode, pollutant purification efficiency and a pollution mitigation scheme have been applied in Beijing. Results of the adjustment of employment structure, pollution mitigation scheme, and green gross domestic product under various environmental regulation scenarios are obtained and analyzed. This study can facilitate the identification of optimized policies for alleviating population-production-emission conflict in the study region, as well as ameliorating the hazardous air pollution crisis at an urban level. Copyright © 2017 Elsevier Ltd. All rights reserved.

A tensor formulation of the equation of transfer for spherically symmetric flows. [radiative transfer in seven dimensional Riemannian space

NASA Technical Reports Server (NTRS)

Haisch, B. M.

1976-01-01

A tensor formulation of the equation of radiative transfer is derived in a seven-dimensional Riemannian space such that the resulting equation constitutes a divergence in any coordinate system. After being transformed to a spherically symmetric comoving coordinate system, the transfer equation contains partial derivatives in angle and frequency, as well as optical depth due to the effects of aberration and the Doppler shift. However, by virtue of the divergence form of this equation, the divergence theorem may be applied to yield a numerical differencing scheme which is expected to be stable and to conserve luminosity. It is shown that the equation of transfer derived by this method in a Lagrangian coordinate system may be reduced to that given by Castor (1972), although it is, of course, desirable to leave the equation in divergence form.

Gaming across different consoles: exploring the influence of control scheme on game-player enjoyment.

PubMed

Limperos, Anthony M; Schmierbach, Michael G; Kegerise, Andrew D; Dardis, Frank E

2011-06-01

Many studies have investigated how different technological features impact the experience of playing video games, yet few have focused on how control schemes may affect the play experience. This research employed a between-subjects design to explore the relationship between the type of console played (Nintendo Wii, Playstation 2) and feelings of flow and enjoyment during the game-play experience. Results indicated that participants reported greater feelings of control and enjoyment with a traditional control scheme (Playstation 2) than with the more technologically advanced control scheme (Nintendo Wii). Further mediation analysis showed that enjoyment was driven by the sense of control that participants experienced and not simply by whether they won the game. Theoretical and practical implications are discussed.

A fuzzy call admission control scheme in wireless networks

NASA Astrophysics Data System (ADS)

Ma, Yufeng; Gong, Shenguang; Hu, Xiulin; Zhang, Yunyu

2007-11-01

Scarcity of the spectrum resource and mobility of users make quality of service (QoS) provision a critical issue in wireless networks. This paper presents a fuzzy call admission control scheme to meet the requirement of the QoS. A performance measure is formed as a weighted linear function of new call and handoff call blocking probabilities. Simulation compares the proposed fuzzy scheme with an adaptive channel reservation scheme. Simulation results show that fuzzy scheme has a better robust performance in terms of average blocking criterion.

A novel robust speed controller scheme for PMBLDC motor.

PubMed

Thirusakthimurugan, P; Dananjayan, P

2007-10-01

The design of speed and position controllers for permanent magnet brushless DC motor (PMBLDC) drive remains as an open problem in the field of motor drives. A precise speed control of PMBLDC motor is complex due to nonlinear coupling between winding currents and rotor speed. In addition, the nonlinearity present in the developed torque due to magnetic saturation of the rotor further complicates this issue. This paper presents a novel control scheme to the conventional PMBLDC motor drive, which aims at improving the robustness by complete decoupling of the design besides minimizing the mutual influence among the speed and current control loops. The interesting feature of this robust control scheme is its suitability for both static and dynamic aspects. The effectiveness of the proposed robust speed control scheme is verified through simulations.

Dynamics and Control of Flexible Space Vehicles

NASA Technical Reports Server (NTRS)

Likins, P. W.

1970-01-01

The purpose of this report is twofold: (1) to survey the established analytic procedures for the simulation of controlled flexible space vehicles, and (2) to develop in detail methods that employ a combination of discrete and distributed ("modal") coordinates, i.e., the hybrid-coordinate methods. Analytic procedures are described in three categories: (1) discrete-coordinate methods, (2) hybrid-coordinate methods, and (3) vehicle normal-coordinate methods. Each of these approaches is described and analyzed for its advantages and disadvantages, and each is found to have an area of applicability. The hybrid-coordinate method combines the efficiency of the vehicle normal-coordinate method with the versatility of the discrete-coordinate method, and appears to have the widest range of practical application. The results in this report have practical utility in two areas: (1) complex digital computer simulation of flexible space vehicles of arbitrary configuration subject to realistic control laws, and (2) preliminary control system design based on transfer functions for linearized models of dynamics and control laws.

UFO: A THREE-DIMENSIONAL NEUTRON DIFFUSION CODE FOR THE IBM 704

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

Auerbach, E.H.; Jewett, J.P.; Ketchum, M.A.

A description of UFO, a code for the solution of the fewgroup neutron diffusion equation in three-dimensional Cartesian coordinates on the IBM 704, is given. An accelerated Liebmann flux iteration scheme is used, and optimum parameters can be calculated by the code whenever they are required. The theory and operation of the program are discussed. (auth)

Generation of three-dimensional body-fitted coordinates using hyperbolic partial differential equations

NASA Technical Reports Server (NTRS)

Steger, J. L.; Rizk, Y. M.

1985-01-01

An efficient numerical mesh generation scheme capable of creating orthogonal or nearly orthogonal grids about moderately complex three dimensional configurations is described. The mesh is obtained by marching outward from a user specified grid on the body surface. Using spherical grid topology, grids have been generated about full span rectangular wings and a simplified space shuttle orbiter.

Prediction of the moments in advection-diffusion lattice Boltzmann method. II. Attenuation of the boundary layers via double-Λ bounce-back flux scheme.

PubMed

Ginzburg, Irina

2017-01-01

Impact of the unphysical tangential advective-diffusion constraint of the bounce-back (BB) reflection on the impermeable solid surface is examined for the first four moments of concentration. Despite the number of recent improvements for the Neumann condition in the lattice Boltzmann method-advection-diffusion equation, the BB rule remains the only known local mass-conserving no-flux condition suitable for staircase porous geometry. We examine the closure relation of the BB rule in straight channel and cylindrical capillary analytically, and show that it excites the Knudsen-type boundary layers in the nonequilibrium solution for full-weight equilibrium stencil. Although the d2Q5 and d3Q7 coordinate schemes are sufficient for the modeling of isotropic diffusion, the full-weight stencils are appealing for their advanced stability, isotropy, anisotropy and anti-numerical-diffusion ability. The boundary layers are not covered by the Chapman-Enskog expansion around the expected equilibrium, but they accommodate the Chapman-Enskog expansion in the bulk with the closure relation of the bounce-back rule. We show that the induced boundary layers introduce first-order errors in two primary transport properties, namely, mean velocity (first moment) and molecular diffusion coefficient (second moment). As a side effect, the Taylor-dispersion coefficient (second moment), skewness (third moment), and kurtosis (fourth moment) deviate from their physical values and predictions of the fourth-order Chapman-Enskog analysis, even though the kurtosis error in pure diffusion does not depend on grid resolution. In two- and three-dimensional grid-aligned channels and open-tubular conduits, the errors of velocity and diffusion are proportional to the diagonal weight values of the corresponding equilibrium terms. The d2Q5 and d3Q7 schemes do not suffer from this deficiency in grid-aligned geometries but they cannot avoid it if the boundaries are not parallel to the coordinate lines. In order to vanish or attenuate the disparity of the modeled transport coefficients with the equilibrium weights without any modification of the BB rule, we propose to use the two-relaxation-times collision operator with free-tunable product of two eigenfunctions Λ. Two different values Λ_{v} and Λ_{b} are assigned for bulk and boundary nodes, respectively. The rationale behind this is that Λ_{v} is adjustable for stability, accuracy, or other purposes, while the corresponding Λ_{b}(Λ_{v}) controls the primary accommodation effects. Two distinguished but similar functional relations Λ_{b}(Λ_{v}) are constructed analytically: they preserve advection velocity in parabolic profile, exactly in the two-dimensional channel and very accurately in a three-dimensional cylindrical capillary. For any velocity-weight stencil, the (local) double-Λ BB scheme produces quasi-identical solutions with the (nonlocal) specular-forward reflection for first four moments in a channel. In a capillary, this strategy allows for the accurate modeling of the Taylor-dispersion and non-Gaussian effects. As illustrative example, it is shown that in the flow around a circular obstacle, the double-Λ scheme may also vanish the dependency of mean velocity on the velocity weight; the required value for Λ_{b}(Λ_{v}) can be identified in a few bisection iterations in given geometry. A positive solution for Λ_{b}(Λ_{v}) may not exist in pure diffusion, but a sufficiently small value of Λ_{b} significantly reduces the disparity in diffusion coefficient with the mass weight in ducts and in the presence of rectangular obstacles. Although Λ_{b} also controls the effective position of straight or curved boundaries, the double-Λ scheme deals with the lower-order effects. Its idea and construction may help understanding and amelioration of the anomalous, zero- and first-order behavior of the macroscopic solution in the presence of the bulk and boundary or interface discontinuities, commonly found in multiphase flow and heterogeneous transport.

Prediction of the moments in advection-diffusion lattice Boltzmann method. II. Attenuation of the boundary layers via double-Λ bounce-back flux scheme

NASA Astrophysics Data System (ADS)

Ginzburg, Irina

2017-01-01

Impact of the unphysical tangential advective-diffusion constraint of the bounce-back (BB) reflection on the impermeable solid surface is examined for the first four moments of concentration. Despite the number of recent improvements for the Neumann condition in the lattice Boltzmann method-advection-diffusion equation, the BB rule remains the only known local mass-conserving no-flux condition suitable for staircase porous geometry. We examine the closure relation of the BB rule in straight channel and cylindrical capillary analytically, and show that it excites the Knudsen-type boundary layers in the nonequilibrium solution for full-weight equilibrium stencil. Although the d2Q5 and d3Q7 coordinate schemes are sufficient for the modeling of isotropic diffusion, the full-weight stencils are appealing for their advanced stability, isotropy, anisotropy and anti-numerical-diffusion ability. The boundary layers are not covered by the Chapman-Enskog expansion around the expected equilibrium, but they accommodate the Chapman-Enskog expansion in the bulk with the closure relation of the bounce-back rule. We show that the induced boundary layers introduce first-order errors in two primary transport properties, namely, mean velocity (first moment) and molecular diffusion coefficient (second moment). As a side effect, the Taylor-dispersion coefficient (second moment), skewness (third moment), and kurtosis (fourth moment) deviate from their physical values and predictions of the fourth-order Chapman-Enskog analysis, even though the kurtosis error in pure diffusion does not depend on grid resolution. In two- and three-dimensional grid-aligned channels and open-tubular conduits, the errors of velocity and diffusion are proportional to the diagonal weight values of the corresponding equilibrium terms. The d2Q5 and d3Q7 schemes do not suffer from this deficiency in grid-aligned geometries but they cannot avoid it if the boundaries are not parallel to the coordinate lines. In order to vanish or attenuate the disparity of the modeled transport coefficients with the equilibrium weights without any modification of the BB rule, we propose to use the two-relaxation-times collision operator with free-tunable product of two eigenfunctions Λ . Two different values Λv and Λb are assigned for bulk and boundary nodes, respectively. The rationale behind this is that Λv is adjustable for stability, accuracy, or other purposes, while the corresponding Λb(Λv) controls the primary accommodation effects. Two distinguished but similar functional relations Λb(Λv) are constructed analytically: they preserve advection velocity in parabolic profile, exactly in the two-dimensional channel and very accurately in a three-dimensional cylindrical capillary. For any velocity-weight stencil, the (local) double-Λ BB scheme produces quasi-identical solutions with the (nonlocal) specular-forward reflection for first four moments in a channel. In a capillary, this strategy allows for the accurate modeling of the Taylor-dispersion and non-Gaussian effects. As illustrative example, it is shown that in the flow around a circular obstacle, the double-Λ scheme may also vanish the dependency of mean velocity on the velocity weight; the required value for Λb(Λv) can be identified in a few bisection iterations in given geometry. A positive solution for Λb(Λv) may not exist in pure diffusion, but a sufficiently small value of Λb significantly reduces the disparity in diffusion coefficient with the mass weight in ducts and in the presence of rectangular obstacles. Although Λb also controls the effective position of straight or curved boundaries, the double-Λ scheme deals with the lower-order effects. Its idea and construction may help understanding and amelioration of the anomalous, zero- and first-order behavior of the macroscopic solution in the presence of the bulk and boundary or interface discontinuities, commonly found in multiphase flow and heterogeneous transport.

A concatenated coding scheme for error control

NASA Technical Reports Server (NTRS)

Kasami, T.; Fujiwara, T.; Lin, S.

1986-01-01

In this paper, a concatenated coding scheme for error control in data communications is presented and analyzed. In this scheme, the inner code is used for both error correction and detection; however, the outer code is used only for error detection. A retransmission is requested if either the inner code decoder fails to make a successful decoding or the outer code decoder detects the presence of errors after the inner code decoding. Probability of undetected error (or decoding error) of the proposed scheme is derived. An efficient method for computing this probability is presented. Throughput efficiency of the proposed error control scheme incorporated with a selective-repeat ARQ retransmission strategy is also analyzed. Three specific examples are presented. One of the examples is proposed for error control in the NASA Telecommand System.

Impact of MPEG-4 3D mesh coding on watermarking algorithms for polygonal 3D meshes

NASA Astrophysics Data System (ADS)

Funk, Wolfgang

2004-06-01

The MPEG-4 multimedia standard addresses the scene-based composition of audiovisual objects. Natural and synthetic multimedia content can be mixed and transmitted over narrow and broadband communication channels. Synthetic natural hybrid coding (SNHC) within MPEG-4 provides tools for 3D mesh coding (3DMC). We investigate the robustness of two different 3D watermarking algorithms for polygonal meshes with respect to 3DMC. The first algorithm is a blind detection scheme designed for labelling applications that require high bandwidth and low robustness. The second algorithm is a robust non-blind one-bit watermarking scheme intended for copyright protection applications. Both algorithms have been proposed by Benedens. We expect 3DMC to have an impact on the watermarked 3D meshes, as the algorithms used for our simulations work on vertex coordinates to encode the watermark. We use the 3DMC implementation provided with the MPEG-4 reference software and the Princeton Shape Benchmark model database for our simulations. The watermarked models are sent through the 3DMC encoder and decoder, and the watermark decoding process is performed. For each algorithm under consideration we examine the detection properties as a function of the quantization of the vertex coordinates.

Professional diversity and the productivity of cities.

PubMed

Bettencourt, Luís M A; Samaniego, Horacio; Youn, Hyejin

2014-06-23

Attempts to understand the relationship between diversity, productivity and scale have remained limited due to the scheme-dependent nature of the taxonomies describing complex systems. We analyze the diversity of US metropolitan areas in terms of profession diversity and employment to show how this frequency distribution takes a universal scale-invariant form, common to all cities, in the limit of infinite resolution of occupational taxonomies. We show that this limit is obtained under general conditions that follow from the analysis of the variation of the occupational frequency across taxonomies at different resolutions in a way analogous to finite-size scaling in statistical physical systems. We propose a theoretical framework that derives the form and parameters of the limiting distribution of professions based on the appearance, in urban social networks, of new occupations as the result of specialization and coordination of labor. By deriving classification scheme-independent measures of functional diversity and modeling cities as social networks embedded in infrastructural space, these results show how standard economic arguments of division and coordination of labor can be articulated in detail in cities and provide a microscopic basis for explaining increasing returns to population scale observed at the level of entire metropolitan areas.

An efficient mode-splitting method for a curvilinear nearshore circulation model

USGS Publications Warehouse

Shi, Fengyan; Kirby, James T.; Hanes, Daniel M.

2007-01-01

A mode-splitting method is applied to the quasi-3D nearshore circulation equations in generalized curvilinear coordinates. The gravity wave mode and the vorticity wave mode of the equations are derived using the two-step projection method. Using an implicit algorithm for the gravity mode and an explicit algorithm for the vorticity mode, we combine the two modes to derive a mixed difference–differential equation with respect to surface elevation. McKee et al.'s [McKee, S., Wall, D.P., and Wilson, S.K., 1996. An alternating direction implicit scheme for parabolic equations with mixed derivative and convective terms. J. Comput. Phys., 126, 64–76.] ADI scheme is then used to solve the parabolic-type equation in dealing with the mixed derivative and convective terms from the curvilinear coordinate transformation. Good convergence rates are found in two typical cases which represent respectively the motions dominated by the gravity mode and the vorticity mode. Time step limitations imposed by the vorticity convective Courant number in vorticity-mode-dominant cases are discussed. Model efficiency and accuracy are verified in model application to tidal current simulations in San Francisco Bight.

An adaptive control scheme for a flexible manipulator

NASA Technical Reports Server (NTRS)

Yang, T. C.; Yang, J. C. S.; Kudva, P.

1987-01-01

The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

Direct adaptive control of manipulators in Cartesian space

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Fuzzy coordinator in control problems

NASA Technical Reports Server (NTRS)

Rueda, A.; Pedrycz, W.

1992-01-01

In this paper a hierarchical control structure using a fuzzy system for coordination of the control actions is studied. The architecture involves two levels of control: a coordination level and an execution level. Numerical experiments will be utilized to illustrate the behavior of the controller when it is applied to a nonlinear plant.

A new scheme of force reflecting control

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme.

FELIX-1.0: A finite element solver for the time dependent generator coordinate method with the Gaussian overlap approximation

NASA Astrophysics Data System (ADS)

Regnier, D.; Verrière, M.; Dubray, N.; Schunck, N.

2016-03-01

We describe the software package FELIX that solves the equations of the time-dependent generator coordinate method (TDGCM) in N-dimensions (N ≥ 1) under the Gaussian overlap approximation. The numerical resolution is based on the Galerkin finite element discretization of the collective space and the Crank-Nicolson scheme for time integration. The TDGCM solver is implemented entirely in C++. Several additional tools written in C++, Python or bash scripting language are also included for convenience. In this paper, the solver is tested with a series of benchmarks calculations. We also demonstrate the ability of our code to handle a realistic calculation of fission dynamics.

Asymptotically stable phase synchronization revealed by autoregressive circle maps

NASA Astrophysics Data System (ADS)

Drepper, F. R.

2000-11-01

A specially designed of nonlinear time series analysis is introduced based on phases, which are defined as polar angles in spaces spanned by a finite number of delayed coordinates. A canonical choice of the polar axis and a related implicit estimation scheme for the potentially underlying autoregressive circle map (next phase map) guarantee the invertibility of reconstructed phase space trajectories to the original coordinates. The resulting Fourier approximated, invertibility enforcing phase space map allows us to detect conditional asymptotic stability of coupled phases. This comparatively general synchronization criterion unites two existing generalizations of the old concept and can successfully be applied, e.g., to phases obtained from electrocardiogram and airflow recordings characterizing cardiorespiratory interaction.

Schemes for Hybrid Bidirectional Controlled Quantum Communication via Multi-qubit Entangled States

NASA Astrophysics Data System (ADS)

Ma, Peng-Cheng; Chen, Gui-Bin; Li, Xiao-Wei; Zhan, You-Bang

2018-02-01

We present two schemes for hybrid bidirectional controlled quantum communication (HBCQC) via six- and nine-qubit entangled states as the quantum channel, respectively. In these schemes, two distant parties, Alice and Bob are not only senders but also receivers, and Alice wants to teleport an unknown single-qubit state to Bob, at the same time, Bob wishes to help Alice remotely prepares an arbitrary single- and two- qubit state, respectively. It is shown that, only if the two senders and the controller collaborate with each other, the HBCQC can be completed successfully. We demonstrate, in our both schemes, the total success probability of the HBCQC can reach 1, that is, the schemes are deterministic.

Performance characteristics of an adaptive controller based on least-mean-square filters

NASA Technical Reports Server (NTRS)

Mehta, Rajiv S.; Merhav, Shmuel J.

1986-01-01

A closed loop, adaptive control scheme that uses a least mean square filter as the controller model is presented, along with simulation results that demonstrate the excellent robustness of this scheme. It is shown that the scheme adapts very well to unknown plants, even those that are marginally stable, responds appropriately to changes in plant parameters, and is not unduly affected by additive noise. A heuristic argument for the conditions necessary for convergence is presented. Potential applications and extensions of the scheme are also discussed.

Truncation effect on Taylor-Aris dispersion in lattice Boltzmann schemes: Accuracy towards stability

NASA Astrophysics Data System (ADS)

Ginzburg, Irina; Roux, Laetitia

2015-10-01

The Taylor dispersion in parabolic velocity field provides a well-known benchmark for advection-diffusion (ADE) schemes and serves as a first step towards accurate modeling of the high-order non-Gaussian effects in heterogeneous flow. While applying the Lattice Boltzmann ADE two-relaxation-times (TRT) scheme for a transport with given Péclet number (Pe) one should select six free-tunable parameters, namely, (i) molecular-diffusion-scale, equilibrium parameter; (ii) three families of equilibrium weights, assigned to the terms of mass, velocity and numerical-diffusion-correction, and (iii) two relaxation rates. We analytically and numerically investigate the respective roles of all these degrees of freedom in the accuracy and stability in the evolution of a Gaussian plume. For this purpose, the third- and fourth-order transient multi-dimensional analysis of the recurrence equations of the TRT ADE scheme is extended for a spatially-variable velocity field. The key point is in the coupling of the truncation and Taylor dispersion analysis which allows us to identify the second-order numerical correction δkT to Taylor dispersivity coefficient kT. The procedure is exemplified for a straight Poiseuille flow where δkT is given in a closed analytical form in equilibrium and relaxation parameter spaces. The predicted longitudinal dispersivity is in excellent agreement with the numerical experiments over a wide parameter range. In relatively small Pe-range, the relative dispersion error increases with Péclet number. This deficiency reduces in the intermediate and high Pe-range where it becomes Pe-independent and velocity-amplitude independent. Eliminating δkT by a proper parameter choice and employing specular reflection for zero flux condition on solid boundaries, the d2Q9 TRT ADE scheme may reproduce the Taylor-Aris result quasi-exactly, from very coarse to fine grids, and from very small to arbitrarily high Péclet numbers. Since free-tunable product of two eigenfunctions also controls stability of the model, the validity of the analytically established von Neumann stability diagram is examined in Poiseuille profile. The simplest coordinate-stencil subclass, which is the d2Q5 TRT bounce-back scheme, demonstrates the best performance and achieves the maximum accuracy for most stable relaxation parameters.

An Orbit And Dispersion Correction Scheme for the PEP II

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

Cai, Y.; Donald, M.; Shoaee, H.

2011-09-01

To achieve optimum luminosity in a storage ring it is vital to control the residual vertical dispersion. In the original PEP storage ring, a scheme to control the residual dispersion function was implemented using the ring orbit as the controlling element. The 'best' orbit not necessarily giving the lowest vertical dispersion. A similar scheme has been implemented in both the on-line control code and in the simulation code LEGO. The method involves finding the response matrices (sensitivity of orbit/dispersion at each Beam-Position-Monitor (BPM) to each orbit corrector) and solving in a least squares sense for minimum orbit, dispersion function ormore » both. The optimum solution is usually a subset of the full least squares solution. A scheme of simultaneously correcting the orbits and dispersion has been implemented in the simulation code and on-line control system for PEP-II. The scheme is based on the eigenvector decomposition method. An important ingredient of the scheme is to choose the optimum eigenvectors that minimize the orbit, dispersion and corrector strength. Simulations indicate this to be a very effective way to control the vertical residual dispersion.« less

Validation of a selective ensemble-based classification scheme for myoelectric control using a three-dimensional Fitts' Law test.

PubMed

Scheme, Erik J; Englehart, Kevin B

2013-07-01

When controlling a powered upper limb prosthesis it is important not only to know how to move the device, but also when not to move. A novel approach to pattern recognition control, using a selective multiclass one-versus-one classification scheme has been shown to be capable of rejecting unintended motions. This method was shown to outperform other popular classification schemes when presented with muscle contractions that did not correspond to desired actions. In this work, a 3-D Fitts' Law test is proposed as a suitable alternative to using virtual limb environments for evaluating real-time myoelectric control performance. The test is used to compare the selective approach to a state-of-the-art linear discriminant analysis classification based scheme. The framework is shown to obey Fitts' Law for both control schemes, producing linear regression fittings with high coefficients of determination (R(2) > 0.936). Additional performance metrics focused on quality of control are discussed and incorporated in the evaluation. Using this framework the selective classification based scheme is shown to produce significantly higher efficiency and completion rates, and significantly lower overshoot and stopping distances, with no significant difference in throughput.

Experimental Test of Spatial Updating Models for Monkey Eye-Head Gaze Shifts

PubMed Central

Van Grootel, Tom J.; Van der Willigen, Robert F.; Van Opstal, A. John

2012-01-01

How the brain maintains an accurate and stable representation of visual target locations despite the occurrence of saccadic gaze shifts is a classical problem in oculomotor research. Here we test and dissociate the predictions of different conceptual models for head-unrestrained gaze-localization behavior of macaque monkeys. We adopted the double-step paradigm with rapid eye-head gaze shifts to measure localization accuracy in response to flashed visual stimuli in darkness. We presented the second target flash either before (static), or during (dynamic) the first gaze displacement. In the dynamic case the brief visual flash induced a small retinal streak of up to about 20 deg at an unpredictable moment and retinal location during the eye-head gaze shift, which provides serious challenges for the gaze-control system. However, for both stimulus conditions, monkeys localized the flashed targets with accurate gaze shifts, which rules out several models of visuomotor control. First, these findings exclude the possibility that gaze-shift programming relies on retinal inputs only. Instead, they support the notion that accurate eye-head motor feedback updates the gaze-saccade coordinates. Second, in dynamic trials the visuomotor system cannot rely on the coordinates of the planned first eye-head saccade either, which rules out remapping on the basis of a predictive corollary gaze-displacement signal. Finally, because gaze-related head movements were also goal-directed, requiring continuous access to eye-in-head position, we propose that our results best support a dynamic feedback scheme for spatial updating in which visuomotor control incorporates accurate signals about instantaneous eye- and head positions rather than relative eye- and head displacements. PMID:23118883

Ensuring Data Storage Security in Tree cast Routing Architecture for Sensor Networks

NASA Astrophysics Data System (ADS)

Kumar, K. E. Naresh; Sagar, U. Vidya; Waheed, Mohd. Abdul

2010-10-01

In this paper presents recent advances in technology have made low-cost, low-power wireless sensors with efficient energy consumption. A network of such nodes can coordinate among themselves for distributed sensing and processing of certain data. For which, we propose an architecture to provide a stateless solution in sensor networks for efficient routing in wireless sensor networks. This type of architecture is known as Tree Cast. We propose a unique method of address allocation, building up multiple disjoint trees which are geographically inter-twined and rooted at the data sink. Using these trees, routing messages to and from the sink node without maintaining any routing state in the sensor nodes is possible. In contrast to traditional solutions, where the IT services are under proper physical, logical and personnel controls, this routing architecture moves the application software and databases to the large data centers, where the management of the data and services may not be fully trustworthy. This unique attribute, however, poses many new security challenges which have not been well understood. In this paper, we focus on data storage security, which has always been an important aspect of quality of service. To ensure the correctness of users' data in this architecture, we propose an effective and flexible distributed scheme with two salient features, opposing to its predecessors. By utilizing the homomorphic token with distributed verification of erasure-coded data, our scheme achieves the integration of storage correctness insurance and data error localization, i.e., the identification of misbehaving server(s). Unlike most prior works, the new scheme further supports secure and efficient dynamic operations on data blocks, including: data update, delete and append. Extensive security and performance analysis shows that the proposed scheme is highly efficient and resilient against Byzantine failure, malicious data modification attack, and even server colluding attacks.

Workshop: Western hemisphere network of bird banding programs

USGS Publications Warehouse

Celis-Murillo, A.

2007-01-01

Purpose: To promote collaboration among banding programs in the Americas. Introduction: Bird banding and marking provide indispensable tools for ornithological research, management, and conservation of migratory birds on migratory routes, breeding and non-breeding grounds. Many countries and organizations in Latin America and the Caribbean are in the process of developing or have expressed interest in developing national banding schemes and databases to support their research and management programs. Coordination of developing and existing banding programs is essential for effective data management, reporting, archiving and security, and most importantly, for gaining a fuller understanding of migratory bird conservation issues and how the banding data can help. Currently, there is a well established bird-banding program in the U.S.A. and Canada, and programs in other countries are being developed as well. Ornithologists in many Latin American countries and the Caribbean are interested in using banding and marking in their research programs. Many in the ornithological community are interested in establishing banding schemes and some countries have recently initiated independent banding programs. With the number of long term collaborative and international initiatives increasing, the time is ripe to discuss and explore opportunities for international collaboration, coordination, and administration of bird banding programs in the Western Hemisphere. We propose the second ?Western Hemisphere Network of Bird Banding Programs? workshop, in association with the SCSCB, to be an essential step in the progress to strengthen international partnerships and support migratory bird conservation in the Americas and beyond. This will be the second multi-national meeting to promote collaboration among banding programs in the Americas (the first meeting was held in October 8-9, 2006 in La Mancha, Veracruz, Mexico). The Second ?Western Hemisphere Network of Bird Banding Programs? workshop will continue addressing issues surrounding the coordination of an Americas? approach to bird banding and will review in detail the advances made on the first workshop such as, coordination of bands and markers, coordination in recovery reporting, permit issues, data management and data sharing and archiving, data security, training, etc. Workshop Goals: Build on accomplishments of the network?s first workshop (Oct 8-9, 2006). Identify and explore new opportunities for data sharing, data archiving, data access, training, etc. Initiate strategies to support international collaboration and coordination amongst bird banding programs in the Western Hemisphere. Workshop structure: One day workshop of guided discussions. Participants: Representatives of government agencies, program managers and NGOs.

An Explicit Upwind Algorithm for Solving the Parabolized Navier-Stokes Equations

NASA Technical Reports Server (NTRS)

Korte, John J.

1991-01-01

An explicit, upwind algorithm was developed for the direct (noniterative) integration of the 3-D Parabolized Navier-Stokes (PNS) equations in a generalized coordinate system. The new algorithm uses upwind approximations of the numerical fluxes for the pressure and convection terms obtained by combining flux difference splittings (FDS) formed from the solution of an approximate Riemann (RP). The approximate RP is solved using an extension of the method developed by Roe for steady supersonic flow of an ideal gas. Roe's method is extended for use with the 3-D PNS equations expressed in generalized coordinates and to include Vigneron's technique of splitting the streamwise pressure gradient. The difficulty associated with applying Roe's scheme in the subsonic region is overcome. The second-order upwind differencing of the flux derivatives are obtained by adding FDS to either an original forward or backward differencing of the flux derivative. This approach is used to modify an explicit MacCormack differencing scheme into an upwind differencing scheme. The second order upwind flux approximations, applied with flux limiters, provide a method for numerically capturing shocks without the need for additional artificial damping terms which require adjustment by the user. In addition, a cubic equation is derived for determining Vegneron's pressure splitting coefficient using the updated streamwise flux vector. Decoding the streamwise flux vector with the updated value of Vigneron's pressure splitting improves the stability of the scheme. The new algorithm is applied to 2-D and 3-D supersonic and hypersonic laminar flow test cases. Results are presented for the experimental studies of Holden and of Tracy. In addition, a flow field solution is presented for a generic hypersonic aircraft at a Mach number of 24.5 and angle of attack of 1 degree. The computed results compare well to both experimental data and numerical results from other algorithms. Computational times required for the upwind PNS code are approximately equal to an explicit PNS MacCormack's code and existing implicit PNS solvers.

Study on the mechanism of color coordinate shift of LED package

NASA Astrophysics Data System (ADS)

Zhuang, Yunyi; Wang, Yong; Yang, Bobo; Li, Zhanguo; Yang, Lei; Zou, Jun

2017-07-01

In the paper, the influences of the chip, silicone and phosphors on the color coordinate shift of LED were studied. In the process of LED baking, it was found that the effect of the chip and silicone on the color coordinate drift is less than 3% through the analysis of each influencing factor. But the influence of the phosphors is large and accounted for 11.11% of the overall impact factors. Therefore, it is important to select the better green phosphors in thermal stability for the LED package and it has a guiding significance to the color coordinate of LED distribution. Project supported by the National Natural Science Foundation of China (No. 11474036), the Natural Science Foundation of Shanghai (No. 12ZR1430900), the Shanghai Institute of Technology Talents Scheme (No. YJ2014-04), the Shanghai Municipal Alliance Program (Nos. Lm201514, Lm201505, Lm201455), the Science and Technology Commission of Shanghai Municipality (CN) (No. 14500503300), the Shanghai Cooperative Project (No. ShanghaiCXY-2013-61), and the Jiashan County Technology Program (No. 20141316).

Task-specific stability in muscle activation space during unintentional movements.

PubMed

Falaki, Ali; Towhidkhah, Farzad; Zhou, Tao; Latash, Mark L

2014-11-01

We used robot-generated perturbations applied during position-holding tasks to explore stability of induced unintentional movements in a multidimensional space of muscle activations. Healthy subjects held the handle of a robot against a constant bias force and were instructed not to interfere with hand movements produced by changes in the external force. Transient force changes were applied leading to handle displacement away from the initial position and then back toward the initial position. Intertrial variance in the space of muscle modes (eigenvectors in the muscle activations space) was quantified within two subspaces, corresponding to unchanged handle coordinate and to changes in the handle coordinate. Most variance was confined to the former subspace in each of the three phases of movement, the initial steady state, the intermediate position, and the final steady state. The same result was found when the changes in muscle activation were analyzed between the initial and final steady states. Changes in the dwell time between the perturbation force application and removal led to different final hand locations undershooting the initial position. The magnitude of the undershot scaled with the dwell time, while the structure of variance in the muscle activation space did not depend on the dwell time. We conclude that stability of the hand coordinate is ensured during both intentional and unintentional actions via similar mechanisms. Relative equifinality in the external space after transient perturbations may be associated with varying states in the redundant space of muscle activations. The results fit a hierarchical scheme for the control of voluntary movements with referent configurations and redundant mapping between the levels of the hierarchy.

Direct Numerical Simulation of Turbulent Flow Over Complex Bathymetry

NASA Astrophysics Data System (ADS)

Yue, L.; Hsu, T. J.

2017-12-01

Direct numerical simulation (DNS) is regarded as a powerful tool in the investigation of turbulent flow featured with a wide range of time and spatial scales. With the application of coordinate transformation in a pseudo-spectral scheme, a parallelized numerical modeling system was created aiming at simulating flow over complex bathymetry with high numerical accuracy and efficiency. The transformed governing equations were integrated in time using a third-order low-storage Runge-Kutta method. For spatial discretization, the discrete Fourier expansion was adopted in the streamwise and spanwise direction, enforcing the periodic boundary condition in both directions. The Chebyshev expansion on Chebyshev-Gauss-Lobatto points was used in the wall-normal direction, assuming there is no-slip on top and bottom walls. The diffusion terms were discretized with a Crank-Nicolson scheme, while the advection terms dealiased with the 2/3 rule were discretized with an Adams-Bashforth scheme. In the prediction step, the velocity was calculated in physical domain by solving the resulting linear equation directly. However, the extra terms introduced by coordinate transformation impose a strict limitation to time step and an iteration method was applied to overcome this restriction in the correction step for pressure by solving the Helmholtz equation. The numerical solver is written in object-oriented C++ programing language utilizing Armadillo linear algebra library for matrix computation. Several benchmarking cases in laminar and turbulent flow were carried out to verify/validate the numerical model and very good agreements are achieved. Ongoing work focuses on implementing sediment transport capability for multiple sediment classes and parameterizations for flocculation processes.

A cascaded coding scheme for error control and its performance analysis

NASA Technical Reports Server (NTRS)

Lin, S.

1986-01-01

A coding scheme for error control in data communication systems is investigated. The scheme is obtained by cascading two error correcting codes, called the inner and the outer codes. The error performance of the scheme is analyzed for a binary symmetric channel with bit error rate epsilon < 1/2. It is shown that, if the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit error rate. Various specific example schemes with inner codes ranging from high rates to very low rates and Reed-Solomon codes are considered, and their probabilities are evaluated. They all provide extremely high reliability even for very high bit error rates, say 0.1 to 0.01. Several example schemes are being considered by NASA for satellite and spacecraft down link error control.

A user-driven treadmill control scheme for simulating overground locomotion.

PubMed

Kim, Jonghyun; Stanley, Christopher J; Curatalo, Lindsey A; Park, Hyung-Soon

2012-01-01

Treadmill-based locomotor training should simulate overground walking as closely as possible for optimal skill transfer. The constant speed of a standard treadmill encourages automaticity rather than engagement and fails to simulate the variable speeds encountered during real-world walking. To address this limitation, this paper proposes a user-driven treadmill velocity control scheme that allows the user to experience natural fluctuations in walking velocity with minimal unwanted inertial force due to acceleration/deceleration of the treadmill belt. A smart estimation limiter in the scheme effectively attenuates the inertial force during velocity changes. The proposed scheme requires measurement of pelvic and swing foot motions, and is developed for a treadmill of typical belt length (1.5 m). The proposed scheme is quantitatively evaluated here with four healthy subjects by comparing it with the most advanced control scheme identified in the literature.

A cascaded coding scheme for error control and its performance analysis

NASA Technical Reports Server (NTRS)

Lin, Shu; Kasami, Tadao; Fujiwara, Tohru; Takata, Toyoo

1986-01-01

A coding scheme is investigated for error control in data communication systems. The scheme is obtained by cascading two error correcting codes, called the inner and outer codes. The error performance of the scheme is analyzed for a binary symmetric channel with bit error rate epsilon <1/2. It is shown that if the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit error rate. Various specific example schemes with inner codes ranging form high rates to very low rates and Reed-Solomon codes as inner codes are considered, and their error probabilities are evaluated. They all provide extremely high reliability even for very high bit error rates. Several example schemes are being considered by NASA for satellite and spacecraft down link error control.

Control of birhythmicity: A self-feedback approach

NASA Astrophysics Data System (ADS)

Biswas, Debabrata; Banerjee, Tanmoy; Kurths, Jürgen

2017-06-01

Birhythmicity occurs in many natural and artificial systems. In this paper, we propose a self-feedback scheme to control birhythmicity. To establish the efficacy and generality of the proposed control scheme, we apply it on three birhythmic oscillators from diverse fields of natural science, namely, an energy harvesting system, the p53-Mdm2 network for protein genesis (the OAK model), and a glycolysis model (modified Decroly-Goldbeter model). Using the harmonic decomposition technique and energy balance method, we derive the analytical conditions for the control of birhythmicity. A detailed numerical bifurcation analysis in the parameter space establishes that the control scheme is capable of eliminating birhythmicity and it can also induce transitions between different forms of bistability. As the proposed control scheme is quite general, it can be applied for control of several real systems, particularly in biochemical and engineering systems.

A controlled ac Stark echo for quantum memories.

PubMed

Ham, Byoung S

2017-08-09

A quantum memory protocol of controlled ac Stark echoes (CASE) based on a double rephasing photon echo scheme via controlled Rabi flopping is proposed. The double rephasing scheme of photon echoes inherently satisfies the no-population inversion requirement for quantum memories, but the resultant absorptive echo remains a fundamental problem. Herein, it is reported that the first echo in the double rephasing scheme can be dynamically controlled so that it does not affect the second echo, which is accomplished by using unbalanced ac Stark shifts. Then, the second echo is coherently controlled to be emissive via controlled coherence conversion. Finally a near perfect ultralong CASE is presented using a backward echo scheme. Compared with other methods such as dc Stark echoes, the present protocol is all-optical with advantages of wavelength-selective dynamic control of quantum processing for erasing, buffering, and channel multiplexing.

Large-eddy simulation/Reynolds-averaged Navier-Stokes hybrid schemes for high speed flows

NASA Astrophysics Data System (ADS)

Xiao, Xudong

Three LES/RANS hybrid schemes have been proposed for the prediction of high speed separated flows. Each method couples the k-zeta (Enstrophy) BANS model with an LES subgrid scale one-equation model by using a blending function that is coordinate system independent. Two of these functions are based on turbulence dissipation length scale and grid size, while the third one has no explicit dependence on the grid. To implement the LES/RANS hybrid schemes, a new rescaling-reintroducing method is used to generate time-dependent turbulent inflow conditions. The hybrid schemes have been tested on a Mach 2.88 flow over 25 degree compression-expansion ramp and a Mach 2.79 flow over 20 degree compression ramp. A special computation procedure has been designed to prevent the separation zone from expanding upstream to the recycle-plane. The code is parallelized using Message Passing Interface (MPI) and is optimized for running on IBM-SP3 parallel machine. The scheme was validated first for a flat plate. It was shown that the blending function has to be monotonic to prevent the RANS region from appearing in the LES region. In the 25 deg ramp case, the hybrid schemes provided better agreement with experiment in the recovery region. Grid refinement studies demonstrated the importance of using a grid independent blend function and further improvement with experiment in the recovery region. In the 20 deg ramp case, with a relatively finer grid, the hybrid scheme characterized by grid independent blending function well predicted the flow field in both the separation region and the recovery region. Therefore, with "appropriately" fine grid, current hybrid schemes are promising for the simulation of shock wave/boundary layer interaction problems.

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Higher order explicit symmetric integrators for inseparable forms of coordinates and momenta

NASA Astrophysics Data System (ADS)

Liu, Lei; Wu, Xin; Huang, Guoqing; Liu, Fuyao

2016-06-01

Pihajoki proposed the extended phase-space second-order explicit symmetric leapfrog methods for inseparable Hamiltonian systems. On the basis of this work, we survey a critical problem on how to mix the variables in the extended phase space. Numerical tests show that sequent permutations of coordinates and momenta can make the leapfrog-like methods yield the most accurate results and the optimal long-term stabilized error behaviour. We also present a novel method to construct many fourth-order extended phase-space explicit symmetric integration schemes. Each scheme represents the symmetric production of six usual second-order leapfrogs without any permutations. This construction consists of four segments: the permuted coordinates, triple product of the usual second-order leapfrog without permutations, the permuted momenta and the triple product of the usual second-order leapfrog without permutations. Similarly, extended phase-space sixth, eighth and other higher order explicit symmetric algorithms are available. We used several inseparable Hamiltonian examples, such as the post-Newtonian approach of non-spinning compact binaries, to show that one of the proposed fourth-order methods is more efficient than the existing methods; examples include the fourth-order explicit symplectic integrators of Chin and the fourth-order explicit and implicit mixed symplectic integrators of Zhong et al. Given a moderate choice for the related mixing and projection maps, the extended phase-space explicit symplectic-like methods are well suited for various inseparable Hamiltonian problems. Samples of these problems involve the algorithmic regularization of gravitational systems with velocity-dependent perturbations in the Solar system and post-Newtonian Hamiltonian formulations of spinning compact objects.

Development of the Coordination between Posture and Manual Control

ERIC Educational Resources Information Center

Haddad, Jeffrey M.; Claxton, Laura J.; Keen, Rachel; Berthier, Neil E.; Riccio, Gary E.; Hamill, Joseph; Van Emmerik, Richard E. A.

2012-01-01

Studies have suggested that proper postural control is essential for the development of reaching. However, little research has examined the development of the coordination between posture and manual control throughout childhood. We investigated the coordination between posture and manual control in children (7- and 10-year-olds) and adults during…

System-wide hybrid MPC-PID control of a continuous pharmaceutical tablet manufacturing process via direct compaction.

PubMed

Singh, Ravendra; Ierapetritou, Marianthi; Ramachandran, Rohit

2013-11-01

The next generation of QbD based pharmaceutical products will be manufactured through continuous processing. This will allow the integration of online/inline monitoring tools, coupled with an efficient advanced model-based feedback control systems, to achieve precise control of process variables, so that the predefined product quality can be achieved consistently. The direct compaction process considered in this study is highly interactive and involves time delays for a number of process variables due to sensor placements, process equipment dimensions, and the flow characteristics of the solid material. A simple feedback regulatory control system (e.g., PI(D)) by itself may not be sufficient to achieve the tight process control that is mandated by regulatory authorities. The process presented herein comprises of coupled dynamics involving slow and fast responses, indicating the requirement of a hybrid control scheme such as a combined MPC-PID control scheme. In this manuscript, an efficient system-wide hybrid control strategy for an integrated continuous pharmaceutical tablet manufacturing process via direct compaction has been designed. The designed control system is a hybrid scheme of MPC-PID control. An effective controller parameter tuning strategy involving an ITAE method coupled with an optimization strategy has been used for tuning of both MPC and PID parameters. The designed hybrid control system has been implemented in a first-principles model-based flowsheet that was simulated in gPROMS (Process System Enterprise). Results demonstrate enhanced performance of critical quality attributes (CQAs) under the hybrid control scheme compared to only PID or MPC control schemes, illustrating the potential of a hybrid control scheme in improving pharmaceutical manufacturing operations. Copyright © 2013 Elsevier B.V. All rights reserved.

Comparative study of state-of-the-art myoelectric controllers for multigrasp prosthetic hands.

PubMed

Segil, Jacob L; Controzzi, Marco; Weir, Richard F ff; Cipriani, Christian

2014-01-01

A myoelectric controller should provide an intuitive and effective human-machine interface that deciphers user intent in real-time and is robust enough to operate in daily life. Many myoelectric control architectures have been developed, including pattern recognition systems, finite state machines, and more recently, postural control schemes. Here, we present a comparative study of two types of finite state machines and a postural control scheme using both virtual and physical assessment procedures with seven nondisabled subjects. The Southampton Hand Assessment Procedure (SHAP) was used in order to compare the effectiveness of the controllers during activities of daily living using a multigrasp artificial hand. Also, a virtual hand posture matching task was used to compare the controllers when reproducing six target postures. The performance when using the postural control scheme was significantly better (p < 0.05) than the finite state machines during the physical assessment when comparing within-subject averages using the SHAP percent difference metric. The virtual assessment results described significantly greater completion rates (97% and 99%) for the finite state machines, but the movement time tended to be faster (2.7 s) for the postural control scheme. Our results substantiate that postural control schemes rival other state-of-the-art myoelectric controllers.

78 FR 12135 - List of Participating Countries and Entities (Hereinafter Known as “Participants”) Under the...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-02-21

... has not been controlled through the Kimberley Process Certification Scheme (KPCS). Under Section 3(2) of the Act, ``controlled through the Kimberley Process Certification Scheme'' means an importation... Kimberley Process Certification Scheme. Angola--Ministry of Geology and Mines. Armenia--Ministry of Trade...

Guidance trajectories for aeroassisted orbital transfer

NASA Technical Reports Server (NTRS)

Miele, A.

1990-01-01

Research on aerobraking guidance schemes is presented. The intent is to produce aerobraking guidance trajectories exhibiting many of the desirable characteristics of optimal aerobraking trajectories. Both one-control schemes and two-control schemes are studied. The research is in the interest of aeroassisted flight experiment vehicles (AFE) and aeroassisted orbital transfer (AOT) vehicles.

Assimilation of temperature and salinity profile data in the Norwegian Climate Prediction Model

NASA Astrophysics Data System (ADS)

Wang, Yiguo; Counillon, Francois; Bertino, Laurent; Bethke, Ingo; Keenlyside, Noel

2016-04-01

Assimilating temperature and salinity profile data is promising to constrain the ocean component of Earth system models for the purpose of seasonal-to-dedacal climate predictions. However, assimilating temperature and salinity profiles that are measured in standard depth coordinate (z-coordinate) into isopycnic coordinate ocean models that are discretised by water densities is challenging. Prior studies (Thacker and Esenkov, 2002; Xie and Zhu, 2010) suggested that converting observations to the model coordinate (i.e. innovations in isopycnic coordinate) performs better than interpolating model state to observation coordinate (i.e. innovations in z-coordinate). This problem is revisited here with the Norwegian Climate Prediction Model, which applies the ensemble Kalman filter (EnKF) into the ocean isopycnic model (MICOM) of the Norwegian Earth System Model. We perform Observing System Simulation Experiments (OSSEs) to compare two schemes (the EnKF-z and EnKF-ρ). In OSSEs, the truth is set to the EN4 objective analyses and observations are perturbations of the truth with white noises. Unlike in previous studies, it is found that EnKF-z outperforms EnKF-ρ for different observed vertical resolution, inhomogeneous sampling (e.g. upper 1000 meter observations only), or lack of salinity measurements. That is mostly because the operator converting observations into isopycnic coordinate is strongly non-linear. We also study the horizontal localisation radius at certain arbitrary grid points. Finally, we perform the EnKF-z with the chosen localisation radius in a realistic framework with NorCPM over a 5-year analysis period. The analysis is validated by different independent datasets.

A Comparison of Sequential Assimilation Schemes for Ocean Prediction with the HYbrid Coordinate Ocean Model (HYCOM): Twin Experiments with Static Forecast Error Covariances

DTIC Science & Technology

2011-01-01

A.J.. Lozano. C. Tolman, H.L. Srinivasan. A.. Hankin. S„ Cornillon. P.. Weisberg, R.. Barth. A.. He. R.. Werner. C. Wilkin .. J.. 2009. U.S. GODAE...Halliwell. G.R., Wallcrart. A.J.. Metzger, E.J.. Blanton, B.O., a. CL. Rao, D.B., Hogan , P.J.. Srinivasan. A., 2006. Generalized vertical

Mountain birdwatch: developing a coordinated monitoring program for high-elevation birds in the Atlantic northern forest

Treesearch

John D. Lloyd; Julie Hart; J. Dan Lambert

2010-01-01

Birds occupying high-elevation forests in the northeast are perceived to be at risk from a variety of external forces, most notably the potential loss and alteration of habitat associated with global climate change and the increased deployment of wind-energy facilities. However, the Breeding Bird Survey (BBS), a standardized national monitoring scheme widely used to...

Which coordinate system for modelling path integration?

PubMed

Vickerstaff, Robert J; Cheung, Allen

2010-03-21

Path integration is a navigation strategy widely observed in nature where an animal maintains a running estimate, called the home vector, of its location during an excursion. Evidence suggests it is both ancient and ubiquitous in nature, and has been studied for over a century. In that time, canonical and neural network models have flourished, based on a wide range of assumptions, justifications and supporting data. Despite the importance of the phenomenon, consensus and unifying principles appear lacking. A fundamental issue is the neural representation of space needed for biological path integration. This paper presents a scheme to classify path integration systems on the basis of the way the home vector records and updates the spatial relationship between the animal and its home location. Four extended classes of coordinate systems are used to unify and review both canonical and neural network models of path integration, from the arthropod and mammalian literature. This scheme demonstrates analytical equivalence between models which may otherwise appear unrelated, and distinguishes between models which may superficially appear similar. A thorough analysis is carried out of the equational forms of important facets of path integration including updating, steering, searching and systematic errors, using each of the four coordinate systems. The type of available directional cue, namely allothetic or idiothetic, is also considered. It is shown that on balance, the class of home vectors which includes the geocentric Cartesian coordinate system, appears to be the most robust for biological systems. A key conclusion is that deducing computational structure from behavioural data alone will be difficult or impossible, at least in the absence of an analysis of random errors. Consequently it is likely that further theoretical insights into path integration will require an in-depth study of the effect of noise on the four classes of home vectors. Copyright 2009 Elsevier Ltd. All rights reserved.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

A Hybrid Nonlinear Control Scheme for Active Magnetic Bearings

NASA Technical Reports Server (NTRS)

Xia, F.; Albritton, N. G.; Hung, J. Y.; Nelms, R. M.

1996-01-01

A nonlinear control scheme for active magnetic bearings is presented in this work. Magnet winding currents are chosen as control inputs for the electromechanical dynamics, which are linearized using feedback linearization. Then, the desired magnet currents are enforced by sliding mode control design of the electromagnetic dynamics. The overall control scheme is described by a multiple loop block diagram; the approach also falls in the class of nonlinear controls that are collectively known as the 'integrator backstepping' method. Control system hardware and new switching power electronics for implementing the controller are described. Various experiments and simulation results are presented to demonstrate the concepts' potentials.

Rotational stellar structures based on the Lagrangian variational principle

NASA Astrophysics Data System (ADS)

Yasutake, Nobutoshi; Fujisawa, Kotaro; Yamada, Shoichi

2017-06-01

A new method for multi-dimensional stellar structures is proposed in this study. As for stellar evolution calculations, the Heney method is the defacto standard now, but basically assumed to be spherical symmetric. It is one of the difficulties for deformed stellar-evolution calculations to trace the potentially complex movements of each fluid element. On the other hand, our new method is very suitable to follow such movements, since it is based on the Lagrange coordinate. This scheme is also based on the variational principle, which is adopted to the studies for the pasta structures inside of neutron stars. Our scheme could be a major break through for evolution calculations of any types of deformed stars: proto-planets, proto-stars, and proto-neutron stars, etc.

Efficient two-component relativistic method for large systems

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

Nakai, Hiromi; Research Institute for Science and Engineering, Waseda University, Tokyo 169-8555; CREST, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 332-0012

This paper reviews a series of theoretical studies to develop efficient two-component (2c) relativistic method for large systems by the author’s group. The basic theory is the infinite-order Douglas-Kroll-Hess (IODKH) method for many-electron Dirac-Coulomb Hamiltonian. The local unitary transformation (LUT) scheme can effectively produce the 2c relativistic Hamiltonian, and the divide-and-conquer (DC) method can achieve linear-scaling of Hartree-Fock and electron correlation methods. The frozen core potential (FCP) theoretically connects model potential calculations with the all-electron ones. The accompanying coordinate expansion with a transfer recurrence relation (ACE-TRR) scheme accelerates the computations of electron repulsion integrals with high angular momenta and longmore » contractions.« less

Multi-Dimensional High Order Essentially Non-Oscillatory Finite Difference Methods in Generalized Coordinates

NASA Technical Reports Server (NTRS)

Shu, Chi-Wang

1998-01-01

This project is about the development of high order, non-oscillatory type schemes for computational fluid dynamics. Algorithm analysis, implementation, and applications are performed. Collaborations with NASA scientists have been carried out to ensure that the research is relevant to NASA objectives. The combination of ENO finite difference method with spectral method in two space dimension is considered, jointly with Cai [3]. The resulting scheme behaves nicely for the two dimensional test problems with or without shocks. Jointly with Cai and Gottlieb, we have also considered one-sided filters for spectral approximations to discontinuous functions [2]. We proved theoretically the existence of filters to recover spectral accuracy up to the discontinuity. We also constructed such filters for practical calculations.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

An improved rotated staggered-grid finite-difference method with fourth-order temporal accuracy for elastic-wave modeling in anisotropic media

DOE PAGES

Gao, Kai; Huang, Lianjie

2017-08-31

The rotated staggered-grid (RSG) finite-difference method is a powerful tool for elastic-wave modeling in 2D anisotropic media where the symmetry axes of anisotropy are not aligned with the coordinate axes. We develop an improved RSG scheme with fourth-order temporal accuracy to reduce the numerical dispersion associated with prolonged wave propagation or a large temporal step size. The high-order temporal accuracy is achieved by including high-order temporal derivatives, which can be converted to high-order spatial derivatives to reduce computational cost. Dispersion analysis and numerical tests show that our method exhibits very low temporal dispersion even with a large temporal step sizemore » for elastic-wave modeling in complex anisotropic media. Using the same temporal step size, our method is more accurate than the conventional RSG scheme. In conclusion, our improved RSG scheme is therefore suitable for prolonged modeling of elastic-wave propagation in 2D anisotropic media.« less

Validation of a High-Order Prefactored Compact Scheme on Nonlinear Flows with Complex Geometries

NASA Technical Reports Server (NTRS)

Hixon, Ray; Mankbadi, Reda R.; Povinelli, L. A. (Technical Monitor)

2000-01-01

Three benchmark problems are solved using a sixth-order prefactored compact scheme employing an explicit 10th-order filter with optimized fourth-order Runge-Kutta time stepping. The problems solved are the following: (1) propagation of sound waves through a transonic nozzle; (2) shock-sound interaction; and (3) single airfoil gust response. In the first two problems, the spatial accuracy of the scheme is tested on a stretched grid, and the effectiveness of boundary conditions is shown. The solution stability and accuracy near a shock discontinuity is shown as well. Also, 1-D nonlinear characteristic boundary conditions will be evaluated. In the third problem, a nonlinear Euler solver will be used that solves the equations in generalized curvilinear coordinates using the chain rule transformation. This work, continuing earlier work on flat-plate cascades and Joukowski airfoils, will focus mainly on the effect of the grid and boundary conditions on the accuracy of the solution. The grids were generated using a commercially available grid generator, GridPro/az3000.

An improved rotated staggered-grid finite-difference method with fourth-order temporal accuracy for elastic-wave modeling in anisotropic media

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

Gao, Kai; Huang, Lianjie

The rotated staggered-grid (RSG) finite-difference method is a powerful tool for elastic-wave modeling in 2D anisotropic media where the symmetry axes of anisotropy are not aligned with the coordinate axes. We develop an improved RSG scheme with fourth-order temporal accuracy to reduce the numerical dispersion associated with prolonged wave propagation or a large temporal step size. The high-order temporal accuracy is achieved by including high-order temporal derivatives, which can be converted to high-order spatial derivatives to reduce computational cost. Dispersion analysis and numerical tests show that our method exhibits very low temporal dispersion even with a large temporal step sizemore » for elastic-wave modeling in complex anisotropic media. Using the same temporal step size, our method is more accurate than the conventional RSG scheme. In conclusion, our improved RSG scheme is therefore suitable for prolonged modeling of elastic-wave propagation in 2D anisotropic media.« less

Eulerian-Lagrangian Simulations of Transonic Flutter Instabilities

NASA Technical Reports Server (NTRS)

Bendiksen, Oddvar O.

1994-01-01

This paper presents an overview of recent applications of Eulerian-Lagrangian computational schemes in simulating transonic flutter instabilities. This approach, the fluid-structure system is treated as a single continuum dynamics problem, by switching from an Eulerian to a Lagrangian formulation at the fluid-structure boundary. This computational approach effectively eliminates the phase integration errors associated with previous methods, where the fluid and structure are integrated sequentially using different schemes. The formulation is based on Hamilton's Principle in mixed coordinates, and both finite volume and finite element discretization schemes are considered. Results from numerical simulations of transonic flutter instabilities are presented for isolated wings, thin panels, and turbomachinery blades. The results suggest that the method is capable of reproducing the energy exchange between the fluid and the structure with significantly less error than existing methods. Localized flutter modes and panel flutter modes involving traveling waves can also be simulated effectively with no a priori knowledge of the type of instability involved.

Viscous compressible flow direct and inverse computation and illustrations

NASA Technical Reports Server (NTRS)

Yang, T. T.; Ntone, F.

1986-01-01

An algorithm for laminar and turbulent viscous compressible two dimensional flows is presented. For the application of precise boundary conditions over an arbitrary body surface, a body-fitted coordinate system is used in the physical plane. A thin-layer approximation of tne Navier-Stokes equations is introduced to keep the viscous terms relatively simple. The flow field computation is performed in the transformed plane. A factorized, implicit scheme is used to facilitate the computation. Sample calculations, for Couette flow, developing pipe flow, an isolated airflow, two dimensional compressor cascade flow, and segmental compressor blade design are presented. To a certain extent, the effective use of the direct solver depends on the user's skill in setting up the gridwork, the time step size and the choice of the artificial viscosity. The design feature of the algorithm, an iterative scheme to correct geometry for a specified surface pressure distribution, works well for subsonic flows. A more elaborate correction scheme is required in treating transonic flows where local shock waves may be involved.

A proportional control scheme for high density force myography.

PubMed

Belyea, Alexander T; Englehart, Kevin B; Scheme, Erik J

2018-08-01

Force myography (FMG) has been shown to be a potentially higher accuracy alternative to electromyography for pattern recognition based prosthetic control. Classification accuracy, however, is just one factor that affects the usability of a control system. Others, like the ability to start and stop, to coordinate dynamic movements, and to control the velocity of the device through some proportional control scheme can be of equal importance. To impart effective fine control using FMG-based pattern recognition, it is important that a method of controlling the velocity of each motion be developed. In this work force myography data were collected from 14 able bodied participants and one amputee participant as they performed a set of wrist and hand motions. The offline proportional control performance of a standard mean signal amplitude approach and a proposed regression-based alternative was compared. The impact of providing feedback during training, as well as the use of constrained or unconstrained hand and wrist contractions, were also evaluated. It is shown that the commonly used mean of rectified channel amplitudes approach commonly employed with electromyography does not translate to force myography. The proposed class-based regression proportional control approach is shown significantly outperform this standard approach (ρ  <  0.001), yielding a R 2 correlation coefficients of 0.837 and 0.830 for constrained and unconstrained forearm contractions, respectively for able bodied participants. No significant difference (ρ  =  0.693) was found in R 2 performance when feedback was provided during training or not. The amputee subject achieved a classification accuracy of 83.4%  ±  3.47% demonstrating the ability to distinguish contractions well with FMG. In proportional control the amputee participant achieved an R 2 of of 0.375 for regression based proportional control during unconstrained contractions. This is lower than the unconstrained case for able-bodied subjects for this particular amputee, possibly due to difficultly in visualizing contraction level modulation without feedback. This may be remedied in the use of a prosthetic limb that would provide real-time feedback in the form of device speed. A novel class-specific regression-based approach is proposed for multi-class control is described and shown to provide an effective means of providing FMG-based proportional control.

Effect of the Gouy phase on the coherent phase control of chemical reactions.

PubMed

Gordon, Robert J; Barge, Vishal J

2007-11-28

We show how the spatial phase of a focused laser beam may be used as a tool for controlling the branching ratio of a chemical reaction. Guoy discovered [Acad. Sci., Paris, C. R. 110, 1250 (1890)] that when an electromagnetic wave passes through a focus its phase increases by pi. In a coherent control scheme involving the absorption of n photons of frequency omega(m) and m photons of frequency omega(n), the overall phase shift produced by the Gouy phase is (n-m)pi. At any given point in space, this phase shift is identical for all reaction products. Nevertheless, if the yields for different reaction channels have different intensity dependencies, the Gouy phase produces a net phase lag between the products that varies with the axial coordinate of the laser focus. We obtain here analytical and numerical values of this phase as the laser focus is scanned across the diameter of the molecular beam, taking into account the Rayleigh range and astigmatism of the laser beam and saturation of the transition. We also show that the modulation depth of the interference pattern may be increased by optimizing the relative intensities of the two fields.

The 3D Elevation Program national indexing scheme

USGS Publications Warehouse

Thatcher, Cindy A.; Heidemann, Hans Karl; Stoker, Jason M.; Eldridge, Diane F.

2017-11-02

The 3D Elevation Program (3DEP) of the U.S. Geological Survey (USGS) acquires high-resolution elevation data for the Nation. This program has been operating under an opportunity-oriented approach, acquiring light detection and ranging (lidar) projects of varying sizes scattered across the United States. As a result, the national 3DEP elevation layer is subject to data gaps or unnecessary overlap between adjacent collections. To mitigate this problem, 3DEP is adopting a strategic, systematic approach to national data acquisition that will create efficiencies in efforts to achieve nationwide elevation data coverage and help capture additional Federal and non-Federal investments resulting from advance awareness of proposed acquisitions and partnership opportunities. The 3DEP Working Group, an interagency group managed by the USGS, has agreed that all future 3DEP collections within the lower 48 States should be coordinated by using a 1-kilometer by 1-kilometer tiling scheme for the conterminous United States. Fiscal Year 2018 is being considered a transition year, and in Fiscal Year 2019 the national indexing scheme will be fully implemented, so that all 3DEP-supported projects will be acquired and delivered in the national indexing scheme and projected into the Albers Equal Area projection. 

An Enhanced Three-Level Voltage Switching State Scheme for Direct Torque Controlled Open End Winding Induction Motor

NASA Astrophysics Data System (ADS)

Kunisetti, V. Praveen Kumar; Thippiripati, Vinay Kumar

2018-01-01

Open End Winding Induction Motors (OEWIM) are popular for electric vehicles, ship propulsion applications due to less DC link voltage. Electric vehicles, ship propulsions require ripple free torque. In this article, an enhanced three-level voltage switching state scheme for direct torque controlled OEWIM drive is implemented to reduce torque and flux ripples. The limitations of conventional Direct Torque Control (DTC) are: possible problems during low speeds and starting, it operates with variable switching frequency due to hysteresis controllers and produces higher torque and flux ripple. The proposed DTC scheme can abate the problems of conventional DTC with an enhanced voltage switching state scheme. The three-level inversion was obtained by operating inverters with equal DC-link voltages and it produces 18 voltage space vectors. These 18 vectors are divided into low and high frequencies of operation based on rotor speed. The hardware results prove the validity of proposed DTC scheme during steady-state and transients. From simulation and experimental results, proposed DTC scheme gives less torque and flux ripples on comparison to two-level DTC. The proposed DTC is implemented using dSPACE DS-1104 control board interface with MATLAB/SIMULINK-RTI model.

An Enhanced Three-Level Voltage Switching State Scheme for Direct Torque Controlled Open End Winding Induction Motor

NASA Astrophysics Data System (ADS)

Kunisetti, V. Praveen Kumar; Thippiripati, Vinay Kumar

2018-06-01

Open End Winding Induction Motors (OEWIM) are popular for electric vehicles, ship propulsion applications due to less DC link voltage. Electric vehicles, ship propulsions require ripple free torque. In this article, an enhanced three-level voltage switching state scheme for direct torque controlled OEWIM drive is implemented to reduce torque and flux ripples. The limitations of conventional Direct Torque Control (DTC) are: possible problems during low speeds and starting, it operates with variable switching frequency due to hysteresis controllers and produces higher torque and flux ripple. The proposed DTC scheme can abate the problems of conventional DTC with an enhanced voltage switching state scheme. The three-level inversion was obtained by operating inverters with equal DC-link voltages and it produces 18 voltage space vectors. These 18 vectors are divided into low and high frequencies of operation based on rotor speed. The hardware results prove the validity of proposed DTC scheme during steady-state and transients. From simulation and experimental results, proposed DTC scheme gives less torque and flux ripples on comparison to two-level DTC. The proposed DTC is implemented using dSPACE DS-1104 control board interface with MATLAB/SIMULINK-RTI model.

Multichannel feedforward control schemes with coupling compensation for active sound profiling

NASA Astrophysics Data System (ADS)

Mosquera-Sánchez, Jaime A.; Desmet, Wim; de Oliveira, Leopoldo P. R.

2017-05-01

Active sound profiling includes a number of control techniques that enables the equalization, rather than the mere reduction, of acoustic noise. Challenges may rise when trying to achieve distinct targeted sound profiles simultaneously at multiple locations, e.g., within a vehicle cabin. This paper introduces distributed multichannel control schemes for independently tailoring structural borne sound reaching a number of locations within a cavity. The proposed techniques address the cross interactions amongst feedforward active sound profiling units, which compensate for interferences of the primary sound at each location of interest by exchanging run-time data amongst the control units, while attaining the desired control targets. Computational complexity, convergence, and stability of the proposed multichannel schemes are examined in light of the physical system at which they are implemented. The tuning performance of the proposed algorithms is benchmarked with the centralized and pure-decentralized control schemes through computer simulations on a simplified numerical model, which has also been subjected to plant magnitude variations. Provided that the representation of the plant is accurate enough, the proposed multichannel control schemes have been shown as the only ones that properly deliver targeted active sound profiling tasks at each error sensor location. Experimental results in a 1:3-scaled vehicle mock-up further demonstrate that the proposed schemes are able to attain reductions of more than 60 dB upon periodic disturbances at a number of positions, while resolving cross-channel interferences. Moreover, when the sensor/actuator placement is found as defective at a given frequency, the inclusion of a regularization parameter in the cost function is seen to not hinder the proper operation of the proposed compensation schemes, at the time that it assures their stability, at the expense of losing control performance.

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

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

NASA Astrophysics Data System (ADS)

Feng, X. S.; Li, C.

2017-12-01

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

Automatic extraction of plots from geo-registered UAS imagery of crop fields with complex planting schemes

NASA Astrophysics Data System (ADS)

Hearst, Anthony A.

Complex planting schemes are common in experimental crop fields and can make it difficult to extract plots of interest from high-resolution imagery of the fields gathered by Unmanned Aircraft Systems (UAS). This prevents UAS imagery from being applied in High-Throughput Precision Phenotyping and other areas of agricultural research. If the imagery is accurately geo-registered, then it may be possible to extract plots from the imagery based on their map coordinates. To test this approach, a UAS was used to acquire visual imagery of 5 ha of soybean fields containing 6.0 m2 plots in a complex planting scheme. Sixteen artificial targets were setup in the fields before flights and different spatial configurations of 0 to 6 targets were used as Ground Control Points (GCPs) for geo-registration, resulting in a total of 175 geo-registered image mosaics with a broad range of geo-registration accuracies. Geo-registration accuracy was quantified based on the horizontal Root Mean Squared Error (RMSE) of targets used as checkpoints. Twenty test plots were extracted from the geo-registered imagery. Plot extraction accuracy was quantified based on the percentage of the desired plot area that was extracted. It was found that using 4 GCPs along the perimeter of the field minimized the horizontal RMSE and enabled a plot extraction accuracy of at least 70%, with a mean plot extraction accuracy of 92%. Future work will focus on further enhancing the plot extraction accuracy through additional image processing techniques so that it becomes sufficiently accurate for all practical purposes in agricultural research and potentially other areas of research.

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

Elmagarmid, A.K.

The availability of distributed data bases is directly affected by the timely detection and resolution of deadlocks. Consequently, mechanisms are needed to make deadlock detection algorithms resilient to failures. Presented first is a centralized algorithm that allows transactions to have multiple requests outstanding. Next, a new distributed deadlock detection algorithm (DDDA) is presented, using a global detector (GD) to detect global deadlocks and local detectors (LDs) to detect local deadlocks. This algorithm essentially identifies transaction-resource interactions that m cause global (multisite) deadlocks. Third, a deadlock detection algorithm utilizing a transaction-wait-for (TWF) graph is presented. It is a fully disjoint algorithmmore » that allows multiple outstanding requests. The proposed algorithm can achieve improved overall performance by using multiple disjoint controllers coupled with the two-phase property while maintaining the simplicity of centralized schemes. Fourth, an algorithm that combines deadlock detection and avoidance is given. This algorithm uses concurrent transaction controllers and resource coordinators to achieve maximum distribution. The language of CSP is used to describe this algorithm. Finally, two efficient deadlock resolution protocols are given along with some guidelines to be used in choosing a transaction for abortion.« less

Predictable and reliable ECG monitoring over IEEE 802.11 WLANs within a hospital.

PubMed

Park, Juyoung; Kang, Kyungtae

2014-09-01

Telecardiology provides mobility for patients who require constant electrocardiogram (ECG) monitoring. However, its safety is dependent on the predictability and robustness of data delivery, which must overcome errors in the wireless channel through which the ECG data are transmitted. We report here a framework that can be used to gauge the applicability of IEEE 802.11 wireless local area network (WLAN) technology to ECG monitoring systems in terms of delay constraints and transmission reliability. For this purpose, a medical-grade WLAN architecture achieved predictable delay through the combination of a medium access control mechanism based on the point coordination function provided by IEEE 802.11 and an error control scheme based on Reed-Solomon coding and block interleaving. The size of the jitter buffer needed was determined by this architecture to avoid service dropout caused by buffer underrun, through analysis of variations in transmission delay. Finally, we assessed this architecture in terms of service latency and reliability by modeling the transmission of uncompressed two-lead electrocardiogram data from the MIT-BIH Arrhythmia Database and highlight the applicability of this wireless technology to telecardiology.

31 CFR 592.201 - Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

Code of Federal Regulations, 2010 CFR

2010-07-01

..., unless the rough diamond has been controlled through the Kimberley Process Certification Scheme. (b) The... States of any rough diamond not controlled through the Kimberley Process Certification Scheme do not... Process Certification Scheme and thus is not permitted, except in the following circumstance. The...

Coordination responsive tellurium-containing multilayer film for controlled delivery.

PubMed

Cao, Wei; Wang, Lu; Xu, Huaping

2015-03-28

A coordination-responsive tellurium containing film was fabricated for controlled release. The coordination chemistry between telluride molecules and cisplatin was utilized for the loading of cisplatin, while competitive ligands were used for triggered release. This work could enrich the coordination responsive system and further tune the release kinetics of cisplatin.

Statistical process control based chart for information systems security

NASA Astrophysics Data System (ADS)

Khan, Mansoor S.; Cui, Lirong

2015-07-01

Intrusion detection systems have a highly significant role in securing computer networks and information systems. To assure the reliability and quality of computer networks and information systems, it is highly desirable to develop techniques that detect intrusions into information systems. We put forward the concept of statistical process control (SPC) in computer networks and information systems intrusions. In this article we propose exponentially weighted moving average (EWMA) type quality monitoring scheme. Our proposed scheme has only one parameter which differentiates it from the past versions. We construct the control limits for the proposed scheme and investigate their effectiveness. We provide an industrial example for the sake of clarity for practitioner. We give comparison of the proposed scheme with EWMA schemes and p chart; finally we provide some recommendations for the future work.

Adaptive control schemes for improving dynamic performance of efficiency-optimized induction motor drives.

PubMed

Kumar, Navneet; Raj Chelliah, Thanga; Srivastava, S P

2015-07-01

Model Based Control (MBC) is one of the energy optimal controllers used in vector-controlled Induction Motor (IM) for controlling the excitation of motor in accordance with torque and speed. MBC offers energy conservation especially at part-load operation, but it creates ripples in torque and speed during load transition, leading to poor dynamic performance of the drive. This study investigates the opportunity for improving dynamic performance of a three-phase IM operating with MBC and proposes three control schemes: (i) MBC with a low pass filter (ii) torque producing current (iqs) injection in the output of speed controller (iii) Variable Structure Speed Controller (VSSC). The pre and post operation of MBC during load transition is also analyzed. The dynamic performance of a 1-hp, three-phase squirrel-cage IM with mine-hoist load diagram is tested. Test results are provided for the conventional field-oriented (constant flux) control and MBC (adjustable excitation) with proposed schemes. The effectiveness of proposed schemes is also illustrated for parametric variations. The test results and subsequent analysis confer that the motor dynamics improves significantly with all three proposed schemes in terms of overshoot/undershoot peak amplitude of torque and DC link power in addition to energy saving during load transitions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Quantum interference control of an isolated resonance lifetime in the weak-field limit.

PubMed

García-Vela, A

2015-11-21

Resonance states play an important role in a large variety of physical and chemical processes. Thus, controlling the resonance behavior, and particularly a key property like the resonance lifetime, opens up the possibility of controlling those resonance mediated processes. While such a resonance control is possible by applying strong-field approaches, the development of flexible weak-field control schemes that do not alter significantly the system dynamics still remains a challenge. In this work, one such control scheme within the weak-field regime is proposed for the first time in order to modify the lifetime of an isolated resonance state. The basis of the scheme suggested is quantum interference between two pathways induced by laser fields, that pump wave packet amplitude to the target resonance under control. The simulations reported here show that the scheme allows for both enhancement and quenching of the resonance survival lifetime, being particularly flexible to achieve large lifetime enhancements. Control effects on the resonance lifetime take place only while the pulse is operating. In addition, the conditions required to generate the two interfering quantum pathways are found to be rather easy to meet for general systems, which makes the experimental implementation straightforward and implies the wide applicability of the control scheme.

Consensus-based distributed cooperative learning from closed-loop neural control systems.

PubMed

Chen, Weisheng; Hua, Shaoyong; Zhang, Huaguang

2015-02-01

In this paper, the neural tracking problem is addressed for a group of uncertain nonlinear systems where the system structures are identical but the reference signals are different. This paper focuses on studying the learning capability of neural networks (NNs) during the control process. First, we propose a novel control scheme called distributed cooperative learning (DCL) control scheme, by establishing the communication topology among adaptive laws of NN weights to share their learned knowledge online. It is further proved that if the communication topology is undirected and connected, all estimated weights of NNs can converge to small neighborhoods around their optimal values over a domain consisting of the union of all state orbits. Second, as a corollary it is shown that the conclusion on the deterministic learning still holds in the decentralized adaptive neural control scheme where, however, the estimated weights of NNs just converge to small neighborhoods of the optimal values along their own state orbits. Thus, the learned controllers obtained by DCL scheme have the better generalization capability than ones obtained by decentralized learning method. A simulation example is provided to verify the effectiveness and advantages of the control schemes proposed in this paper.

Controlled quantum secure direct communication by entanglement distillation or generalized measurement

NASA Astrophysics Data System (ADS)

Tan, Xiaoqing; Zhang, Xiaoqian

2016-05-01

We propose two controlled quantum secure communication schemes by entanglement distillation or generalized measurement. The sender Alice, the receiver Bob and the controllers David and Cliff take part in the whole schemes. The supervisors David and Cliff can control the information transmitted from Alice to Bob by adjusting the local measurement angles θ _4 and θ _3. Bob can verify his secret information by classical one-way function after communication. The average amount of information is analyzed and compared for these two methods by MATLAB. The generalized measurement is a better scheme. Our schemes are secure against some well-known attacks because classical encryption and decoy states are used to ensure the security of the classical channel and the quantum channel.

Flowfield analysis of helicopter rotor in hover and forward flight based on CFD

NASA Astrophysics Data System (ADS)

Zhao, Qinghe; Li, Xiaodong

2018-05-01

The helicopter rotor field is simulated in hover and forward flight based on Computational Fluid Dynamics(CFD). In hover case only one rotor is simulated with the periodic boundary condition in the rotational coordinate system and the grid is fixed. In the non-lift forward flight case, the total rotor is simulated in inertia coordinate system and the whole grid moves rigidly. The dual-time implicit scheme is applied to simulate the unsteady flowfield on the movement grids. The k – ω turbulence model is employed in order to capture the effects of turbulence. To verify the solver, the flowfield around the Caradonna-Tung rotor is computed. The comparison shows a good agreement between the numerical results and the experimental data.

FELIX-1.0: A finite element solver for the time dependent generator coordinate method with the Gaussian overlap approximation

DOE PAGES

Regnier, D.; Verriere, M.; Dubray, N.; ...

2015-11-30

In this study, we describe the software package FELIX that solves the equations of the time-dependent generator coordinate method (TDGCM) in NN-dimensions (N ≥ 1) under the Gaussian overlap approximation. The numerical resolution is based on the Galerkin finite element discretization of the collective space and the Crank–Nicolson scheme for time integration. The TDGCM solver is implemented entirely in C++. Several additional tools written in C++, Python or bash scripting language are also included for convenience. In this paper, the solver is tested with a series of benchmarks calculations. We also demonstrate the ability of our code to handle amore » realistic calculation of fission dynamics.« less

Analysis of rotary engine combustion processes based on unsteady, three-dimensional computations

NASA Technical Reports Server (NTRS)

Raju, M. S.; Willis, E. A.

1990-01-01

A new computer code was developed for predicting the turbulent and chemically reacting flows with sprays occurring inside of a stratified charge rotary engine. The solution procedure is based on an Eulerian Lagrangian approach where the unsteady, three-dimensional Navier-Stokes equations for a perfect gas mixture with variable properties are solved in generalized, Eulerian coordinates on a moving grid by making use of an implicit finite volume, Steger-Warming flux vector splitting scheme, and the liquid phase equations are solved in Lagrangian coordinates. Both the details of the numerical algorithm and the finite difference predictions of the combustor flow field during the opening of exhaust and/or intake, and also during fuel vaporization and combustion, are presented.

Analysis of rotary engine combustion processes based on unsteady, three-dimensional computations

NASA Technical Reports Server (NTRS)

Raju, M. S.; Willis, E. A.

1989-01-01

A new computer code was developed for predicting the turbulent, and chemically reacting flows with sprays occurring inside of a stratified charge rotary engine. The solution procedure is based on an Eulerian Lagrangian approach where the unsteady, 3-D Navier-Stokes equations for a perfect gas mixture with variable properties are solved in generalized, Eulerian coordinates on a moving grid by making use of an implicit finite volume, Steger-Warming flux vector splitting scheme, and the liquid phase equations are solved in Lagrangian coordinates. Both the details of the numerical algorithm and the finite difference predictions of the combustor flow field during the opening of exhaust and/or intake, and also during fuel vaporization and combustion, are presented.

Application of multi-agent coordination methods to the design of space debris mitigation tours

NASA Astrophysics Data System (ADS)

Stuart, Jeffrey; Howell, Kathleen; Wilson, Roby

2016-04-01

The growth in the number of defunct and fragmented objects near to the Earth poses a growing hazard to launch operations as well as existing on-orbit assets. Numerous studies have demonstrated the positive impact of active debris mitigation campaigns upon the growth of debris populations, but comparatively fewer investigations incorporate specific mission scenarios. Furthermore, while many active mitigation methods have been proposed, certain classes of debris objects are amenable to mitigation campaigns employing chaser spacecraft with existing chemical and low-thrust propulsive technologies. This investigation incorporates an ant colony optimization routing algorithm and multi-agent coordination via auctions into a debris mitigation tour scheme suitable for preliminary mission design and analysis as well as spacecraft flight operations.

Scanner imaging systems, aircraft

NASA Technical Reports Server (NTRS)

Ungar, S. G.

1982-01-01

The causes and effects of distortion in aircraft scanner data are reviewed and an approach to reduce distortions by modelling the effect of aircraft motion on the scanner scene is discussed. With the advent of advanced satellite borne scanner systems, the geometric and radiometric correction of aircraft scanner data has become increasingly important. Corrections are needed to reliably simulate observations obtained by such systems for purposes of evaluation. It is found that if sufficient navigational information is available, aircraft scanner coordinates may be related very precisely to planimetric ground coordinates. However, the potential for a multivalue remapping transformation (i.e., scan lines crossing each other), adds an inherent uncertainty, to any radiometric resampling scheme, which is dependent on the precise geometry of the scan and ground pattern.

Realization of quantum gates with multiple control qubits or multiple target qubits in a cavity

NASA Astrophysics Data System (ADS)

Waseem, Muhammad; Irfan, Muhammad; Qamar, Shahid

2015-06-01

We propose a scheme to realize a three-qubit controlled phase gate and a multi-qubit controlled NOT gate of one qubit simultaneously controlling n-target qubits with a four-level quantum system in a cavity. The implementation time for multi-qubit controlled NOT gate is independent of the number of qubit. Three-qubit phase gate is generalized to n-qubit phase gate with multiple control qubits. The number of steps reduces linearly as compared to conventional gate decomposition method. Our scheme can be applied to various types of physical systems such as superconducting qubits coupled to a resonator and trapped atoms in a cavity. Our scheme does not require adjustment of level spacing during the gate implementation. We also show the implementation of Deutsch-Joza algorithm. Finally, we discuss the imperfections due to cavity decay and the possibility of physical implementation of our scheme.

Developing a taxonomy of coordination behaviours in nuclear power plant control rooms during emergencies.

PubMed

Wang, Dunxing; Gao, Qin; Li, Zhizhong; Song, Fei; Ma, Liang

2017-12-01

This study aims to develop a taxonomy of coordination behaviours during emergencies in nuclear power plants (NPPs). We summarised basic coordination behaviours from literature in aviation, health care and nuclear field and identified coordination behaviours specific to the nuclear domain by interviewing and surveying control crew operators. The established taxonomy includes 7 workflow stages and 24 basic coordination behaviours. To evaluate the reliability and feasibility of the taxonomy, we analysed 12 videos of operators' training sessions by coding coordination behaviours with the taxonomy and the inter-rater reliability was acceptable. Further analysis of the frequency, the duration and the direction of the coordination behaviours revealed four coordination problems. This taxonomy provides a foundation of systematic observation of coordination behaviours among NPP crews, advances researchers' understanding of the coordination mechanism during emergencies in NPPs and facilitate the possibility to deepen the understanding of the relationships between coordination behaviours and team performance. Practitioner Summary: A taxonomy of coordination behaviours during emergencies in nuclear power plants was developed. Reliability and feasibility of the taxonomy was verified through the analysis of 12 training sessions. The taxonomy can serve as an observation system for analysis of coordination behaviours and help to identify coordination problems of control crews.

Unequal error control scheme for dimmable visible light communication systems

NASA Astrophysics Data System (ADS)

Deng, Keyan; Yuan, Lei; Wan, Yi; Li, Huaan

2017-01-01

Visible light communication (VLC), which has the advantages of a very large bandwidth, high security, and freedom from license-related restrictions and electromagnetic-interference, has attracted much interest. Because a VLC system simultaneously performs illumination and communication functions, dimming control, efficiency, and reliable transmission are significant and challenging issues of such systems. In this paper, we propose a novel unequal error control (UEC) scheme in which expanding window fountain (EWF) codes in an on-off keying (OOK)-based VLC system are used to support different dimming target values. To evaluate the performance of the scheme for various dimming target values, we apply it to H.264 scalable video coding bitstreams in a VLC system. The results of the simulations that are performed using additive white Gaussian noises (AWGNs) with different signal-to-noise ratios (SNRs) are used to compare the performance of the proposed scheme for various dimming target values. It is found that the proposed UEC scheme enables earlier base layer recovery compared to the use of the equal error control (EEC) scheme for different dimming target values and therefore afford robust transmission for scalable video multicast over optical wireless channels. This is because of the unequal error protection (UEP) and unequal recovery time (URT) of the EWF code in the proposed scheme.

A Quantum Proxy Weak Blind Signature Scheme Based on Controlled Quantum Teleportation

NASA Astrophysics Data System (ADS)

Cao, Hai-Jing; Yu, Yao-Feng; Song, Qin; Gao, Lan-Xiang

2015-04-01

Proxy blind signature is applied to the electronic paying system, electronic voting system, mobile agent system, security of internet, etc. A quantum proxy weak blind signature scheme is proposed in this paper. It is based on controlled quantum teleportation. Five-qubit entangled state functions as quantum channel. The scheme uses the physical characteristics of quantum mechanics to implement message blinding, so it could guarantee not only the unconditional security of the scheme but also the anonymity of the messages owner.

Adaptive threshold control for auto-rate fallback algorithm in IEEE 802.11 multi-rate WLANs

NASA Astrophysics Data System (ADS)

Wu, Qilin; Lu, Yang; Zhu, Xiaolin; Ge, Fangzhen

2012-03-01

The IEEE 802.11 standard supports multiple rates for data transmission in the physical layer. Nowadays, to improve network performance, a rate adaptation scheme called auto-rate fallback (ARF) is widely adopted in practice. However, ARF scheme suffers performance degradation in multiple contending nodes environments. In this article, we propose a novel rate adaptation scheme called ARF with adaptive threshold control. In multiple contending nodes environment, the proposed scheme can effectively mitigate the frame collision effect on rate adaptation decision by adaptively adjusting rate-up and rate-down threshold according to the current collision level. Simulation results show that the proposed scheme can achieve significantly higher throughput than the other existing rate adaptation schemes. Furthermore, the simulation results also demonstrate that the proposed scheme can effectively respond to the varying channel condition.

a Thtee-Dimensional Variational Assimilation Scheme for Satellite Aod

NASA Astrophysics Data System (ADS)

Liang, Y.; Zang, Z.; You, W.

2018-04-01

A three-dimensional variational data assimilation scheme is designed for satellite AOD based on the IMPROVE (Interagency Monitoring of Protected Visual Environments) equation. The observation operator that simulates AOD from the control variables is established by the IMPROVE equation. All of the 16 control variables in the assimilation scheme are the mass concentrations of aerosol species from the Model for Simulation Aerosol Interactions and Chemistry scheme, so as to take advantage of this scheme in providing comprehensive analyses of species concentrations and size distributions as well as be calculating efficiently. The assimilation scheme can save computational resources as the IMPROVE equation is a quadratic equation. A single-point observation experiment shows that the information from the single-point AOD is effectively spread horizontally and vertically.

Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review

PubMed Central

Aoi, Shinya; Manoonpong, Poramate; Ambe, Yuichi; Matsuno, Fumitoshi; Wörgötter, Florentin

2017-01-01

Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots. PMID:28878645

Active control of the lifetime of excited resonance states by means of laser pulses.

PubMed

García-Vela, A

2012-04-07

Quantum control of the lifetime of a system in an excited resonance state is investigated theoretically by creating coherent superpositions of overlapping resonances. This control scheme exploits the quantum interference occurring between the overlapping resonances, which can be controlled by varying the width of the laser pulse that creates the superposition state. The scheme is applied to a realistic model of the Br(2)(B)-Ne predissociation decay dynamics through a three-dimensional wave packet method. It is shown that extensive control of the system lifetime is achievable, both enhancing and damping it remarkably. An experimental realization of the control scheme is suggested.

Analysis and design of digital output interface devices for gas turbine electronic controls

NASA Technical Reports Server (NTRS)

Newirth, D. M.; Koenig, E. W.

1976-01-01

A trade study was performed on twenty-one digital output interface schemes for gas turbine electronic controls to select the most promising scheme based on criteria of reliability, performance, cost, and sampling requirements. The most promising scheme, a digital effector with optical feedback of the fuel metering valve position, was designed.

New User Support in the University Network with DACS Scheme

ERIC Educational Resources Information Center

Odagiri, Kazuya; Yaegashi, Rihito; Tadauchi, Masaharu; Ishii, Naohiro

2007-01-01

Purpose: The purpose of this paper is to propose and examine the new user support in university network. Design/methodology/approach: The new user support is realized by use of DACS (Destination Addressing Control System) Scheme which manages a whole network system through communication control on a client computer. This DACS Scheme has been…

Effects of a coordinated farmland bird conservation project on farmers' intentions to implement nature conservation practices - Evidence from the Swedish Volunteer & Farmer Alliance.

PubMed

Josefsson, Jonas; Lokhorst, Anne Marike; Pärt, Tomas; Berg, Åke; Eggers, Sönke

2017-02-01

To increase the efficacy of agri-environmental schemes (AES), as well as farmers' environmental engagement, practitioners are increasingly turning to collective forms of agri-environmental management. As yet, empirical evidence from such approaches is relatively scarce. Here, we examined a farmland bird conservation project coordinated by BirdLife Sweden, the Swedish Volunteer & Farmer Alliance (SVFA). The key features of the SVFA were farmland bird inventories from volunteering birdwatchers and on-farm visits to individual farmers from conservation advisors for guidance on AES as well as unsubsidised practices. Using an ex-post application of the theory of planned behaviour across project participants and a randomly sampled control group of farmers we assessed how SVFA affected behavioural intentions relating to AES and unsubsidised conservation, and how the behaviour was affected by attitudes, perceived social norms and perceived behavioural control. We also included a measure of self-identity as a conservationist to assess its importance for behavioural intentions, and if SVFA stimulated this self-identity. SVFA farmers reported greater commitment to implementing AES and unsubsidised conservation, as compared to the control group. However, greater commitment was associated with more positive attitudes for unsubsidised conservation only and not for AES, underlining the inability of existing AES to prompt intrinsic motivation. There were also differences between farmers within SVFA, where farmers applying to the project were motivated by social influences, while farmers recruited by project managers were motivated by their personal beliefs regarding nature conservation. Finally, farmers' self-perceived ability to perform practices (i.e. perceived behavioural control) was important for their commitment to implementing AES as well as unsubsidised practices. Therefore, increasing farmers' awareness regarding the availability and, not least, practicability of available conservation options may be the key to successful biodiversity conservation in agricultural systems. Copyright © 2016 Elsevier Ltd. All rights reserved.

Revealing how different spinors can be: The Lounesto spinor classification

NASA Astrophysics Data System (ADS)

Hoff da Silva, J. M.; Cavalcanti, R. T.

2017-11-01

This paper aims to give a coordinate-based introduction to the so-called Lounesto spinorial classification scheme. Among other results, it has evinced classes of spinors which fail to satisfy Dirac equation. The underlying idea and the central aspects of such spinorial categorization are introduced in an argumentative basis, after which we delve into a commented account on recent results obtained from (and within) this branch of research.

Traffic-Adaptive, Flow-Specific Medium Access for Wireless Networks

DTIC Science & Technology

2009-09-01

hybrid, contention and non-contention schemes are shown to be special cases. This work also compares the energy efficiency of centralized and distributed...solutions and proposes an energy efficient version of traffic-adaptive CWS-MAC that includes an adaptive sleep cycle coordinated through the use of...preamble sampling. A preamble sampling probability parameter is introduced to manage the trade-off between energy efficiency and throughput and delay

A floor-map-aided WiFi/pseudo-odometry integration algorithm for an indoor positioning system.

PubMed

Wang, Jian; Hu, Andong; Liu, Chunyan; Li, Xin

2015-03-24

This paper proposes a scheme for indoor positioning by fusing floor map, WiFi and smartphone sensor data to provide meter-level positioning without additional infrastructure. A topology-constrained K nearest neighbor (KNN) algorithm based on a floor map layout provides the coordinates required to integrate WiFi data with pseudo-odometry (P-O) measurements simulated using a pedestrian dead reckoning (PDR) approach. One method of further improving the positioning accuracy is to use a more effective multi-threshold step detection algorithm, as proposed by the authors. The "go and back" phenomenon caused by incorrect matching of the reference points (RPs) of a WiFi algorithm is eliminated using an adaptive fading-factor-based extended Kalman filter (EKF), taking WiFi positioning coordinates, P-O measurements and fused heading angles as observations. The "cross-wall" problem is solved based on the development of a floor-map-aided particle filter algorithm by weighting the particles, thereby also eliminating the gross-error effects originating from WiFi or P-O measurements. The performance observed in a field experiment performed on the fourth floor of the School of Environmental Science and Spatial Informatics (SESSI) building on the China University of Mining and Technology (CUMT) campus confirms that the proposed scheme can reliably achieve meter-level positioning.

Capture zones for simple aquifers

USGS Publications Warehouse

McElwee, Carl D.

1991-01-01

Capture zones showing the area influenced by a well within a certain time are useful for both aquifer protection and cleanup. If hydrodynamic dispersion is neglected, a deterministic curve defines the capture zone. Analytical expressions for the capture zones can be derived for simple aquifers. However, the capture zone equations are transcendental and cannot be explicitly solved for the coordinates of the capture zone boundary. Fortunately, an iterative scheme allows the solution to proceed quickly and efficiently even on a modest personal computer. Three forms of the analytical solution must be used in an iterative scheme to cover the entire region of interest, after the extreme values of the x coordinate are determined by an iterative solution. The resulting solution is a discrete one, and usually 100-1000 intervals along the x-axis are necessary for a smooth definition of the capture zone. The presented program is written in FORTRAN and has been used in a variety of computing environments. No graphics capability is included with the program; it is assumed the user has access to a commercial package. The superposition of capture zones for multiple wells is expected to be satisfactory if the spacing is not too close. Because this program deals with simple aquifers, the results rarely will be the final word in a real application.

Hybrid Quantum Mechanics/Molecular Mechanics Solvation Scheme for Computing Free Energies of Reactions at Metal-Water Interfaces.

PubMed

Faheem, Muhammad; Heyden, Andreas

2014-08-12

We report the development of a quantum mechanics/molecular mechanics free energy perturbation (QM/MM-FEP) method for modeling chemical reactions at metal-water interfaces. This novel solvation scheme combines planewave density function theory (DFT), periodic electrostatic embedded cluster method (PEECM) calculations using Gaussian-type orbitals, and classical molecular dynamics (MD) simulations to obtain a free energy description of a complex metal-water system. We derive a potential of mean force (PMF) of the reaction system within the QM/MM framework. A fixed-size, finite ensemble of MM conformations is used to permit precise evaluation of the PMF of QM coordinates and its gradient defined within this ensemble. Local conformations of adsorbed reaction moieties are optimized using sequential MD-sampling and QM-optimization steps. An approximate reaction coordinate is constructed using a number of interpolated states and the free energy difference between adjacent states is calculated using the QM/MM-FEP method. By avoiding on-the-fly QM calculations and by circumventing the challenges associated with statistical averaging during MD sampling, a computational speedup of multiple orders of magnitude is realized. The method is systematically validated against the results of ab initio QM calculations and demonstrated for C-C cleavage in double-dehydrogenated ethylene glycol on a Pt (111) model surface.

On some control problems of dynamic of reactor

NASA Astrophysics Data System (ADS)

Baskakov, A. V.; Volkov, N. P.

2017-12-01

The paper analyzes controllability of the transient processes in some problems of nuclear reactor dynamics. In this case, the mathematical model of nuclear reactor dynamics is described by a system of integro-differential equations consisting of the non-stationary anisotropic multi-velocity kinetic equation of neutron transport and the balance equation of delayed neutrons. The paper defines the formulation of the linear problem on control of transient processes in nuclear reactors with application of spatially distributed actions on internal neutron sources, and the formulation of the nonlinear problems on control of transient processes with application of spatially distributed actions on the neutron absorption coefficient and the neutron scattering indicatrix. The required control actions depend on the spatial and velocity coordinates. The theorems on existence and uniqueness of these control actions are proved in the paper. To do this, the control problems mentioned above are reduced to equivalent systems of integral equations. Existence and uniqueness of the solution for this system of integral equations is proved by the method of successive approximations, which makes it possible to construct an iterative scheme for numerical analyses of transient processes in a given nuclear reactor with application of the developed mathematical model. Sufficient conditions for controllability of transient processes are also obtained. In conclusion, a connection is made between the control problems and the observation problems, which, by to the given information, allow us to reconstruct either the function of internal neutron sources, or the neutron absorption coefficient, or the neutron scattering indicatrix....

Control Of A Serpentine Robot For Inspection Tasks

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Colbaugh, Richard D.; Glass, Kristin L.

1996-01-01

Efficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.

Zeptomole Detection Scheme Based on Levitation Coordinate Measurements of a Single Microparticle in a Coupled Acoustic-Gravitational Field.

PubMed

Miyagawa, Akihisa; Harada, Makoto; Okada, Tetsuo

2018-02-06

We present a novel analytical principle in which an analyte (according to its concentration) induces a change in the density of a microparticle, which is measured as a vertical coordinate in a coupled acoustic-gravitational (CAG) field. The density change is caused by the binding of gold nanoparticles (AuNP's) on a polystyrene (PS) microparticle through avidin-biotin association. The density of a 10-μm PS particle increases by 2% when 500 100-nm AuNP's are bound to the PS. The CAG can detect this density change as a 5-10 μm shift of the levitation coordinate of the PS. This approach, which allows us to detect 700 AuNP's bound to a PS particle, is utilized to detect biotin in solution. Biotin is detectable at a picomolar level. The reaction kinetics plays a significant role in the entire process. The kinetic aspects are also quantitatively discussed based on the levitation behavior of the PS particles in the CAG field.

A finite volume Fokker-Planck collision operator in constants-of-motion coordinates

NASA Astrophysics Data System (ADS)

Xiong, Z.; Xu, X. Q.; Cohen, B. I.; Cohen, R.; Dorr, M. R.; Hittinger, J. A.; Kerbel, G.; Nevins, W. M.; Rognlien, T.

2006-04-01

TEMPEST is a 5D gyrokinetic continuum code for edge plasmas. Constants of motion, namely, the total energy E and the magnetic moment μ, are chosen as coordinate s because of their advantage in minimizing numerical diffusion in advection operato rs. Most existing collision operators are written in other coordinates; using them by interpolating is shown to be less satisfactory in maintaining overall numerical accuracy and conservation. Here we develop a Fokker-Planck collision operator directly in (E,μ) space usin g a finite volume approach. The (E, μ) grid is Cartesian, and the turning point boundary represents a straight line cutting through the grid that separates the ph ysical and non-physical zones. The resulting cut-cells are treated by a cell-mergin g technique to ensure a complete particle conservation. A two dimensional fourth or der reconstruction scheme is devised to achieve good numerical accuracy with modest number of grid points. The new collision operator will be benchmarked by numerical examples.

An immersed boundary method for fluid-structure interaction with compressible multiphase flows

NASA Astrophysics Data System (ADS)

Wang, Li; Currao, Gaetano M. D.; Han, Feng; Neely, Andrew J.; Young, John; Tian, Fang-Bao

2017-10-01

This paper presents a two-dimensional immersed boundary method for fluid-structure interaction with compressible multiphase flows involving large structure deformations. This method involves three important parts: flow solver, structure solver and fluid-structure interaction coupling. In the flow solver, the compressible multiphase Navier-Stokes equations for ideal gases are solved by a finite difference method based on a staggered Cartesian mesh, where a fifth-order accuracy Weighted Essentially Non-Oscillation (WENO) scheme is used to handle spatial discretization of the convective term, a fourth-order central difference scheme is employed to discretize the viscous term, the third-order TVD Runge-Kutta scheme is used to discretize the temporal term, and the level-set method is adopted to capture the multi-material interface. In this work, the structure considered is a geometrically non-linear beam which is solved by using a finite element method based on the absolute nodal coordinate formulation (ANCF). The fluid dynamics and the structure motion are coupled in a partitioned iterative manner with a feedback penalty immersed boundary method where the flow dynamics is defined on a fixed Lagrangian grid and the structure dynamics is described on a global coordinate. We perform several validation cases (including fluid over a cylinder, structure dynamics, flow induced vibration of a flexible plate, deformation of a flexible panel induced by shock waves in a shock tube, an inclined flexible plate in a hypersonic flow, and shock-induced collapse of a cylindrical helium cavity in the air), and compare the results with experimental and other numerical data. The present results agree well with the published data and the current experiment. Finally, we further demonstrate the versatility of the present method by applying it to a flexible plate interacting with multiphase flows.

Cyber and physical equipment digital control system in Industry 4.0 item designing company

NASA Astrophysics Data System (ADS)

Gurjanov, A. V.; Zakoldaev, D. A.; Shukalov, A. V.; Zharinov, I. O.

2018-05-01

The problem of organization of digital control of the item designing company equipped with cyber and physical systems is being studied. A scheme of cyber and physical systems and personnel interaction in the Industry 4.0 smart factory company is presented. A scheme of assembly units transportation in the Industry 4.0 smart factory company is provided. A scheme of digital control system in the Industry 4.0 smart factory company is given.

Non-Dissipative Structural Evolutions in Granular Materials

NASA Astrophysics Data System (ADS)

Pouragha, Mehdi; Wan, Richard

2017-06-01

The structure of the contact network in granular assemblies can evolve due to either dissipative mechanisms such as sliding at contact points, or non-dissipative mechanisms through the phenomenon of contact gain and loss. Being associated with negligible deformations, non-dissipative mechanisms is actually active even in the small strain range of 10-3, especially in the case of densely packed assemblies. Hence, from a constitutive modelling point of view, it is crucial to be able to estimate such non-dissipative evolutions since both elastic and plastic properties of granular assemblies highly depend on contact network characteristics. The current study proposes an analytical scheme that allows us to estimate the non-dissipative contact gain/loss regime in terms of directional changes in the average contact force. The probability distribution of contact forces is used to compute the number of lost contact for each direction. Similarly, the number of newly formed contacts is estimated by considering the probability distribution of the gap between neighbouring particles. Based on the directional contact gain/loss computed, the changes in coordination number and fabric anisotropy can be found which, together with statistical treatments of Love-Weber stress expression, form a complete system of equations describing the evolution of other controlling microvariables. Finally, the results of the calculations have been compared with DEM simulations which verify the accuracy of the proposed scheme.

Dual motor drive vehicle speed synchronization and coordination control strategy

NASA Astrophysics Data System (ADS)

Huang, Hao; Tu, Qunzhang; Jiang, Chenming; Ma, Limin; Li, Pei; Zhang, Hongxing

2018-04-01

Multi-motor driven systems are more and more widely used in the field of electric engineering vehicles, as a result of the road conditions and the variable load of engineering vehicles, makes multi-motors synchronization coordinated control system as a key point of the development of the electric vehicle drive system. This paper based on electrical machinery transmission speed in the process of engineering vehicles headed for coordinated control problem, summarized control strategies at home and abroad in recent years, made analysis and comparison of the characteristics, finally discussed the trend of development of the multi-motor coordination control, provided a reference for synchronized control system research of electric drive engineering vehicles.

Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer.

PubMed

Niu, Jie; Yang, Qianqian; Wang, Xiaoyun; Song, Rong

2017-01-01

Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC) scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

ECG compression using non-recursive wavelet transform with quality control

NASA Astrophysics Data System (ADS)

Liu, Je-Hung; Hung, King-Chu; Wu, Tsung-Ching

2016-09-01

While wavelet-based electrocardiogram (ECG) data compression using scalar quantisation (SQ) yields excellent compression performance, a wavelet's SQ scheme, however, must select a set of multilevel quantisers for each quantisation process. As a result of the properties of multiple-to-one mapping, however, this scheme is not conducive for reconstruction error control. In order to address this problem, this paper presents a single-variable control SQ scheme able to guarantee the reconstruction quality of wavelet-based ECG data compression. Based on the reversible round-off non-recursive discrete periodised wavelet transform (RRO-NRDPWT), the SQ scheme is derived with a three-stage design process that first uses genetic algorithm (GA) for high compression ratio (CR), followed by a quadratic curve fitting for linear distortion control, and the third uses a fuzzy decision-making for minimising data dependency effect and selecting the optimal SQ. The two databases, Physikalisch-Technische Bundesanstalt (PTB) and Massachusetts Institute of Technology (MIT) arrhythmia, are used to evaluate quality control performance. Experimental results show that the design method guarantees a high compression performance SQ scheme with statistically linear distortion. This property can be independent of training data and can facilitate rapid error control.

Multi-load Groups Coordinated Load Control Strategy Considering Power Network Constraints

NASA Astrophysics Data System (ADS)

Liu, Meng; Zhao, Binchao; Wang, Jun; Zhang, Guohui; Wang, Xin

2017-05-01

Loads with energy storage property can actively participate in power balance for power systems, this paper takes air conditioner as a controllable load example, proposing a multi-load groups coordinated load control strategy considering power network constraints. Firstly, two load control modes considering recovery of load diversity are designed, blocking power oscillation of aggregated air conditioners. As the same time, air conditioner temperature setpoint recovery control strategy is presented to avoid power recovery peak. Considering inherent characteristics of two load control modes, an coordinated load control mode is designed by combining the both. Basing on this, a multi-load groups coordinated load control strategy is proposed. During the implementing of load control, power network constraints should be satisfied. An indice which can reflect the security of power system operating is defined. By minimizing its value through optimization, the change of air conditioning loads’ aggregated power on each load bus can be calculated. Simulations are conducted on an air conditioners group and New England 10-generator 39-bus system, verifying the effectiveness of the proposed multi-load groups coordinated load control strategy considering power network constraints.

Payments discourage coordination in ecosystem services provision: evidence from behavioral experiments in Southeast Asia

NASA Astrophysics Data System (ADS)

Bell, Andrew; Zhang, Wei

2016-11-01

The contribution of synthetic pesticides to closing yield gaps around the world is undeniable; however, their use is also a classic double-edged sword. Beyond the well-recognized social costs (e.g., pollution to soil and water, and health effects both on consumers and other species) there are also private costs on farmers beyond the direct costs of inputs, associated with elevated risks of both acute and chronic damage to farmers’ health, and with the destruction of populations of beneficial organisms. Managing agricultural land use to enhance natural pest control services (also called mobile agent-based ecosystem services or MABES) holds promise to reduce this growing reliance on pesticides, though it too carries costs. In particular, uncertainty in crop yield due to pest damages, as well as the need to coordinate pesticide use with neighboring farms, can be important obstacles to establishing the longer-term public good of natural pest regulation. Current thinking on promoting ecosystem services suggests that payments or other economic incentives are a good fit for the promotion of public good ecosystem services such as MABES. We undertook a framed field experiment to examine the role of subsidies for non-crop habitat in improving insect-based ecosystem services in two separate samples in Southeast Asia—Cambodia and Vietnam. Our central finding is that these two contexts are not poised equally to benefit from incentives promoting MABES, and in fact may be left worse off by payments schemes. As the study and practice of payments for ecosystem services programs grows, this finding provides an important qualifier on recent theory supporting the use of payments to promote public good ecosystem services—where the nature of the coordination problem is complex and nonlinear, farm systems can be made worse off by being encouraged to attempt it.

Adaptive control strategies for flexible robotic arm

NASA Technical Reports Server (NTRS)

Bialasiewicz, Jan T.

1993-01-01

The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

Algorithmic Extensions of Low-Dispersion Scheme and Modeling Effects for Acoustic Wave Simulation. Revised

NASA Technical Reports Server (NTRS)

Kaushik, Dinesh K.; Baysal, Oktay

1997-01-01

Accurate computation of acoustic wave propagation may be more efficiently performed when their dispersion relations are considered. Consequently, computational algorithms which attempt to preserve these relations have been gaining popularity in recent years. In the present paper, the extensions to one such scheme are discussed. By solving the linearized, 2-D Euler and Navier-Stokes equations with such a method for the acoustic wave propagation, several issues were investigated. Among them were higher-order accuracy, choice of boundary conditions and differencing stencils, effects of viscosity, low-storage time integration, generalized curvilinear coordinates, periodic series, their reflections and interference patterns from a flat wall and scattering from a circular cylinder. The results were found to be promising en route to the aeroacoustic simulations of realistic engineering problems.

Effects of relational coordination among colleagues and span of control on work engagement among home-visiting nurses.

PubMed

Naruse, Takashi; Sakai, Mahiro; Nagata, Satoko

2016-04-01

Home-visiting nursing agencies are required to foster staff nurse's work engagement; thus, the factors related to work engagement require identification. This study examined relational coordination among colleagues and agency span of control on the work engagement of home-visiting nurses. Cross-sectional data from 93 staff nurses in 31 home-visiting nursing agencies were collected via a survey and analyzed using mixed linear regression. There was no significant main effect of relational coordination among nurse colleagues on work engagement. In large agencies with a large span of control, relational coordination among nursing colleagues predicted work engagement. Nursing managers' relational coordination was found to be positively associated with staff nurse work engagement. Agency span of control is a moderating factor on the positive effect of relational coordination with nursing colleagues on staff nurse work engagement. © 2016 Japan Academy of Nursing Science.

Hierarchical control framework for integrated coordination between distributed energy resources and demand response

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

Wu, Di; Lian, Jianming; Sun, Yannan

Demand response is representing a significant but largely untapped resource that can greatly enhance the flexibility and reliability of power systems. In this paper, a hierarchical control framework is proposed to facilitate the integrated coordination between distributed energy resources and demand response. The proposed framework consists of coordination and device layers. In the coordination layer, various resource aggregations are optimally coordinated in a distributed manner to achieve the system-level objectives. In the device layer, individual resources are controlled in real time to follow the optimal power generation or consumption dispatched from the coordination layer. For the purpose of practical applications,more » a method is presented to determine the utility functions of controllable loads by taking into account the real-time load dynamics and the preferences of individual customers. The effectiveness of the proposed framework is validated by detailed simulation studies.« less

An Under-frequency Load Shedding Scheme with Continuous Load Control Proportional to Frequency Deviation

NASA Astrophysics Data System (ADS)

Li, Changgang; Sun, Yanli; Yu, Yawei

2017-05-01

Under frequency load shedding (UFLS) is an important measure to tackle with frequency drop caused by load-generation imbalance. In existing schemes, loads are shed by relays in a discontinuous way, which is the major reason leading to under-shedding and over-shedding problems. With the application of power electronics technology, some loads can be controlled continuously, and it is possible to improve the UFSL with continuous loads. This paper proposes an UFLS scheme by shedding loads continuously. The load shedding amount is proportional to frequency deviation before frequency reaches its minimum during transient process. The feasibility of the proposed scheme is analysed with analytical system frequency response model. The impacts of governor droop, system inertia, and frequency threshold on the performance of the proposed UFLS scheme are discussed. Cases are demonstrated to validate the proposed scheme by comparing it with conventional UFLS schemes.

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

Usman, Yasir; Kim, Jinho; Muljadi, Eduard

Wake effects cause wind turbine generators (WTGs) within a wind power plant (WPP) to produce different levels of active power and subsequent reactive power capabilities. Further, the impedance between a WTG and the point of interconnection (POI)-which depends on the distance between them-impacts the WPP's reactive power injection capability at the POI. This paper proposes a voltage control scheme for a WPP based on the available reactive current of the doubly-fed induction generators (DFIGs) and its impacts on the POI to improve the reactive power injection capability of the WPP. In this paper, a design strategy for modifying the gainmore » of DFIG controller is suggested and the comprehensive properties of these control gains are investigated. In the proposed scheme, the WPP controller, which operates in a voltage control mode, sends the command signal to the DFIGs based on the voltage difference at the POI. The DFIG controllers, which operate in a voltage control mode, employ a proportional controller with a limiter. The gain of the proportional controller is adjusted depending on the available reactive current of the DFIG and the series impedance between the DFIG and the POI. The performance of the proposed scheme is validated for various disturbances such as a reactive load connection and grid fault using an EMTP-RV simulator. Furthermore, simulation results demonstrate that the proposed scheme promptly recovers the POI voltage by injecting more reactive power after a disturbance than the conventional scheme.« less

Gauss-Kronrod-Trapezoidal Integration Scheme for Modeling Biological Tissues with Continuous Fiber Distributions

PubMed Central

Hou, Chieh; Ateshian, Gerard A.

2015-01-01

Fibrous biological tissues may be modeled using a continuous fiber distribution (CFD) to capture tension-compression nonlinearity, anisotropic fiber distributions, and load-induced anisotropy. The CFD framework requires spherical integration of weighted individual fiber responses, with fibers contributing to the stress response only when they are in tension. The common method for performing this integration employs the discretization of the unit sphere into a polyhedron with nearly uniform triangular faces (finite element integration or FEI scheme). Although FEI has proven to be more accurate and efficient than integration using spherical coordinates, it presents three major drawbacks: First, the number of elements on the unit sphere needed to achieve satisfactory accuracy becomes a significant computational cost in a finite element analysis. Second, fibers may not be in tension in some regions on the unit sphere, where the integration becomes a waste. Third, if tensed fiber bundles span a small region compared to the area of the elements on the sphere, a significant discretization error arises. This study presents an integration scheme specialized to the CFD framework, which significantly mitigates the first drawback of the FEI scheme, while eliminating the second and third completely. Here, integration is performed only over the regions of the unit sphere where fibers are in tension. Gauss-Kronrod quadrature is used across latitudes and the trapezoidal scheme across longitudes. Over a wide range of strain states, fiber material properties, and fiber angular distributions, results demonstrate that this new scheme always outperforms FEI, sometimes by orders of magnitude in the number of computational steps and relative accuracy of the stress calculation. PMID:26291492

A Gauss-Kronrod-Trapezoidal integration scheme for modeling biological tissues with continuous fiber distributions.

PubMed

Hou, Chieh; Ateshian, Gerard A

2016-01-01

Fibrous biological tissues may be modeled using a continuous fiber distribution (CFD) to capture tension-compression nonlinearity, anisotropic fiber distributions, and load-induced anisotropy. The CFD framework requires spherical integration of weighted individual fiber responses, with fibers contributing to the stress response only when they are in tension. The common method for performing this integration employs the discretization of the unit sphere into a polyhedron with nearly uniform triangular faces (finite element integration or FEI scheme). Although FEI has proven to be more accurate and efficient than integration using spherical coordinates, it presents three major drawbacks: First, the number of elements on the unit sphere needed to achieve satisfactory accuracy becomes a significant computational cost in a finite element (FE) analysis. Second, fibers may not be in tension in some regions on the unit sphere, where the integration becomes a waste. Third, if tensed fiber bundles span a small region compared to the area of the elements on the sphere, a significant discretization error arises. This study presents an integration scheme specialized to the CFD framework, which significantly mitigates the first drawback of the FEI scheme, while eliminating the second and third completely. Here, integration is performed only over the regions of the unit sphere where fibers are in tension. Gauss-Kronrod quadrature is used across latitudes and the trapezoidal scheme across longitudes. Over a wide range of strain states, fiber material properties, and fiber angular distributions, results demonstrate that this new scheme always outperforms FEI, sometimes by orders of magnitude in the number of computational steps and relative accuracy of the stress calculation.

Smartphone-Based Patients' Activity Recognition by Using a Self-Learning Scheme for Medical Monitoring.

PubMed

Guo, Junqi; Zhou, Xi; Sun, Yunchuan; Ping, Gong; Zhao, Guoxing; Li, Zhuorong

2016-06-01

Smartphone based activity recognition has recently received remarkable attention in various applications of mobile health such as safety monitoring, fitness tracking, and disease prediction. To achieve more accurate and simplified medical monitoring, this paper proposes a self-learning scheme for patients' activity recognition, in which a patient only needs to carry an ordinary smartphone that contains common motion sensors. After the real-time data collection though this smartphone, we preprocess the data using coordinate system transformation to eliminate phone orientation influence. A set of robust and effective features are then extracted from the preprocessed data. Because a patient may inevitably perform various unpredictable activities that have no apriori knowledge in the training dataset, we propose a self-learning activity recognition scheme. The scheme determines whether there are apriori training samples and labeled categories in training pools that well match with unpredictable activity data. If not, it automatically assembles these unpredictable samples into different clusters and gives them new category labels. These clustered samples combined with the acquired new category labels are then merged into the training dataset to reinforce recognition ability of the self-learning model. In experiments, we evaluate our scheme using the data collected from two postoperative patient volunteers, including six labeled daily activities as the initial apriori categories in the training pool. Experimental results demonstrate that the proposed self-learning scheme for activity recognition works very well for most cases. When there exist several types of unseen activities without any apriori information, the accuracy reaches above 80 % after the self-learning process converges.

An efficient transmission power control scheme for temperature variation in wireless sensor networks.

PubMed

Lee, Jungwook; Chung, Kwangsue

2011-01-01

Wireless sensor networks collect data from several nodes dispersed at remote sites. Sensor nodes can be installed in harsh environments such as deserts, cities, and indoors, where the link quality changes considerably over time. Particularly, changes in transmission power may be caused by temperature, humidity, and other factors. In order to compensate for link quality changes, existing schemes detect the link quality changes between nodes and control transmission power through a series of feedback processes, but these approaches can cause heavy overhead with the additional control packets needed. In this paper, the change of the link quality according to temperature is examined through empirical experimentation. A new power control scheme combining both temperature-aware link quality compensation and a closed-loop feedback process to adapt to link quality changes is proposed. We prove that the proposed scheme effectively adapts the transmission power to the changing link quality with less control overhead and energy consumption.

Linear and nonlinear schemes applied to pitch control of wind turbines.

PubMed

Geng, Hua; Yang, Geng

2014-01-01

Linear controllers have been employed in industrial applications for many years, but sometimes they are noneffective on the system with nonlinear characteristics. This paper discusses the structure, performance, implementation cost, advantages, and disadvantages of different linear and nonlinear schemes applied to the pitch control of the wind energy conversion systems (WECSs). The linear controller has the simplest structure and is easily understood by the engineers and thus is widely accepted by the industry. In contrast, nonlinear schemes are more complicated, but they can provide better performance. Although nonlinear algorithms can be implemented in a powerful digital processor nowadays, they need time to be accepted by the industry and their reliability needs to be verified in the commercial products. More information about the system nonlinear feature is helpful to simplify the controller design. However, nonlinear schemes independent of the system model are more robust to the uncertainties or deviations of the system parameters.

An ocean circulation model in σS- z- σB hybrid coordinate and its validation

NASA Astrophysics Data System (ADS)

Zhuang, Zhanpeng; Yuan, Yeli; Yang, Guangbing

2018-02-01

A 3D, two-time-level, σS- z- σB hybrid-coordinate Marine Science and Numerical Modeling numerical ocean circulation model (HyMOM) is developed in this paper. In HyMOM, the σ coordinate is employed in the surface and bottom regions, and the z coordinate is used in the intermediate layers. This method can overcome problems with vanishing surface cells and minimize the unwanted deviation in representing bottom topography. The connection between the σ and z layers vertically includes an expanded "ghost" method and the linear interpolation. The governing equations in the σS- z- σB hybrid coordinate based on the complete Reynolds-averaged Navier-Stokes equations are derived in detail. The two-level time staggered and Eulerian forward and backward schemes, which are of second-order of accuracy, are adopted for the temporal difference in internal and external mode, respectively. The computation of the baroclinic gradient force is tested in an analytic test problem; the errors for two methods in HyMOM, which are relatively large only in the bottom layers, are obviously smaller than those in the pure σ and z models in almost all of the vertical layers. A quasi-global climatologic numerical experiment is constructed to test the simulation performance of HyMOM. With the monthly mean Levitus climatology data as reference, the HyMOM can improve the simulating accuracy compared with its pure z or σ coordinate implementation.

Calculation of absolute protein-ligand binding free energy using distributed replica sampling.

PubMed

Rodinger, Tomas; Howell, P Lynne; Pomès, Régis

2008-10-21

Distributed replica sampling [T. Rodinger et al., J. Chem. Theory Comput. 2, 725 (2006)] is a simple and general scheme for Boltzmann sampling of conformational space by computer simulation in which multiple replicas of the system undergo a random walk in reaction coordinate or temperature space. Individual replicas are linked through a generalized Hamiltonian containing an extra potential energy term or bias which depends on the distribution of all replicas, thus enforcing the desired sampling distribution along the coordinate or parameter of interest regardless of free energy barriers. In contrast to replica exchange methods, efficient implementation of the algorithm does not require synchronicity of the individual simulations. The algorithm is inherently suited for large-scale simulations using shared or heterogeneous computing platforms such as a distributed network. In this work, we build on our original algorithm by introducing Boltzmann-weighted jumping, which allows moves of a larger magnitude and thus enhances sampling efficiency along the reaction coordinate. The approach is demonstrated using a realistic and biologically relevant application; we calculate the standard binding free energy of benzene to the L99A mutant of T4 lysozyme. Distributed replica sampling is used in conjunction with thermodynamic integration to compute the potential of mean force for extracting the ligand from protein and solvent along a nonphysical spatial coordinate. Dynamic treatment of the reaction coordinate leads to faster statistical convergence of the potential of mean force than a conventional static coordinate, which suffers from slow transitions on a rugged potential energy surface.

Calculation of absolute protein-ligand binding free energy using distributed replica sampling

NASA Astrophysics Data System (ADS)

Rodinger, Tomas; Howell, P. Lynne; Pomès, Régis

2008-10-01

Distributed replica sampling [T. Rodinger et al., J. Chem. Theory Comput. 2, 725 (2006)] is a simple and general scheme for Boltzmann sampling of conformational space by computer simulation in which multiple replicas of the system undergo a random walk in reaction coordinate or temperature space. Individual replicas are linked through a generalized Hamiltonian containing an extra potential energy term or bias which depends on the distribution of all replicas, thus enforcing the desired sampling distribution along the coordinate or parameter of interest regardless of free energy barriers. In contrast to replica exchange methods, efficient implementation of the algorithm does not require synchronicity of the individual simulations. The algorithm is inherently suited for large-scale simulations using shared or heterogeneous computing platforms such as a distributed network. In this work, we build on our original algorithm by introducing Boltzmann-weighted jumping, which allows moves of a larger magnitude and thus enhances sampling efficiency along the reaction coordinate. The approach is demonstrated using a realistic and biologically relevant application; we calculate the standard binding free energy of benzene to the L99A mutant of T4 lysozyme. Distributed replica sampling is used in conjunction with thermodynamic integration to compute the potential of mean force for extracting the ligand from protein and solvent along a nonphysical spatial coordinate. Dynamic treatment of the reaction coordinate leads to faster statistical convergence of the potential of mean force than a conventional static coordinate, which suffers from slow transitions on a rugged potential energy surface.

The research of full automatic oil filtering control technology of high voltage insulating oil

NASA Astrophysics Data System (ADS)

Gong, Gangjun; Zhang, Tong; Yan, Guozeng; Zhang, Han; Chen, Zhimin; Su, Chang

2017-09-01

In this paper, the design scheme of automatic oil filter control system for transformer oil in UHV substation is summarized. The scheme specifically includes the typical double tank filter connection control method of the transformer oil of the UHV substation, which distinguishes the single port and the double port connection structure of the oil tank. Finally, the design scheme of the temperature sensor and respirator is given in detail, and the detailed evaluation and application scenarios are given for reference.

Design of robust iterative learning control schemes for systems with polytopic uncertainties and sector-bounded nonlinearities

NASA Astrophysics Data System (ADS)

Boski, Marcin; Paszke, Wojciech

2017-01-01

This paper deals with designing of iterative learning control schemes for uncertain systems with static nonlinearities. More specifically, the nonlinear part is supposed to be sector bounded and system matrices are assumed to range in the polytope of matrices. For systems with such nonlinearities and uncertainties the repetitive process setting is exploited to develop a linear matrix inequality based conditions for computing the feedback and feedforward (learning) controllers. These controllers guarantee acceptable dynamics along the trials and ensure convergence of the trial-to-trial error dynamics, respectively. Numerical examples illustrate the theoretical results and confirm effectiveness of the designed control scheme.

Stability control of a flexible maneuverable tethered space net robot

NASA Astrophysics Data System (ADS)

Zhang, Fan; Huang, Panfeng

2018-04-01

As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.

Difference equation state approximations for nonlinear hereditary control problems

NASA Technical Reports Server (NTRS)

Rosen, I. G.

1982-01-01

Discrete approximation schemes for the solution of nonlinear hereditary control problems are constructed. The methods involve approximation by a sequence of optimal control problems in which the original infinite dimensional state equation has been approximated by a finite dimensional discrete difference equation. Convergence of the state approximations is argued using linear semigroup theory and is then used to demonstrate that solutions to the approximating optimal control problems in some sense approximate solutions to the original control problem. Two schemes, one based upon piecewise constant approximation, and the other involving spline functions are discussed. Numerical results are presented, analyzed and used to compare the schemes to other available approximation methods for the solution of hereditary control problems.

Learning Multirobot Hose Transportation and Deployment by Distributed Round-Robin Q-Learning.

PubMed

Fernandez-Gauna, Borja; Etxeberria-Agiriano, Ismael; Graña, Manuel

2015-01-01

Multi-Agent Reinforcement Learning (MARL) algorithms face two main difficulties: the curse of dimensionality, and environment non-stationarity due to the independent learning processes carried out by the agents concurrently. In this paper we formalize and prove the convergence of a Distributed Round Robin Q-learning (D-RR-QL) algorithm for cooperative systems. The computational complexity of this algorithm increases linearly with the number of agents. Moreover, it eliminates environment non sta tionarity by carrying a round-robin scheduling of the action selection and execution. That this learning scheme allows the implementation of Modular State-Action Vetoes (MSAV) in cooperative multi-agent systems, which speeds up learning convergence in over-constrained systems by vetoing state-action pairs which lead to undesired termination states (UTS) in the relevant state-action subspace. Each agent's local state-action value function learning is an independent process, including the MSAV policies. Coordination of locally optimal policies to obtain the global optimal joint policy is achieved by a greedy selection procedure using message passing. We show that D-RR-QL improves over state-of-the-art approaches, such as Distributed Q-Learning, Team Q-Learning and Coordinated Reinforcement Learning in a paradigmatic Linked Multi-Component Robotic System (L-MCRS) control problem: the hose transportation task. L-MCRS are over-constrained systems with many UTS induced by the interaction of the passive linking element and the active mobile robots.

A snapshot of the organization and provision of primary care in Turkey

PubMed Central

2011-01-01

Background This WHO study aimed to support Turkey in its efforts to strengthen the primary care (PC) system by implementing the WHO Primary Care Evaluation Tool (PCET). This article provides an overview of the organization and provision of primary care in Turkey. Methods The WHO Primary Care Evaluation Tool was implemented in two provinces (Bolu and Eskişehir) in Turkey in 2007/08. The Tool consists of three parts: a national questionnaire concerning the organisation and financing of primary care; a questionnaire for family doctors; and a questionnaire for patients who visit a family health centre. Results Primary care has just recently become an official health policy priority with the introduction of a family medicine scheme. Although the supply of family doctors (FDs) has improved, they are geographically uneven distributed, and nationwide shortages of primary care staff remain. Coordination of care could be improved and quality control mechanisms were lacking. However, patients were very satisfied with the treatment by FDs. Conclusions The study provides an overview of the current state of PC in Turkey for two provinces with newly introduced family medicine, by using a structured approach to evaluate the essential functions of PC, including governance, financing, resource generation, as well as the characteristics of a "good" service delivery system (as being accessible, comprehensive, coordinated and continuous). PMID:21542904

Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints

PubMed Central

Kwok, Ka-Wai; Tsoi, Kuen Hung; Vitiello, Valentina; Clark, James; Chow, Gary C. T.; Luk, Wayne; Yang, Guang-Zhong

2014-01-01

This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks. PMID:24741371

Oxytocin enhances inter-brain synchrony during social coordination in male adults

PubMed Central

Mu, Yan; Guo, Chunyan

2016-01-01

Recent brain imaging research has revealed oxytocin (OT) effects on an individual's brain activity during social interaction but tells little about whether and how OT modulates the coherence of inter-brain activity related to two individuals' coordination behavior. We developed a new real-time coordination game that required two individuals of a dyad to synchronize with a partner (coordination task) or with a computer (control task) by counting in mind rhythmically. Electroencephalography (EEG) was recorded simultaneously from a dyad to examine OT effects on inter-brain synchrony of neural activity during interpersonal coordination. Experiment 1 found that dyads showed smaller interpersonal time lags of counting and greater inter-brain synchrony of alpha-band neural oscillations during the coordination (vs control) task and these effects were reliably observed in female but not male dyads. Moreover, the increased alpha-band inter-brain synchrony predicted better interpersonal behavioral synchrony across all participants. Experiment 2, using a double blind, placebo-controlled between-subjects design, revealed that intranasal OT vs placebo administration in male dyads improved interpersonal behavioral synchrony in both the coordination and control tasks but specifically enhanced alpha-band inter-brain neural oscillations during the coordination task. Our findings provide first evidence that OT enhances inter-brain synchrony in male adults to facilitate social coordination. PMID:27510498

Power requirements for electron cyclotron current drive and ion cyclotron resonance heating for sawtooth control in ITER

NASA Astrophysics Data System (ADS)

Chapman, I. T.; Graves, J. P.; Sauter, O.; Zucca, C.; Asunta, O.; Buttery, R. J.; Coda, S.; Goodman, T.; Igochine, V.; Johnson, T.; Jucker, M.; La Haye, R. J.; Lennholm, M.; Contributors, JET-EFDA

2013-06-01

13 MW of electron cyclotron current drive (ECCD) power deposited inside the q = 1 surface is likely to reduce the sawtooth period in ITER baseline scenario below the level empirically predicted to trigger neoclassical tearing modes (NTMs). However, since the ECCD control scheme is solely predicated upon changing the local magnetic shear, it is prudent to plan to use a complementary scheme which directly decreases the potential energy of the kink mode in order to reduce the sawtooth period. In the event that the natural sawtooth period is longer than expected, due to enhanced α particle stabilization for instance, this ancillary sawtooth control can be provided from >10MW of ion cyclotron resonance heating (ICRH) power with a resonance just inside the q = 1 surface. Both ECCD and ICRH control schemes would benefit greatly from active feedback of the deposition with respect to the rational surface. If the q = 1 surface can be maintained closer to the magnetic axis, the efficacy of ECCD and ICRH schemes significantly increases, the negative effect on the fusion gain is reduced, and off-axis negative-ion neutral beam injection (NNBI) can also be considered for sawtooth control. Consequently, schemes to reduce the q = 1 radius are highly desirable, such as early heating to delay the current penetration and, of course, active sawtooth destabilization to mediate small frequent sawteeth and retain a small q = 1 radius. Finally, there remains a residual risk that the ECCD + ICRH control actuators cannot keep the sawtooth period below the threshold for triggering NTMs (since this is derived only from empirical scaling and the control modelling has numerous caveats). If this is the case, a secondary control scheme of sawtooth stabilization via ECCD + ICRH + NNBI, interspersed with deliberate triggering of a crash through auxiliary power reduction and simultaneous pre-emptive NTM control by off-axis ECCD has been considered, permitting long transient periods with high fusion gain. The power requirements for the necessary degree of sawtooth control using either destabilization or stabilization schemes are expected to be within the specification of anticipated ICRH and ECRH heating in ITER, provided the requisite power can be dedicated to sawtooth control.

Reliable multicast protocol specifications flow control and NACK policy

NASA Technical Reports Server (NTRS)

Callahan, John R.; Montgomery, Todd L.; Whetten, Brian

1995-01-01

This appendix presents the flow and congestion control schemes recommended for RMP and a NACK policy based on the whiteboard tool. Because RMP uses a primarily NACK based error detection scheme, there is no direct feedback path through which receivers can signal losses through low buffer space or congestion. Reliable multicast protocols also suffer from the fact that throughput for a multicast group must be divided among the members of the group. This division is usually very dynamic in nature and therefore does not lend itself well to a priori determination. These facts have led the flow and congestion control schemes of RMP to be made completely orthogonal to the protocol specification. This allows several differing schemes to be used in different environments to produce the best results. As a default, a modified sliding window scheme based on previous algorithms are suggested and described below.

Quantum Logic Networks for Probabilistic and Controlled Teleportation of Unknown Quantum States

NASA Astrophysics Data System (ADS)

Gao, Ting

2004-08-01

We present simplification schemes for probabilistic and controlled teleportation of the unknown quantum states of both one particle and two particles and construct efficient quantum logic networks for implementing the new schemes by means of the primitive operations consisting of single-qubit gates, two-qubit controlled-not gates, Von Neumann measurement, and classically controlled operations. In these schemes the teleportation are not always successful but with certain probability. The project supported by National Natural Science Foundation of China under Grant No. 10271081 and the Natural Science Foundation of Hebei Province of China under Grant No. A2004000141

A Decentralized Adaptive Approach to Fault Tolerant Flight Control

NASA Technical Reports Server (NTRS)

Wu, N. Eva; Nikulin, Vladimir; Heimes, Felix; Shormin, Victor

2000-01-01

This paper briefly reports some results of our study on the application of a decentralized adaptive control approach to a 6 DOF nonlinear aircraft model. The simulation results showed the potential of using this approach to achieve fault tolerant control. Based on this observation and some analysis, the paper proposes a multiple channel adaptive control scheme that makes use of the functionally redundant actuating and sensing capabilities in the model, and explains how to implement the scheme to tolerate actuator and sensor failures. The conditions, under which the scheme is applicable, are stated in the paper.

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1989-01-01

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.